KR102575325B1 - Obstacle recognition speed evaluation system for vehicle - Google Patents

Abstract

An obstacle recognition speed evaluation system and apparatus for a vehicle that provides an obstacle in front of a vehicle in motion to evaluate the obstacle recognition speed of the vehicle are presented. The proposed system includes an obstacle appearer that makes an obstacle appear in front of a vehicle in motion and outputs a time point when the obstacle appears; an obstacle recognizer that recognizes an obstacle appearing in front of the vehicle and outputs an obstacle recognition result; and an obstacle recognition speed estimator that evaluates an obstacle recognition speed based on the obstacle appearance time and the obstacle recognition result, wherein the obstacle recognition result includes information including a time point at which the obstacle was recognized, and expression that the obstacle was recognized. At least one of an indicator signal to indicate that an obstacle has been recognized and an internal signal of a vehicle indicating that an obstacle has been recognized, and the obstacle recognition speed evaluator determines the current obstacle recognition time point based on the obstacle recognition result and determines the obstacle appearance time point as an absolute time point and an evaluation unit that evaluates the obstacle recognition speed by comparison with the determined current obstacle recognition time point.

Description

Obstacle recognition speed evaluation system for vehicle

The present invention relates to a system and apparatus for evaluating an obstacle recognition speed of a vehicle, and more particularly, to a system and apparatus capable of evaluating an obstacle recognition speed by grasping an obstacle recognition time of a running vehicle.

In general, a driving assistance system (ADAS: Advanced Driver Assistance System) that warns a driver of danger or automatically controls vehicle operation is mounted and used in a vehicle to protect a driver and passengers.

These driving assistance systems include a Forward Collision Warning System (FCW) that detects a vehicle traveling in the same direction from the front of the driving lane and issues a warning to avoid a collision with the vehicle in front; Advanced Emergency Braking System (AEBS), which automatically brakes the vehicle for the purpose of mitigating and avoiding a collision; and Adaptive Cruise Control (ACC), which controls the vehicle to autonomously drive at a speed set by the driver. Cruise Control), Lane Departure Warning System (LDWS) that warns of lane departure, Lane Keeping Assist System (LKAS) that controls lane departure, and blind spots that do not enter the driver's field of vision. Blind Spot Detection (BSD) for detecting objects in the zone, Rear-end Collision Warning System (RCW) that detects and warns of objects behind the vehicle, and assists with automatic parking. There is an automatic parking assist system (PAS: Parking Assist System) and the like.

Such a vehicle has a problem of causing a human accident due to a collision with a nearby vehicle or a pedestrian when the vehicle malfunctions, so precise evaluation of the braking performance and driving control performance is required when developing a vehicle.

However, current research and development related to vehicle performance evaluation is insufficient.

Matters described in the background art above are intended to help understand the background of the invention, and may include matters that are not disclosed prior art.

Prior art 1: Republic of Korea Patent Publication No. 10-2021-0073291 (vehicle performance evaluation system) Prior art 2: Republic of Korea Patent Registration No. 10-1389032 (Intelligent vehicle control system evaluation apparatus and method using driver real vehicle test database) Prior art 3: Republic of Korea Patent No. 10-2016899 (apparatus and method for evaluating performance of autonomous vehicles) Prior art 4: Korean Patent Publication No. 10-2021-0133904 (Dynamic model evaluation package for autonomous vehicles) Prior art 5: Republic of Korea Patent Registration No. 10-1938064 (autonomous driving test system)

The present invention has been proposed in view of the above conventional circumstances, and its purpose is to provide an obstacle recognition speed evaluation system and apparatus for a vehicle that provides an obstacle in front of a running vehicle to evaluate the obstacle recognition speed of the vehicle. there is

In order to achieve the above object, an obstacle recognition speed evaluation system of a vehicle according to a preferred embodiment of the present invention includes an obstacle appearer for appearing an obstacle in front of a running vehicle and outputting an obstacle appearance time point; an obstacle recognizer that recognizes an obstacle appearing in front of the vehicle and outputs an obstacle recognition result; and an obstacle recognition speed estimator that evaluates an obstacle recognition speed based on the obstacle appearance time and the obstacle recognition result, wherein the obstacle recognition result includes information including a time point at which the obstacle was recognized, and expression that the obstacle was recognized. At least one of an indicator signal to indicate that an obstacle has been recognized and an internal signal of a vehicle indicating that an obstacle has been recognized, and the obstacle recognition speed evaluator determines the current obstacle recognition time point based on the obstacle recognition result and determines the obstacle appearance time point as an absolute time point and an evaluation unit that evaluates the obstacle recognition speed by comparison with the determined current obstacle recognition time point.

The evaluation unit may determine the time of recognizing the obstacle as the current obstacle recognition time when receiving an obstacle recognition result, which is the time of recognizing the obstacle.

If the evaluation unit does not receive an obstacle recognition result, which is the time point at which the obstacle was recognized, the evaluation unit may determine a time point at which it is determined that the obstacle was recognized based on the indicator signal as the current obstacle recognition time point.

If the evaluation unit does not receive an obstacle recognition result, which is the time point at which the obstacle was recognized, the evaluation unit may determine a time point at which it is determined that the obstacle was recognized based on the internal signal as the current obstacle recognition time point.

The evaluation unit may evaluate the obstacle recognition speed according to whether an interval between the obstacle appearance time and the determined current obstacle recognition time exceeds a reference value.

The evaluation unit may evaluate that the obstacle recognition speed is normal if the interval between the obstacle appearance time and the determined current obstacle recognition time is within a reference value.

The evaluation unit may evaluate that the obstacle recognition speed is poor when an interval between the obstacle appearance time and the determined current obstacle recognition time exceeds a reference value.

The evaluation unit may evaluate the obstacle recognition speed according to which reference value corresponds to an interval between the obstacle appearance time and the determined current obstacle recognition time.

The indicator signal may be expressed as one or more of video, sound, and text.

On the other hand, an obstacle recognition speed evaluation apparatus of a vehicle according to a preferred embodiment of the present invention includes an indicator recognizing unit for outputting an obstacle recognition signal by recognizing an indicator signal expressing that an obstacle appearing in front of a running vehicle is recognized; an internal signal recognition unit that recognizes an internal signal of the vehicle corresponding to recognizing an obstacle appearing in front of the vehicle in motion and outputs an obstacle recognition signal; an obstacle recognition determination unit determining whether an obstacle is recognized based on a result of at least one of the indicator recognition unit and the internal signal recognition unit, and determining an obstacle recognition time point according to the determination result; a communication unit that wirelessly receives a time point at which the obstacle appeared from the outside and receives an obstacle recognition time point at which the appeared obstacle is recognized from an obstacle recognizer; And determining a final obstacle recognition time point based on information from one of the communication unit and the obstacle recognition determination unit, and comparing the final obstacle recognition time point with the determined obstacle recognition time point as an absolute point in time when the obstacle appeared. It includes; evaluation unit for evaluating the recognition speed.

The obstacle recognition determination unit determines whether an obstacle has been recognized based on one or more results of the indicator recognition unit and the internal signal recognition unit, and outputs to the evaluation unit a time point at which it is determined that the obstacle is recognized as an obstacle recognition time point. can do.

According to the present invention having such a configuration, when the obstacle appearer recognizes the approach of the vehicle and makes the obstacle appear in front of the vehicle, the obstacle appearer transmits the obstacle appearance time to the obstacle recognition speed estimator, and the obstacle recognizer Since various obstacle recognition results can be output, the obstacle recognition speed evaluator determines the current (final) obstacle recognition time based on various obstacle recognition results, and then evaluates the obstacle recognition speed of the vehicle by comparison with the obstacle appearance time. can

As a result, it is possible to secure the reliability of obstacle recognition of the vehicle and improve the efficiency of obstacle recognition speed evaluation.

1 is a block diagram of an obstacle recognition speed evaluation system of a vehicle according to an embodiment of the present invention.
2 is a diagram showing an example of an environment to which a system according to an embodiment of the present invention is applied.
Figure 3 is an internal configuration diagram of the obstacle appearer shown in Figure 1;
4 is an internal configuration diagram of the obstacle recognizer shown in FIG. 1;
5 is an internal configuration diagram of the obstacle recognition speed estimator shown in FIG. 1 .
FIG. 6 is a diagram illustrating an example employed in the description of the first indicator recognizing unit and the second indicator recognizing unit shown in FIG. 5 .
7 is a flowchart for explaining the operation of the obstacle recognition speed evaluation system of a vehicle according to an embodiment of the present invention.

Since the present invention can make various changes and have various embodiments, specific embodiments will be illustrated in the drawings and described in detail.

However, this is not intended to limit the present invention to specific embodiments, and should be understood to include all modifications, equivalents, and substitutes included in the spirit and scope of the present invention.

Terms used in this application are only used to describe specific embodiments, and are not intended to limit the present invention. Singular expressions include plural expressions unless the context clearly dictates otherwise. In this application, the terms "include" or "have" are intended to designate that there is a feature, number, step, operation, component, part, or combination thereof described in the specification, but one or more other features It should be understood that the presence or addition of numbers, steps, operations, components, parts, or combinations thereof is not precluded.

Unless defined otherwise, all terms used herein, including technical or scientific terms, have the same meaning as commonly understood by one of ordinary skill in the art to which the present invention belongs. Terms such as those defined in commonly used dictionaries should be interpreted as having a meaning consistent with the meaning in the context of the related art, and unless explicitly defined in the present application, they should not be interpreted in an ideal or excessively formal meaning. don't

Hereinafter, with reference to the accompanying drawings, preferred embodiments of the present invention will be described in more detail. In order to facilitate overall understanding in the description of the present invention, the same reference numerals are used for the same components in the drawings, and redundant descriptions of the same components are omitted.

1 is a block diagram of an obstacle recognition speed evaluation system of a vehicle according to an embodiment of the present invention, and FIG. 2 is a diagram showing an example of an environment to which the system according to an embodiment of the present invention is applied.

An obstacle recognition speed evaluation system of a vehicle according to an embodiment of the present invention may include an obstacle appearance device 10 , an obstacle recognition device 20 , and an obstacle recognition speed evaluator 30 .

As illustrated in FIG. 2 , the obstacle appearer 10 may be installed near the crosswalk 40 formed on the road on which the vehicle 1 travels. In FIG. 2, lanes and crosswalks are displayed in black, but they will actually be white.

In the above, the installation place of the obstacle appearer 10 has been exemplified as the vicinity of the crosswalk 40, but any place that can be installed to evaluate the obstacle recognition speed of the vehicle 1 other than the vicinity of the crosswalk is considered free.

When the obstacle appearer 10 recognizes that a vehicle is approaching, it may cause a predetermined obstacle to appear in front of the vehicle in motion.

At this time, the predetermined obstacle that appears may be, for example, a realistic model of a human shape, an actual panel on which a human shape is drawn, a ball of a predetermined size, and the like.

The obstacle appearance unit 10 transmits first information including the time point at which the obstacle appeared (hereinafter referred to as "time point at which the obstacle appears" (which may be an absolute time point or an absolute time point)) to the obstacle recognition speed estimator 30. can transmit

Although a more specific mechanical mechanism for the above-described obstacle appearance device 10 is not shown, it is believed that those who are engaged in the same industry can fully understand it with well-known technology.

The obstacle recognizer 20 may be mounted on a vehicle.

The obstacle recognizer 20 includes a processor with better performance than a vehicle processor.

The obstacle recognizer 20 may recognize an obstacle appearing in front of a vehicle in motion.

When the obstacle recognizer 20 recognizes an obstacle, it may transmit second information including a result of obstacle recognition corresponding thereto to the obstacle recognition speed evaluator 30 .

Here, the obstacle recognition result may include an obstacle recognition time point (ie, an obstacle recognition time point) and an obstacle type indicating what type of obstacle it is.

On the other hand, when the obstacle recognizer 20 recognizes an obstacle, it flashes a predetermined image corresponding to the obstacle recognition through the display of the instrument panel in front of the driver's seat, or sounds of a pattern corresponding to the obstacle recognition through the speaker of the instrument panel in front of the driver's seat. can also be output.

Accordingly, the obstacle recognition result may be a predetermined image and/or sound (voice) displayed through a display or a speaker on the instrument panel in front of the driver's seat, in addition to the obstacle recognition time and obstacle type. Here, the predetermined image and sound may be referred to as an indicator signal. In the case of an image, it may be in the form of an icon or graphic indicating that an obstacle has appeared in front, and in the case of a sound, it may be a unique pattern sound corresponding to the appearance of an obstacle in front. In the case of sound, the unique pattern sound is used to distinguish it from other sounds unrelated to the appearance of obstacles.

On the other hand, the obstacle recognition result may be an internal signal of the vehicle generated when an obstacle is recognized, other than the above example. At this time, the internal signal may not be in the form of video and sound, but may be an electrical signal (that is, an electrical signal indicating that an obstacle has been recognized) that can be obtained through a controller. That is, when an obstacle is recognized, an electrical signal (i.e., internal signal) corresponding thereto may be applied to the vehicle controller, and such an electrical signal (i.e., internal signal) may be an example of an obstacle recognition result. .

The obstacle recognition speed evaluator 30 may be mounted on a vehicle.

The obstacle recognition speed evaluator 30 may determine an obstacle recognition time point based on an obstacle recognition result from the obstacle recognizer 20 .

Since the obstacle recognition result from the above-described obstacle recognizer 20 may include the obstacle recognition time, the obstacle recognition speed evaluator 30 may determine the obstacle recognition time included in the obstacle recognition result as the final obstacle recognition time.

In this way, the obstacle recognition speed estimator 30 may evaluate the obstacle recognition speed of the corresponding vehicle based on the determined obstacle recognition time and the obstacle appearance time of the first information from the obstacle appearer 10 .

For example, the obstacle recognition speed estimator 30 may evaluate the obstacle recognition speed according to whether an interval between an obstacle appearance time and an obstacle recognition time exceeds a reference value. In other words, if the interval between the obstacle appearance time and the obstacle recognition time is within the reference value, the obstacle recognition speed can be evaluated as good (ie, the obstacle recognition speed is excellent), and the interval between the obstacle appearance time and the obstacle recognition time ) exceeds the reference value, it can be evaluated as poor obstacle recognition speed (ie, poor obstacle recognition speed).

As another example, the obstacle recognition speed estimator 30 may evaluate the obstacle recognition speed according to which reference value corresponds to an interval between an obstacle appearance time and an obstacle recognition time. In other words, if the interval between the obstacle appearance time and the obstacle recognition time is within the first reference value, the obstacle recognition speed level may be evaluated as the first level (higher level). For example, the first reference value may be 0 second to 0.5 second. If the interval between the time of appearance of the obstacle and the time of recognizing the obstacle is within the second reference value (that is, when it does not reach the first reference value but is within the second reference value), the obstacle recognition speed level is evaluated as the second level (medium level). can For example, the second reference value may be 0.51 seconds to 1.0 seconds. If the interval between the obstacle appearance time and the obstacle recognition time is within the third reference value (ie, less than the second reference value), the obstacle recognition speed level may be evaluated as the third level (lower level). In other words, when the obstacle recognition speed level is the first level, it may mean that the obstacle recognition speed is considerably faster than the average value. When the level of the obstacle recognition speed is the second level, it may mean that the obstacle recognition speed is at an average level. When the level of the obstacle recognition speed is the third level, it may mean that the obstacle recognition speed is below the average value. Each range of the above-described first reference value, second reference value, and third reference value can be adjusted at any time.

Of course, the obstacle recognition speed evaluator 30 may not be able to accurately obtain the obstacle recognition result (including the obstacle recognition time) from the obstacle recognizer 20 . That is, although the obstacle recognizer 20 and the obstacle recognition speed evaluator 30 are connected to each other, if it is not known exactly which line among communication lines is a line for obtaining an obstacle recognition result, the obstacle recognition speed evaluator 30 ) will not be able to accurately obtain the obstacle recognition result from the obstacle recognizer 20. In this case, the obstacle recognizing speed evaluator 30 may indirectly determine whether the obstacle recognizing unit 20 recognizes an obstacle through a camera and a microphone separately installed inside the vehicle. For example, it is possible to indirectly determine that an obstacle has been recognized by taking a picture of a display (eg, installed on an instrument panel in front of a driver's seat) in which a predetermined mark flickers when an obstacle is recognized. On the other hand, when an obstacle is recognized, it is possible to indirectly determine that an obstacle has been recognized by collecting the sound of a speaker (e.g., installed in the instrument panel in front of the driver's seat) outputting a sound such as “beep beep beep” with a microphone. In this way, the point at which it is indirectly recognized that an obstacle is recognized may be referred to as an obstacle recognition time point. Accordingly, the obstacle recognition speed evaluator 30 compares the indirectly identified obstacle recognition time and the obstacle appearance time from the obstacle appearer 10 (i.e., absolute time point) to evaluate the obstacle recognition speed of the corresponding vehicle.

Meanwhile, even if the obstacle recognition speed evaluator 30 cannot accurately obtain the obstacle recognition result from the obstacle recognizer 20, the obstacle recognition result from the obstacle recognizer 20 may be transmitted to the controller of the vehicle. Accordingly, the obstacle recognition speed evaluator 30 may obtain an internal signal of the vehicle from the controller of the vehicle to indirectly determine the obstacle recognition. That is, since an internal signal indicating that an obstacle has been recognized may be included in the internal signal of the vehicle, the recognition of the obstacle may be indirectly identified using the internal signal of the vehicle. In this way, the point at which it is indirectly recognized that an obstacle is recognized may be referred to as an obstacle recognition time point. Accordingly, the obstacle recognition speed evaluator 30 compares the indirectly identified obstacle recognition time and the obstacle appearance time from the obstacle appearer 10 (i.e., absolute time point) to evaluate the obstacle recognition speed of the corresponding vehicle.

FIG. 3 is an internal configuration diagram of the obstacle appearer 10 shown in FIG. 1 .

The obstacle appearance device 10 may include a first sensor unit 11 , a second sensor unit 12 , a vehicle recognition unit 13 , an obstacle appearance unit 14 , and a communication unit 15 .

The first sensor unit 11 and the second sensor unit 12 may sense vehicles and other objects in the vicinity of the place where the corresponding obstacle appearer 10 is installed (eg, within a predetermined radius).

For example, the first sensor unit 11 may include a radar unit, and the second sensor unit 12 may include a camera unit.

Accordingly, the first sensor unit 11 emits radio waves to detect the distance to the vehicle or other objects, the speed of the vehicle or other objects, and the like as data returned after being hit by the vehicle or other objects.

In other words, the first sensor unit 11 may detect vehicles and other objects in the local environment of the obstacle appearer 10 by utilizing wireless signals.

The second sensor unit 12 may photograph the vicinity of the place where the corresponding obstacle appearer 10 is installed. If a random vehicle drives near the place where the obstacle appearer 10 is installed, the second sensor unit 12 may photograph the vehicle.

The camera unit illustrated above may be a still image camera and/or a video camera. Meanwhile, the camera unit may be mechanically movable by being mounted on a rotating and/or tilting platform.

Although the radar unit and the camera unit have been exemplified above, a lidar unit and the like may be additionally included if necessary. The lidar unit may use lasers to detect vehicles and other objects in the vicinity of the obstacle presenter 10 .

If necessary, the first sensor unit 11 and the second sensor unit 12 may be collectively referred to as a single sensor unit.

The vehicle recognition unit 13 can recognize a vehicle based on the sensing signals from the first sensor unit 11 and the second sensor unit 12 and recognize whether the recognized vehicle is approaching the corresponding obstacle appearer 10. there is.

For example, the vehicle recognition unit 13 detects a vehicle from sensing signals (radar signals, video signals) received in real time from the first sensor unit 11 and the second sensor unit 12, and detects the detected vehicle and It is possible to recognize whether the detected vehicle is approaching the obstacle appearer 10 by checking a change in the distance of .

When the vehicle recognizing unit 13 recognizes that a vehicle is approaching the obstacle appearing unit 10, it sends a corresponding signal to the obstacle appearing unit 14. Here, the signal when it is recognized that the vehicle is approaching is preferably transmitted to the obstacle appearance unit 14 when the corresponding vehicle enters within a specific distance. The reason for doing this is that reliability of the obstacle recognition speed evaluation may deteriorate if it is recognized that the vehicle is approaching and the obstacle appears even though the vehicle is too far away from the obstacle appearance unit 14 . Therefore, in order to increase the reliability of the obstacle recognition speed evaluation and efficiently evaluate the obstacle recognition speed, when the vehicle enters within a specific distance (appropriate distance), the signal recognized as approaching the vehicle is sent to the obstacle appearance unit 14. It is better to send to

Of course, the vehicle recognizing unit 13 may grasp the driving speed of the corresponding vehicle in real time based on the distance to the detected vehicle that changes in real time.

In addition, the vehicle recognition unit 13 may grasp the detected driving direction and driving lane of the vehicle in real time based on the sensing signals from the first sensor unit 11 and the second sensor unit 12 .

Accordingly, the vehicle recognition unit 13 may recognize whether the recognized vehicle is approaching the corresponding obstacle appearer 10 .

The obstacle appearing unit 14 receives a signal from the vehicle recognizing unit 13 recognizing that the vehicle is approaching, and makes a predetermined obstacle appear. Here, the obstacle to appear may be stationary in front of the vehicle (eg, driving lane) or may pass in front of the vehicle (eg, driving lane).

In addition, as the obstacle appears, the obstacle appearance unit 14 may output first information including a time point at which the obstacle appeared (ie, a time point at which the obstacle appeared) (which may be an absolute time point or an absolute time point).

The communication unit 15 may transmit the first information from the obstacle appearance unit 14 to the obstacle recognition speed evaluator 30 .

Here, the communication unit 15 may include a communication module enabling wireless communication between the obstacle appearer 10 and the obstacle recognition speed evaluator 30 .

The communication unit 15 may communicate with the external obstacle recognition speed evaluator 30 through short-range communication or long-distance communication.

In FIG. 3 described above, the obstacle appearance unit 14 and the communication unit 15 are configured separately, but the communication unit 15 may be included in the obstacle appearance unit 14 if necessary.

FIG. 4 is an internal configuration diagram of the obstacle recognizer 20 shown in FIG. 1 .

The obstacle recognizer 20 may include a sensor unit 21 , an obstacle recognizer 22 , and a communication unit 23 .

The sensor unit 21 may sense the front of the vehicle.

For example, the sensor unit 21 may include a camera unit.

Accordingly, the sensor unit 21 may sense a situation in front of the vehicle by photographing the front of the driving vehicle.

Although the camera unit has been taken as an example in the above, any device other than the camera unit may be used as long as it is capable of sensing a situation in front of the vehicle.

Also, if necessary, the sensor unit 21 may include a plurality of devices capable of sensing a situation in front of the vehicle.

The obstacle recognizing unit 22 may recognize an obstacle based on information sensed by the sensor unit 21 .

For example, the obstacle recognizing unit 22 may recognize an obstacle from information sensed by the sensor unit 21 by an object recognition method or the like. Here, the obstacle may be an obstacle appeared by the obstacle appearer 10 .

In addition, the obstacle recognizing unit 22 may output second information including an obstacle recognition result corresponding thereto as it recognizes an obstacle.

Here, the obstacle recognition result may include an obstacle recognition time point (ie, an obstacle recognition time point) and an obstacle type indicating what type of obstacle it is.

If necessary, the obstacle recognition result may be a predetermined image and/or sound (audio) displayed through a display or speaker on the instrument panel in front of the driver's seat, in addition to the time of obstacle recognition and the type of obstacle. Here, the predetermined image and sound may be referred to as an indicator signal. In the case of an image, it may be in the form of an icon or graphic indicating that an obstacle has appeared in front, and in the case of a sound, it may be a unique pattern sound corresponding to the appearance of an obstacle in front.

On the other hand, the obstacle recognition result may be an internal signal of the vehicle generated when an obstacle is recognized, other than the above example. The internal signal at this time may not be in the form of video and sound, but may be an electrical signal indicating that an obstacle that can be obtained from the controller has been recognized.

The communication unit 23 may transmit second information including an obstacle recognition result from the obstacle recognition unit 22 to the obstacle recognition speed evaluator 30 .

For example, the communication unit 23 may communicate with the obstacle recognition speed evaluator 30 through wired communication (eg, CAN communication).

5 is an internal configuration diagram of the obstacle recognition speed evaluator 30 shown in FIG. 1, and FIG. 6 is a description of the first indicator recognition unit 31 and the second indicator recognition unit 32 shown in FIG. It is a drawing showing an example that is employed.

The obstacle recognition speed evaluator 30 includes a first indicator recognition unit 31, a second indicator recognition unit 32, an internal signal recognition unit 33, an obstacle recognition determination unit 34, a communication unit 35, and an evaluation unit. A portion 36 may be included. The obstacle recognition speed evaluator 30 may be an example of the vehicle obstacle recognition speed evaluation device described in the claims of the present invention.

The first indicator recognizing unit 31 and the second indicator recognizing unit 32 may be installed facing the instrument panel in front of the driver's seat of the vehicle.

For example, the first indicator recognizing unit 31 may include a camera unit.

Accordingly, the first indicator recognizing unit 31 may recognize an image (eg, an obstacle recognition icon or a graphic mark in the form of an obstacle recognition graphic) displayed on the display 50 of the instrument panel, as illustrated in FIG. 6 .

More specifically, since the obstacle recognition result from the obstacle recognizer 20 may be displayed as an image including a predetermined indicator (indicator) on the display 50, the first indicator recognizer 31 may display ( 50) can recognize the image (mark).

In this way, when the first indicator recognizing unit 31 recognizes an obstacle recognition icon or an obstacle recognition graphic, etc., it may output a signal indicating that an obstacle has been recognized.

In other words, the first indicator recognition unit 31 checks whether the indicator signal (ie, image) displayed on the display 50 is an obstacle recognition icon or an obstacle recognition graphic while photographing the display 50 of the instrument panel in front of the driver's seat. . If the indicator signal displayed on the display 50 is an obstacle recognition icon or an obstacle recognition graphic, the first indicator recognition unit 31 may output a signal indicating that the obstacle has been recognized (eg, “1”).

For example, the second indicator recognizing unit 32 may include a microphone unit.

Accordingly, the second indicator recognizing unit 32 can recognize the sound output from the speaker 60 of the instrument panel as illustrated in FIG. 6 .

More specifically, since the obstacle recognition result from the obstacle recognizer 20 may be output as a sound of a predetermined pattern through the speaker 60, the second indicator recognition unit 32 may use the sound output from the speaker 60 A pattern sound can be recognized when an obstacle is recognized.

In this way, when the second indicator recognizing unit 32 recognizes a pattern sound when an obstacle is recognized, it may output a signal indicating that the obstacle has been recognized.

In other words, the second indicator recognition unit 32 collects the sound expressed through the speaker 60 of the instrument panel in front of the driver's seat, and the pattern sound when the indicator signal (sound) expressed from the speaker 60 recognizes an obstacle. check awareness If the indicator signal (ie, sound) expressed from the speaker 60 is a pattern sound when an obstacle is recognized, the second indicator recognition unit 32 generates a signal (eg, "1") indicating that the obstacle has been recognized. can output

In the above, video and sound are exemplified as indicator signals, but if necessary, text other than video and sound may be additionally used as indicator signals. For example, as shown in FIG. 6 , text such as “emergency braking” displayed on the display 50 may be recognized.

On the other hand, the above-described indicator recognition units 31 and 32 are installed facing the instrument panel in front of the driver's seat of the vehicle, but if the image and / or sound to be recognized is expressed in a place other than the instrument panel, it is installed to face the corresponding expression part It can be.

The aforementioned first indicator recognizing unit 31 and the second indicator recognizing unit 32 may be referred to as a single indicator recognizing unit.

As a result, it can be seen that the first indicator recognizing unit 31 and the second indicator recognizing unit 32 recognize a mark (eg, image or sound) for externally expressing an obstacle recognition result.

The above-described first indicator recognizing unit 31 and second indicator recognizing unit 32 allow the obstacle recognition speed evaluator 30 to directly acquire an obstacle recognition result (eg, an obstacle recognition time point) from the obstacle recognizer 20. Can be used in cases where this is not possible.

The internal signal recognition unit 33 may recognize an internal signal of the vehicle corresponding to an obstacle recognition result from the obstacle recognizer 20 .

Here, the internal signal may mean an electrical signal corresponding to recognition of an obstacle, not the form of a video, sound, or text as exemplified above.

In this way, when the internal signal recognizing unit 33 recognizes an electrical signal (internal signal) corresponding to recognizing an obstacle, it may output a signal indicating that the obstacle has been recognized.

The aforementioned internal signal recognizing unit 33 is used when the internal signal of the vehicle can be obtained from the controller even though the obstacle recognizing speed evaluator 30 does not directly receive the obstacle recognition result from the obstacle recognizing unit 20. It can be.

The obstacle recognition determination unit 34 may determine whether an obstacle is recognized based on one or more results from the first indicator recognition unit 31, the second indicator recognition unit 32, and the internal signal recognition unit 33. .

For example, if the result of the first indicator recognition unit 31 is a signal indicating that an obstacle has been recognized, the obstacle recognition determination unit 34 may determine that the obstacle is recognized. At this time, the obstacle recognition determination unit 34 may determine the time determined as the obstacle recognition as the obstacle recognition time and output the result.

On the other hand, if the result of the second indicator recognition unit 31 is a signal indicating that an obstacle has been recognized, the obstacle recognition determining unit 34 may determine that the obstacle is recognized. At this time, the obstacle recognition determination unit 34 may determine the time determined as the obstacle recognition as the obstacle recognition time and output the result.

Alternatively, if the result of the internal signal recognition unit 33 is a signal indicating that an obstacle has been recognized, the obstacle recognition determination unit 34 may determine that the obstacle is recognized. At this time, the obstacle recognition determination unit 34 may determine the time determined as the obstacle recognition as the obstacle recognition time and output the result.

Alternatively, the obstacle recognition determination unit 34 may determine whether the obstacle is recognized based on the result of the first indicator recognition unit 31 and the result of the second indicator recognition unit 31 . In this case, if any one of the results of the first indicator recognizing unit 31 and the result of the second indicator recognizing unit 31 is a signal indicating that an obstacle has been recognized, the obstacle recognition determination unit 34 determines that the obstacle is recognized. can do. At this time, the obstacle recognition determination unit 34 may determine the time determined as the obstacle recognition as the obstacle recognition time and output the result. Of course, both the result of the first indicator recognizing unit 31 and the result of the second indicator recognizing unit 31 may be signals indicating that an obstacle has been recognized. The viewpoint may be determined as the obstacle recognition viewpoint and output.

Alternatively, the obstacle recognition determination unit 34 may determine whether an obstacle is recognized based on the results from the first indicator recognition unit 31, the second indicator recognition unit 32, and the internal signal recognition unit 33. there is. In this case, if any one of the result of the first indicator recognizing unit 31, the result of the second indicator recognizing unit 32, and the result from the internal signal recognizing unit 33 is a signal indicating that an obstacle has been recognized, the obstacle The recognition determination unit 34 may determine obstacle recognition. Of course, the result of the first indicator recognizing unit 31, the result of the second indicator recognizing unit 31, and the result of the internal signal recognizing unit 33 may all be signals indicating that the obstacle has been recognized. In this case, the first First, based on the received result, a time point determined as obstacle recognition may be output as an obstacle recognition time point.

The communication unit 35 may receive first information (ie, including the time of appearance of an obstacle) through wireless communication with the obstacle appearer 10 .

Meanwhile, the communication unit 35 may receive second information (ie, an obstacle recognizing time point) through communication with the obstacle recognizer 20 .

The evaluation unit 36 receives the obstacle appearance time (ie, absolute time or absolute time) from the obstacle appearer 10, receives the obstacle recognition result from the obstacle recognizer 20, and receives the obstacle recognition result from the obstacle recognition result. The obstacle perception time point is determined as the current obstacle recognition time point, and the obstacle recognition speed of the vehicle can be evaluated by comparing the obstacle appearance time point with the determined current obstacle recognition time point using the obstacle appearance time point as an absolute time point. Here, the current obstacle recognition time may be referred to as the final obstacle recognition time.

On the other hand, the evaluation unit 36 receives the time point of the appearance of the obstacle from the obstacle appearer 10 and receives the determination result from the obstacle recognition determination unit 34, but the determination result from the obstacle recognition determination unit 34 The obstacle recognition speed of the vehicle may be evaluated by determining the obstacle recognition time as the current obstacle recognition time and comparing it with the current obstacle recognition time determined using the obstacle appearance time as an absolute time.

As a result, it can be seen that the evaluation unit 36 can evaluate the obstacle recognition speed of the corresponding vehicle based on the obstacle appearance time (i.e., absolute time point) from the obstacle appearer 10 and the obstacle recognition result of the obstacle recognizer 20. . This is because the obstacle recognition result may be information directly including an obstacle recognition time point, but may also be output in the form of an indicator signal or an internal signal.

In the embodiment of the present invention, if the evaluation unit 36 can obtain the obstacle recognition time point from the obstacle recognizer 20, the evaluation unit 36 preferentially determines the obstacle appearance time point from the obstacle appearer 10 ( That is, the obstacle recognition speed of the vehicle may be evaluated based on the absolute point of view and the obstacle recognition point of time from the obstacle recognizer 20 . In other words, first of all, the evaluation unit 36 determines the obstacle recognition time from the obstacle recognizer 20 as the current obstacle recognition time, takes the obstacle appearance time as an absolute viewpoint, and determines the obstacle appearance time and the determined current obstacle recognition time. Obstacle recognition speed can be evaluated by comparison with the viewpoint.

If the obstacle recognizer 20 and the obstacle recognition speed evaluator 30 are connected to each other, but it is not known exactly which line among communication lines is a line for obtaining an obstacle recognition result, the obstacle recognition speed evaluator 30 ) will not be able to accurately obtain the obstacle recognition result from the obstacle recognizer 20. In this case, the evaluation unit 36 may evaluate the obstacle recognition speed of the vehicle based on the determination result of the obstacle recognition determination unit 34 (including the obstacle recognition time) and the obstacle appearance time from the obstacle appearer 10. . Here, the obstacle recognition timing in the obstacle recognition determination unit 34 is the obstacle recognition timing generated based on the results of the indicator recognition units 31 and 32 or the obstacle recognition generated based on the result of the internal signal recognition unit 33. can be a point in time Therefore, in this case, the evaluation unit 36 determines the obstacle recognition time from the obstacle recognition determination unit 34 as the current obstacle recognition time, takes the obstacle appearance time as an absolute viewpoint, and determines the obstacle appearance time and the determined current obstacle The obstacle recognition speed can be evaluated by comparison with the recognition time.

For example, the evaluation unit 36 may evaluate the obstacle recognition speed according to whether an interval between an obstacle appearance time and the current obstacle recognition time exceeds a reference value. In other words, if the interval between the obstacle appearance time and the determined current obstacle recognition time is within the standard value, the obstacle recognition speed can be evaluated as good (ie, the obstacle recognition speed is excellent), and the obstacle appearance time and the determined current obstacle can be evaluated. If the interval between recognition times exceeds the reference value, the obstacle recognition speed may be evaluated as poor (that is, the obstacle recognition speed is poor).

As another example, the evaluation unit 36 may evaluate the obstacle recognition speed according to which reference value corresponds to an interval between the obstacle appearance time and the determined current obstacle recognition time. In other words, if the interval between the obstacle appearance time and the determined current obstacle recognition time is within the first reference value, the obstacle recognition speed level may be evaluated as the first level (higher level). For example, the first reference value may be 0 second to 0.5 second. When the level of the obstacle recognition speed is the first level, it may mean that the obstacle recognition speed is considerably faster than the average value. If the interval between the obstacle appearance time and the determined current obstacle recognition time is within the second reference value (that is, when it does not reach the first reference value but is within the second reference value), the obstacle recognition speed level is at the second level (median level) can be evaluated as being When the level of the obstacle recognition speed is the second level, it may mean that the obstacle recognition speed is at an average level. For example, the second reference value may be 0.51 seconds to 1.0 seconds. If the interval between the obstacle appearance time and the determined current obstacle recognition time is within the third reference value (ie, less than the second reference value), the obstacle recognition speed level can be evaluated as the third level (lower level). . When the level of the obstacle recognition speed is the third level, it may mean that the obstacle recognition speed is below the average value. Each range of the above-described first reference value, second reference value, and third reference value can be adjusted at any time.

In FIG. 5 described above, the obstacle recognition determination unit 34 and the evaluation unit 36 are configured separately, but the obstacle recognition determination unit 34 may be included in the evaluation unit 36 if necessary.

On the other hand, in the embodiment of the present invention, if the obstacle appearance device 10, the obstacle recognition device 20, and the obstacle recognition speed estimator 30 are always turned on to evaluate the obstacle recognition speed, unnecessary power loss occurs and It may not function properly at times. Accordingly, when the obstacle appearer 10 recognizes the approach of the vehicle 1, an operation on signal is sent to the obstacle recognizer 20 and the obstacle recognition speed evaluator 30, thereby enabling the obstacle recognizer 20 and the obstacle recognition speed The evaluator 30 may be operated from the time the operation on signal is received.

7 is a flowchart for explaining the operation of the obstacle recognition speed evaluation system of a vehicle according to an embodiment of the present invention.

Once, as illustrated in FIG. 2, the obstacle appearer 10 installed near the crosswalk 40 recognizes whether the vehicle 1 is approaching based on data from a radar unit and/or a camera module (S10) .

When the obstacle appearer 10 recognizes that the vehicle 1 has approached within a predetermined area, a predetermined obstacle appears in front of the vehicle 1 (S12). At this time, the predetermined obstacle that appears may be, for example, a realistic model of a human shape, an actual panel on which a human shape is drawn, a ball of a predetermined size, and the like. In addition, the appearing obstacle may be stopped in the driving lane of the vehicle 1 or pass through the driving lane of the vehicle 1 .

Subsequently, as the obstacle appears, the obstacle appearer 10 transmits first information including the time point at which the obstacle appeared (ie, the time at which the obstacle appeared) (which can be an absolute time point or an absolute time point) to an obstacle recognition speed evaluator ( 30) (S14).

Accordingly, the obstacle recognition speed evaluator 30 receives the first information (S16).

Meanwhile, as the obstacle appearer 10 makes a predetermined obstacle appear in front of the vehicle 1, the obstacle recognizer 20 mounted on the vehicle 1 recognizes the obstacle and outputs an obstacle recognition result. (S18).

Here, the obstacle recognition result may be information including the time of recognizing the obstacle (ie, the time of recognizing the obstacle), an indicator signal indicating that the obstacle has been recognized, or an internal signal of the vehicle indicating that the obstacle has been recognized. The indicator signal may be a predetermined image and/or sound (voice) displayed through a display or speaker of an instrument panel in front of the driver's seat. In the case of an image, it may be in the form of an icon or graphic indicating that an obstacle has appeared in front, and in the case of a sound, it may be a unique pattern sound corresponding to the appearance of an obstacle in front. The internal signal of the vehicle may be an electrical signal indicating that an obstacle obtained from a controller of the vehicle has been recognized.

Subsequently, the obstacle recognition speed evaluator 30 determines an obstacle recognition time point (S20). For example, if the obstacle recognition result from the obstacle recognizer 20 includes the obstacle recognition time, the obstacle recognition speed evaluator 30 may determine the included obstacle recognition time as the current obstacle recognition time. On the other hand, if the obstacle recognition speed evaluator 30 cannot obtain the obstacle recognition result directly from the obstacle recognizer 20, the image of the display (ie, the obstacle By sensing the sound of the speaker (i.e., a unique pattern sound indicating that the obstacle has been recognized) and the sound of the speaker (i.e., a unique pattern sound indicating that the obstacle has been recognized), the obstacle recognizer 20 indirectly determines whether the obstacle has been recognized, or It is possible to indirectly determine whether obstacle recognition has been performed by acquiring an internal signal of . In this way, the point at which it is indirectly recognized that an obstacle is recognized may be referred to as an obstacle recognition time point.

Thereafter, the obstacle recognition speed estimator 30 compares the determined current obstacle recognition time and the obstacle appearance time (ie, absolute time) from the obstacle appearer 10 to evaluate the obstacle recognition speed of the corresponding vehicle (S22).

For example, the obstacle recognition speed evaluator 30 may evaluate the obstacle recognition speed according to whether an interval between the obstacle appearance time and the determined current obstacle recognition time exceeds a reference value. In other words, if the interval between the obstacle appearance time and the determined current obstacle recognition time is within the standard value, the obstacle recognition speed can be evaluated as good (ie, the obstacle recognition speed is normal), and the obstacle appearance time and the determined current obstacle can be evaluated. If the interval between recognition times exceeds the reference value, the obstacle recognition speed may be evaluated as poor (that is, the obstacle recognition speed is abnormal).

As another example, the obstacle recognition speed estimator 30 may evaluate the obstacle recognition speed according to which reference value corresponds to an interval between the obstacle appearance time and the determined current obstacle recognition time. In other words, if the interval between the obstacle appearance time and the determined current obstacle recognition time is within the first reference value, the obstacle recognition speed level may be evaluated as the first level (higher level). For example, the first reference value may be 0 second to 0.5 second. When the level of the obstacle recognition speed is the first level, it may mean that the obstacle recognition speed is considerably faster than the average value. If the interval between the obstacle appearance time and the determined current obstacle recognition time is within the second reference value (that is, when it does not reach the first reference value but is within the second reference value), the obstacle recognition speed level is at the second level (medium level). can be evaluated as being When the level of the obstacle recognition speed is the second level, it may mean that the obstacle recognition speed is at an average level. For example, the second reference value may be 0.51 seconds to 1.0 seconds. If the interval between the obstacle appearance time and the determined current obstacle recognition time is within the third reference value (ie, less than the second reference value), the obstacle recognition speed level can be evaluated as the third level (lower level). . When the level of the obstacle recognition speed is the third level, it may mean that the obstacle recognition speed is below the average value. Each range of the above-described first reference value, second reference value, and third reference value can be adjusted at any time.

The above description is merely an example of the technical idea of the present invention, and various modifications and variations can be made to those skilled in the art without departing from the essential characteristics of the present invention. Therefore, the embodiments disclosed in the present invention are not intended to limit the technical idea of the present invention, but to explain, and the scope of the technical idea of the present invention is not limited by these embodiments. The protection scope of the present invention should be construed according to the claims below, and all technical ideas within the equivalent range should be construed as being included in the scope of the present invention.

10: obstacle appearance stage 11: first sensor unit
12: second sensor unit 13: vehicle recognition unit
14: obstacle appearance unit 15: communication unit
20: obstacle recognizer 21: sensor unit
22: obstacle recognition unit 23: communication unit
30: obstacle recognition speed evaluator 31: first indicator recognition unit
32: second indicator recognition unit 33: internal signal recognition unit
34: obstacle recognition determination unit 35: communication unit
36: evaluation unit

Claims (15)

an obstacle appearer that causes an obstacle to appear in front of the vehicle in motion and outputs a time point when the obstacle appears;
an obstacle recognizer that recognizes an obstacle appearing in front of the vehicle and outputs an obstacle recognition result; and
An obstacle recognition speed estimator for evaluating an obstacle recognition speed based on the obstacle appearance time and the obstacle recognition result; includes,
The obstacle recognition result is at least one of information including the time of recognizing the obstacle, an indicator signal indicating that the obstacle was recognized, and an internal signal of the vehicle indicating that the obstacle was recognized,
The obstacle recognition speed estimator determines a current obstacle recognition time based on the obstacle recognition result and evaluates the obstacle recognition speed by comparing the determined current obstacle recognition time with the obstacle appearance time as an absolute time point. Including;
The evaluation unit,
Evaluating the obstacle recognition speed according to whether the interval between the obstacle appearance time and the determined current obstacle recognition time exceeds a reference value,
Obstacle perception speed rating system for vehicles. According to claim 1,
The evaluation unit,
When receiving an obstacle recognition result, which is the time point of recognizing the obstacle, determining the time point of recognizing the obstacle as the current obstacle recognition time point.
Obstacle perception speed rating system for vehicles. delete delete delete According to claim 1,
The evaluation unit,
If the interval between the obstacle appearance time and the determined current obstacle recognition time is within a reference value, the obstacle recognition speed is evaluated as normal.
Obstacle perception speed rating system for vehicles. According to claim 1,
The evaluation unit,
If the interval between the obstacle appearance time and the determined current obstacle recognition time exceeds a reference value, the obstacle recognition speed is evaluated as poor,
Obstacle perception speed rating system for vehicles. an obstacle appearer that causes an obstacle to appear in front of the vehicle in motion and outputs a time point when the obstacle appears;
an obstacle recognizer that recognizes an obstacle appearing in front of the vehicle and outputs an obstacle recognition result; and
An obstacle recognition speed estimator for evaluating an obstacle recognition speed based on the obstacle appearance time and the obstacle recognition result; includes,
The obstacle recognition result is at least one of information including the time of recognizing the obstacle, an indicator signal indicating that the obstacle was recognized, and an internal signal of the vehicle indicating that the obstacle was recognized,
The obstacle recognition speed estimator determines a current obstacle recognition time based on the obstacle recognition result and evaluates the obstacle recognition speed by comparing the determined current obstacle recognition time with the obstacle appearance time as an absolute time point. Including;
The evaluation unit,
Evaluating the obstacle recognition speed according to which reference value the interval between the obstacle appearance time and the determined current obstacle recognition time corresponds to,
Obstacle perception speed rating system for vehicles.
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