KR19990050135A - Collision prevention device and method of automobile - Google Patents

Abstract

An anti-collision device of a vehicle includes a radar installed at the front of the vehicle, a distance calculator that calculates the output of the radar to generate first distance information with the front vehicle, a camera installed at the top of the windshield of the vehicle, and an output of the camera An image processor generating second distance information and driving lane information with a vehicle ahead, a speed detector detecting a driving speed of the vehicle, and analyzing the first distance information and the second distance information Means to calculate the measured distance according to the speed and distance of the vehicle, and to provide a braking function when the measured distance is not secured and to warn of the danger of collision, and to analyze the lane information to warn the lane departure when the lane departure exceeds the set time. It consists of.

Description

Collision prevention device and method of automobile

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a driving control apparatus and method for an automobile, and more particularly, to an apparatus and method for preventing a collision.

Frequently, collisions occur due to driver's carelessness or poor watch while driving a car. That is, traffic accidents due to lane departure due to poor visibility and lack of driver's concentration during long distance driving, rainy weather or night driving, and collision with the driving vehicle are increasing. In addition, an inexperienced driver, such as a novice driver, may cause a collision accident without being able to estimate the distance and the driving speed of the vehicle in front of him.

In order to prevent such a collision, a collision prevention system having a near radar attached to a vehicle has been devised. However, in the collision avoidance method, the distance measurement with the front driving vehicle can be detected relatively accurately, but information about the driving lane of the vehicle cannot be detected. In addition, the collision avoidance system using the radar has a problem in that it is not possible to accurately perform the collision avoidance function without measuring the distance from the vehicle in front of the curved lane or the uneven lane during driving.

In order to solve the above problems, the conventional anti-collision system having the radar attached to a plurality of radar in front of the vehicle to detect the vehicle distance information in various directions, or to adjust the direction of the radar using a scanning method Using the method, we tried to solve the problem of fixed radar observation range. However, such a collision avoidance system complicates the adjustment of the radar view range and also has a limitation of the view range.

Accordingly, an object of the present invention is to provide a collision avoidance device and a method capable of braking and warning in a dangerous situation by calculating a distance from a vehicle traveling ahead in a vehicle.

Another object of the present invention is to attach a radar and a camera in front of the vehicle to detect the distance and the driving lane information with the front driving vehicle, and to compare and analyze the current driving speed and the detection information to prevent the collision with the front driving vehicle An apparatus and method are provided.

An anti-collision device for a vehicle according to an exemplary embodiment of the present invention for achieving the above object includes a radar installed in a front part of a vehicle, a distance calculator configured to generate first distance information with a front vehicle by calculating an output of the radar; A camera installed at an upper end of the front windshield of the vehicle, an image processor for calculating the output of the camera to generate second distance information and driving lane information with the front vehicle, a speed detector for detecting a traveling speed of the vehicle, Means for analyzing the first distance information and the second distance information and calculating a measurement distance according to the speed and distance of the front vehicle and the driving vehicle, and performing a braking function when the measured distance is not secured, and at the same time, warning a collision risk; Analyzing the lane information, the lane departure is characterized in that it comprises a means for warning the lane departure when the set time exceeds.

BRIEF DESCRIPTION OF THE DRAWINGS The figure which shows the external appearance of the motor vehicle provided with a collision prevention function.

2 is a diagram showing the configuration of a collision prevention apparatus for a vehicle according to an embodiment of the present invention.

3 is a flowchart illustrating a collision prevention method of a vehicle according to an embodiment of the present invention.

An anti-collision system for a vehicle according to an exemplary embodiment of the present invention detects a traveling speed and a distance of a front vehicle by using a radar, and detects recognition and distance information of a front vehicle by using a camera, and information on a driving lane. Afterwards, the detection information and the current traveling speed information are compared and analyzed to warn of the possibility of collision, and the vehicle is automatically braked when the collision is expected to prevent the collision.

1 illustrates an exterior structure of an automobile having a collision prevention system according to an exemplary embodiment of the present invention. Referring to FIG. 1, a collision prevention system of a vehicle includes a radar 20 installed at an appropriate position of a nose area of a vehicle, mounted on a roof of a vehicle, and configured to provide wind shield glass in a direction. Install the camera 10 in the direction of the direction through. In this case, the radar 20 may be installed at a center position of the front part of the vehicle so as to accurately detect a distance from the front driving vehicle in the vehicle driving state, and the camera 10 may have a front glass window to detect the front driving vehicle and the driving lane. It is preferable to install at the central position of. At this time, in the embodiment of the present invention, it is assumed that the camera 10 is installed to have an angle for recognizing two lanes located on the right side and the left side of the driving vehicle when the vehicle normally runs within the lane range. .

FIG. 2 is a diagram illustrating a structure of a collision prevention system in which a camera 10 and a radar 20 are installed as shown in FIG. 1.

Referring to FIG. 2, the camera 10 is set to the front driving direction, and detects and outputs image information such as a front driving lane and a traveling vehicle on the driving lane. The camera 10 may use a Charge Coupled Division Camera. The digital converter 223 converts the image information output from the camera 10 into digital image data. The image processor 225 inputs the output of the digital converter 223, recognizes the driving lane information and the vehicle vehicle from the digital image data, and generates lane information DT3 and second distance information DT2. The image processor 225 may use an image processor.

The operation of the image processor 225 will be described in detail.

First, an operation of recognizing lane information DT3 will be described. In general, lanes on the road have a certain shape. The lane consists of a solid line and a dashed line, and the center line has a different color. Therefore, the image data in the digital image data is divided into a solid line or a dotted line, and the data of the digital image data is detected differently according to the general lane and the center line. Therefore, the image processor 225 recognizes the data having the form of a dotted line or the solid line as the lane information in the digital image data as the lane information, and also analyzes the digital image data value to recognize the general lane or the center lane. In addition, the lane width has a predetermined size, and the image information output from the camera 10 detects lane information changed according to the driving position of the vehicle. That is, when the driving vehicle is stably driven within the lane range, image information having two lane information located on the right and left sides of the vehicle is generated. When the vehicle travels in the lane, the driving vehicle leaves the lane. Image information with running is generated. Accordingly, the image processor 225 analyzes the digital image data to generate lane information DT3 according to driving of the vehicle.

Secondly, the process of calculating distance information of a vehicle driving ahead is described. The image processor 225 recognizes a vehicle existing in front of the recognized lane from the received digital image data, and then calculates a distance from the front traveling vehicle to generate second distance information DT2. If there is a vehicle driving in front of the recognized lane, the digital image data includes image data of the vehicle. At this time, the digital image data includes distance information between the vehicle traveling ahead with its own vehicle, and the distance information is experimentally measured in advance and stored in the internal memory. Therefore, the image processor 225 detects a distance from the digital image data to the front traveling vehicle, compares the detected value with the measured values, and generates second distance information DT2 with its own vehicle.

As shown in FIG. 1, the radar 10 is installed at a central portion of the front portion of the target vehicle and includes a light emitting device, a light receiving device, a signal processor, and the like. The radar 10 is adjusted in direction to accurately track a target vehicle under the control of the controller 211. The radar 10 converts the pulse signal output from the distance operator 227 into an optical signal and emits it to the outside through the light emitting device, and the externally reflected optical signal is converted into an electrical signal in the light receiving device and then converted into a pulse signal. The radar 10 may use a near field radar that uses low power, such as an infrared pulse radar. The distance calculator 227 inputs the output of the radar 20 to calculate a distance from the front driving vehicle. That is, the distance calculator 227 detects a time difference between the emitted pulse signal and the reflected pulse signal, and calculates the distance between the front driving vehicle and itself according to the time difference and outputs the distance to the first distance information DT1. The distance operator 227 may use a digital signal processor.

The input unit 217 may be installed on the front panel of the vehicle, and includes a function key for inputting a safety distance value for preventing a vehicle collision, a function key for inputting a reference time value for warning lane departure, and the like. The input signal is output to the controller 211. The speed detector 219 detects the speed of the vehicle being driven and outputs the speed to the controller 211. The braking device 221 is responsible for the braking function of the vehicle, and performs a braking function under the control of the controller 221 in addition to the pedal operation of the driver. The warning generator 215 generates an indication and a warning sound to warn of collision and lane departure under the control of the controller 221. The warning generator 215 controls a display unit and a speaker on the driver's front panel. The memory 213 performs a program for performing functions such as vehicle collision prevention and lane departure prevention, and stores data generated during program execution, according to an embodiment of the present invention. The memory 213 may include a ROM, a RAM, and the like.

The control unit 211 stores safety distance data for performing the collision avoidance function and reference time data for warning of lane departure by the function key input from the input unit 215 and stores them in the memory 213. In addition, the controller 211 inputs the first distance information DT1 from the distance operator 227 and the second distance information DT2 from the image processor 225, and compares the safety distance value stored in the memory 213 with the distance information DT1 and DT2 to collide. It determines whether there is a state and outputs warning data to the warning generator 215 when a collision phase situation occurs. The controller 211 inputs lane information DT3 and outputs warning data to the warning generator 215 when the lane departure passes the reference time.

3 is a flowchart illustrating a vehicle collision preventing method according to an exemplary embodiment of the present invention.

Referring to FIG. 3, in step 312, the controller 211 scans the input unit 217 and checks whether there is an input. In this case, if an input signal is detected, it is checked whether data for registering the safety distance is registered in step 314. Here, the safety distance means a value for setting a distance for generating a collision avoidance warning with a front driving vehicle. That is, the safety distance means a distance that allows more than an absolute distance that may not collide upon sudden braking in proportion to the speed of the front vehicle, the speed of the vehicle, and the distance between the two vehicles. When the safety distance value is input, the controller 211 outputs and registers the input safety distance data to the memory 213 in step 316. If the safety distance data is not input, the controller 211 checks whether the data is for registering a reference time (318). Here, the reference time means a time value for determining whether or not a warning occurs when the traveling vehicle exceeds the preset time. When the reference time value is input, the controller 211 outputs and registers the reference time value to the memory 213 in step 320. If it is not the reference time value, the controller 211 processes the corresponding input signal in step 322. That is, the collision warning and the lane departure warning according to the embodiment of the present invention may be operated by the user as an option. Therefore, when the function setting input is generated as described above, the controller 215 recognizes it in step 332 and registers it in the memory 213.

When the safety distance and the reference time value is registered as described above, a routine for preventing collision and warning lane departure is then performed. However, the registration of the safety distance and the reference time value may use a distance and time value set as a default. That is, in the exemplary embodiment of the present invention, a case where the driver registers a desired safety distance and time value is taken as an example, but a reference time and distance value set when the vehicle is manufactured may be used.

If the input signal is not detected in step 312, the controller 211 determines whether a collision prevention function is set in step 324. In this case, when the collision prevention function is set, the controller 211 inputs the first distance information DT1 output from the distance operator 237 in step 326 and stores the first distance information DT1 in the memory 213, and outputs the image processor 225 in step 328 and 320. The second distance information DT2 and the lane information DT3 are input and stored in the memory 213. In addition, the control unit 211 inputs the current vehicle driving speed output from the speed detector 219 in step 332 and stores it in the memory 213.

In step 334, the control unit 211 calculates a dangerous distance by calculating the current traveling speed, the first distance information DT1, the second distance information DT2, and the like. That is, in step 334, the controller 211 compares and analyzes the first distance information DT1 and the current traveling speed to calculate a relative first measurement distance according to the traveling speed of the front vehicle, and calculates the second distance information DT2 and the current driving. Comparing and analyzing the speed to calculate a relative second measurement distance according to the traveling speed of the front vehicle. The measurement distance value is determined according to the current traveling speed of the front vehicle, the traveling speed of the own vehicle, and the distance between the two vehicles. In this case, since the first measurement distance is distance information detected by the radar 20, the distance data having a relatively accurate value with the front driving vehicle becomes, and the second measurement distance is distance information detected by the camera 10, which is less than the first measurement distance. It is the distance data with the correct value.

After calculating the first measurement distance and the second measurement distance values as described above, the first measurement distance and the safety distance are compared in step 336. In this case, if the first measurement distance is smaller than the safety distance, the control unit 211 starts the braking by controlling the braking device 221 in step 338, and warns that there is a possibility of colliding due to the inability to secure the safety distance by controlling the warning generator 215. At this time, the warning can be output as an indication and a warning sound. In addition, in step 336, when the first measurement distance approaches the absolute distance, the braking device is controlled to perform rapid braking by controlling 221. After performing step 338, the control unit 211 returns to step 326 to repeat the above process.

If the first measurement distance is greater than the safety distance in step 336, the controller 211 compares the safety distance with the second measurement distance in step 340. In this case, if the second measurement distance is smaller than the safety distance, the control unit 211 starts the braking by controlling the brake device 221 in step 338, and warns that there is a possibility of colliding with the safety distance not secured by controlling the warning generator 215. At this time, the warning may be output as a display and a warning sound as described above. After performing step 338, the control unit 211 returns to step 326 to repeat the above process.

After measuring the distance with the vehicle ahead from the output of the radar 10 and the camera 20 as described above, if there is a possibility that the driving vehicle collides with the preceding driving vehicle and the safety distance is not secured, the vehicle that is safely driving can be automatically braked. It is possible to prevent the collision. In this case, it can be seen that the distance between the vehicles can be reliably measured by measuring the distance to the vehicle in front of the vehicle in two ways.

However, when the first measurement distance and the second measurement distance are both greater than the safety distance value in steps 336 and 340, the vehicle in operation is operating normally. In this case, the control unit 342 releases the braking and warning function, and inputs the lane information DT3 in step 342 to check whether the driving vehicle is leaving the lane. In this case, when the vehicle in operation travels out of the lane, the control unit 211 detects the lane departure in step 344, accumulates the lane departure time in step 350, and then, in step 352, does the vehicle departure time exceed the set reference time? Check it. In this case, if the reference time is not exceeded, the process returns to step 312. If the vehicle departure time exceeds the reference time, the process proceeds to step 354 to warn that the vehicle is leaving the lane through the warning generator 215. However, if the vehicle does not leave the lane, the control unit 211 detects this in step 344, initializes the vehicle departure time accumulated so far in step 346, releases the warning function in step 348 and proceeds to step 312. .

In the exemplary embodiment of the present invention, the lane departure function is automatically set when the collision prevention function is set. However, the collision prevention function and the lane departure warning function may be separately performed. In this case, as shown in step 324, the step of checking whether the lane departure warning function is registered may be added.

As described above, the collision avoidance method of the present invention recognizes a distance measurement, a recognition of a front vehicle, a lane, and the like by using a vision system using a camera 10, and uses a radar 20 to predict a distance. In this case, the radar 20 may obtain an accurate vehicle distance from the driving target vehicle, and the vision system may recognize a lane in which the vehicle is in progress and recognize a forward driving vehicle existing on the corresponding lane. In this case, the vision system can obtain a distance from the vehicle traveling ahead less accurately than the radar 20, but is relatively less sensitive to road conditions. Therefore, in the exemplary embodiment of the present invention, the radar 10 is adjusted to fit the target vehicle, and the error is reduced by verifying whether the distance of the target vehicle is measured in the distance area obtained by the vision system. The collision prevention method may detect and brake a collision risk by using distance information and speed information as described above.

As described above, the radar and the vision system are attached to the vehicle to measure the distance from the vehicle in front of the vehicle, thereby preventing the collision by predicting the collision risk by using the radar accuracy and the recognition of the wide range of the vision system. Function can be performed effectively. In addition, it is possible to implement an unmanned vehicle system by controlling the driving of the vehicle by using the vision system, there is an advantage to improve the traffic environment by effectively performing the collision prevention function.

Claims (2)

In the collision preventing device of a vehicle, Radar installed in front of the vehicle, A distance calculator configured to calculate output of the radar to generate first distance information with the front vehicle; A camera installed on top of the windshield of the vehicle, An image processor configured to calculate output of the camera to generate second distance information and driving lane information with a front vehicle; A speed detector for detecting a driving speed of the vehicle, Analyze the first distance information and the second distance information to calculate the measurement distance according to the speed and distance of the front vehicle and the driving vehicle, and performs a braking function when the measurement distance is not secured at the same time to warn of the risk of collision Sudan, And a means for warning the lane departure when the lane departure exceeds a predetermined time by analyzing the lane information. In the collision prevention method of the car, Generating first distance information by calculating the speed and distance of the front vehicle and the driving vehicle from the output from the radar, Calculating second distance information by calculating a speed and a distance of the front vehicle and the driving vehicle from the camera output; Analyze the first distance information and the second distance information to calculate the measurement distance according to the speed and distance of the front vehicle and the driving vehicle, and performs a braking function when the measurement distance is not secured at the same time to warn of the risk of collision Process, And checking lane departure by inputting lane information from the camera when it is normal in the process, and warning lane departure when the lane departure exceeds a preset time.