KR20000003378A - Car bump preventing device and method thereof - Google Patents

Abstract

PURPOSE: A car bump preventing device and a method thereof are provided to brake a car and warn the dangerous situation by measuring the distance between the driver's car and the front running car, using the stereo vision. CONSTITUTION: The car bump preventing device comprises:a stereo vision installed on the upper area of a filler in a front side of a car, photographing the image of the front subject with the size corresponding to the zooming control signal to put out the image signal corresponding to the image; an image processor for generating the distance measuring information from the front car and the traveling lane information by compensating and operating the car of the stereo image signal put out from the stereo vision; a velocity detector for detecting the traveling velocity of a car; and a controller for warning the lane separation when the lane separating time is more than the set time.

Description

Anti-collision device and method thereof

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a driving control apparatus and a method of an automobile, and more particularly, to an apparatus and a method capable of preventing a collision by detecting a distance from a front vehicle and a lane on a road.

When driving a car, a car collides with a vehicle traveling in front of the driver due to carelessness or poor watch. 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 fixing the radar view 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 prevent collisions by braking and warning in a dangerous situation by measuring the distance between a vehicle (hereinafter referred to as "the car") and a driving vehicle using stereo vision. An apparatus and a method thereof are provided.

Another object of the present invention is to attach at least two cameras on both sides of the upper side of the side pillar (A-pillar) in front of the vehicle to detect the distance and the driving lane information with the front driving vehicle to prevent the collision with the front driving vehicle An apparatus and a method thereof are provided.

In order to achieve the above object, an anti-collision device for a vehicle according to an embodiment of the present invention is installed on each of an upper A-pillar in front of a vehicle, and captures an image of a front subject with a size corresponding to a zooming control signal. Compensating and calculating the difference between the first and second cameras and the video signals output from the first and second cameras, respectively, and outputting the distance measurement information and the driving lane information with the front vehicle. An image processor, a speed detector for detecting a driving speed of the vehicle, and a zooming control signal generated when the amount of image information of the distance measurement information is less than a predetermined amount of image information, and supplied to the first and second cameras; At the same time, the distance measurement information is analyzed to calculate the measurement distance according to the speed and distance of the front vehicle and the driving vehicle. At the same time warning the collision risk to do, and is characterized in that by analyzing the lane information, consisting of a controller of the lane departure is a lane departure warning the set time is exceeded.

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

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.

The collision avoidance system of an automobile according to an embodiment of the present invention detects the front driving vehicle and detects the distance information and the driving lane information by using stereo vision installed at the upper portion of the "A" pillar of the front of the vehicle, and then detects them. By comparing and analyzing the information with the current driving speed, it warns of the possibility of collision and automatically brakes when a collision is expected to prevent the collision.

Hereinafter, exemplary embodiments of the present invention will be described in detail with reference to the accompanying drawings.

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 is provided with a stereo vision that generates an image signal by photographing a subject in front of an “A” pillar of a vehicle. The stereo vision is composed of first and second cameras 12 and 14 installed on two “A” pillars respectively installed on left and right sides of the vehicle. Preferably, the first and second cameras 12 and 14 are installed on the “A” pillars on the left and right sides of the windshield to easily detect the front driving vehicle and the driving lane. At this time, in the embodiment of the present invention, the first and second cameras 12 and 14 are two lanes positioned on the right and left sides of the vehicle being driven and the rear surface of the vehicle traveling in front of the vehicle when the vehicle normally runs within the lane range. Assume that it is installed to have a well recognizable angle.

FIG. 2 is a diagram illustrating a structure of a collision prevention system in which the first and second cameras 12 and 14 are installed as shown in FIG. 1. Referring to FIG. 2, the first and second cameras 12 and 14 detect and output image information such as a front driving lane and a traveling vehicle on the driving lane. In this case, the imaging angles of the subjects of the first and second cameras 12 and 14 are set differently. In addition, the first and second cameras 12 and 14 may zoom in or zoom out the lens according to the zooming control signals CTL1 and CTL2 so that the subject may be captured at a near or far distance. Such first and second cameras 12. 14 can be easily implemented by using a video camera employing a well-known CCD (Charge Coupled Division).

1st Analog to Digital Converter (hereinafter referred to as " ADC " and subscripted) < RTI ID = 0.0 > 16 < / RTI > and ADC2 18 are the analog outputs output from the first and second cameras 12 and 14, respectively. The image signal is converted into digital image data and input to the image processor 20. The image processor 20 processes the digital image data output from the ADC1 16 and the ADC2 18, respectively, and recognizes the driving lane information and the traveling vehicle from the processed digital image data to generate the lane information LD and the distance information DD. The image processor 20 may use an image processor commonly used in the current image signal processing system. Here, the distance information DD is distance measurement image information obtained by measuring the distance between the front vehicle and the host vehicle.

The operation of detecting the lane information LD and the distance information DD in the image processor 20 will now be described in detail.

First, an operation of recognizing lane information LD will be described. In general, lanes on the road have a certain shape. Normally, the lane prescribed by the Road Traffic Law consists of a solid line and a dotted 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. In other words, the chroma (color) data is different.

The image processor 20 recognizes image data having a constant size dotted line continuity or solid line as lane information from two image data output from the ADC1 16 and the ADC 18, and analyzes digital image data values (colors). The lane or center lane will be recognized. The lane width may have a predetermined size, and the image information output from the first and second cameras 12 and 14 may detect lane information changed according to a driving position of the vehicle.

That is, when the driving amount is stably driven within the lane range located in front of the vehicle, two lane information is obtained from each of the first and second cameras 12 and 14 located at the top of the "A" pillar on the right and left sides of the vehicle, respectively. The image information having the shape is generated, and when the vehicle travels in the lane, the image information having the running away from the lane is generated. Accordingly, the image processor 20 analyzes the digital image data to generate lane information LD according to the driving of the vehicle.

Secondly, the process of calculating distance information of a vehicle driving ahead is described. The image processor 20 recognizes a vehicle existing in front of the recognized lane from the digital image data output from the ADC1 16 and the ADC 18, and calculates and measures the distance with the vehicle traveling ahead of time to generate distance information DD. . 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 output from the first and second cameras 12 and 14, respectively, includes distance information between the vehicle and the front vehicle, and the distance information is experimentally measured in advance and stored in the internal memory. .

Accordingly, the image processor 20 detects a distance from the digital image data to the vehicle traveling ahead, compares the detected value with the measured values, and generates distance information DD with the vehicle. In addition, the image processor 20 compares the image signals of the first and second cameras 12 and 14 output from the ADC1 16 and the ADC2 18 to correct the error of the distance information DD.

The input unit 28 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 supplied to the controller 22.

The speed detector 30 detects the speed of the vehicle being driven and outputs the speed to the controller 22. The braking device 32 performs a braking function of the vehicle, and performs a braking function under the control of the controller 22 in addition to the driver's pedal operation. The warning generator 26 generates an indication and a warning sound to warn of collision and lane departure under the control of the controller 22. The warning generator 26 controls the display unit and the speaker on the driver's front panel. The memory 24 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 exemplary embodiment of the present invention. The memory 24 may include a ROM, a RAM, and the like.

The controller 22 inputs 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 28 and stores it in the memory 24. In addition, the controller 22 inputs lane information LD and distance information DD outputted from the image processor 20, compares the safety distance value stored in the memory 24 with the distance information DD, and determines whether a collision state is generated and a collision phase situation. Output warning data to warning generator 26 when it occurs. In addition, the controller 22 inputs lane information LD, and outputs warning data to the warning generator 26 when the lane departure passes the reference time. The control unit 22 controls zoom-in / zoom-out of the first and second cameras 12 and 14 by comparing the distance information DD which is the distance measurement image information amount with the preset set image information amount, in addition to the above function. Generate signals CTL1 and CTL2.

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

Referring to FIG. 3, the controller 22 scans the input unit 28 in step 34 of FIG. 3 to check for 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 36. 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 22 outputs and registers the input safety distance data in the memory 24 in step 38. If the safety distance data is not input, the controller 22 checks whether data for registering a reference time is registered in step 40. Here, the reference time means a time value for determining whether a warning occurs when the time that the driving vehicle leaves the lane exceeds a preset time. When the reference time value is input, the controller 22 outputs and registers the reference time value to the memory 24 in step 42. If it is not the reference time value, the controller 22 processes the corresponding input signal in step 44. 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 22 recognizes this in step 34, searches for and determines the input state in steps 36 and 40, and registers data of the state in the memory 24 in steps 38 and 42. .

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 34, the controller 22 determines whether a collision prevention function is set in step 46. In this case, when the collision prevention function is set, the controller 22 inputs the distance information DD output from the image processor 20 and stores it in the memory 24 in step 48. In step 49, the controller 22 compares and searches whether the measured image information amount, which is the input distance information DD, is equal to or substantially similar to the preset image information amount.

Here, the preset image information amount is an information amount set so that the image processor 20 can calculate image data with relatively accurate distance information DD by processing the image data. When an error occurs in the comparison search result when the measured image information amount exceeds the preset image information amount, the control unit 22 receives zooming control signals CTL1 and CTL2 for zooming in or out in 50 steps. , 14 For example, when the distance measurement information amount is smaller than the set information amount, the zoom-in control signal is output, and in many cases, the zoom-out control signal is output to adjust the amount of the image signal.

If it is determined in step 49 that the measured image information amount is close to the set image information amount, the controller 22 inputs the lane information LD output from the image processor 20 and stores it in the memory 24 in step 51. In addition, the controller 22 inputs the current vehicle traveling speed output from the speed detector 30 in step 52 and stores the current vehicle driving speed in the memory 24.

In step 54, the controller 22 calculates the measured distance by comparing the current driving speed with the distance information DD and a preset safety distance. That is, the controller 22 compares the distance information DD with the current traveling speed and calculates a relative measurement distance according to the traveling speed of the front vehicle in step 54. 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. After calculating the measurement distance value by the above process, the controller 22 compares the measurement distance and the safety distance in step 56. At this time, if the measured distance is smaller than the safety distance, the controller 22 controls the braking device 32 to start braking in step 58, and controls the warning generator 26 to warn that there is a possibility of colliding according to the incomplete safety distance. At this time, the warning can be output as an indication and a warning sound. In addition, in step 56, when the measured distance approaches the absolute distance, the braking device 32 may be controlled to perform rapid braking. After performing step 58, the controller 22 returns to step 48 to repeat the above process.

In step 56, when the measured distance is greater than the safety distance, the controller 22 determines that the driving vehicle is normally operated when the measured distance is greater than the safe distance value. In this case, the controller 22 releases the braking and warning function in step 60, and inputs the lane information LD in step 62 to check whether the driving vehicle is leaving the lane. In this case, when the vehicle driving away from the lane, the controller 22 detects the lane departure in step 62, accumulates the lane departure time in step 68, and then, in step 70, 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 34. If the vehicle departure time exceeds the reference time, the process proceeds to step 72 to warn that the vehicle is leaving the lane through the warning generator 26. However, if the vehicle has not left the lane, the controller 22 detects this in step 64, initializes the vehicle departure time that has accumulated so far in step 66, releases the warning function in step 66, and proceeds to step 34. .

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, the step of checking whether the lane departure warning function is registered in step 34 may be added.

As described above, the collision avoidance method of the present invention recognizes distance measurement, recognition of a vehicle ahead of the vehicle, and lanes by using a stereo vision system using two cameras, and the target vehicle in the distance area obtained by the vision system. The error that occurs when the distance is measured is minimized by the control of zooming. 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 collision prevention function of the vehicle can be effectively performed by attaching the stereo vision system to the vehicle and predicting the collision risk based on the expansion and accuracy of the measurement distance with the front driving vehicle. 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 (4)

In the collision prevention apparatus of the automobile, A stereo vision installed on an upper pillar of the vehicle and capturing an image of a front subject in a size corresponding to a zooming control signal and outputting a video signal corresponding thereto; An image processor for compensating and calculating a difference between stereo image signals output from the stereo vision and generating distance measurement information and driving lane information with a front vehicle; A speed detector for detecting a driving speed of the vehicle, When the amount of video information of the distance measurement information is less than the preset amount of video information, a zooming control signal is generated and supplied to the stereo vision, and the distance measurement information is analyzed to calculate the measurement distance according to the speed and distance of the front vehicle and the driving vehicle. And a controller configured to perform a braking function when the measured distance is not secured at the same time and to warn of a collision risk, and to analyze the lane information to warn the lane departure when the lane departure exceeds a preset time. Prevention device. The first and second stereo vision apparatuses of claim 1, wherein the stereo vision is installed at upper portions of the A-pillars on the front side of the vehicle, and the first and second images are configured to capture an image of a front subject and output an image signal corresponding to the zooming control signal. Collision prevention device for a differential car, characterized in that the two cameras. In the collision prevention method of the car, Calculating distance information by calculating a speed and a distance of the front vehicle and the driving vehicle from image signals of the front vehicle output from the first and second cameras respectively positioned on the A pillar of the vehicle; When the measured image information amount of the distance information is close to the preset image information amount, the measurement distance is calculated according to the speed and distance of the front vehicle and the driving vehicle. To warn you, 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. 4. The collision avoidance method of claim 3, wherein a zooming control signal is provided to the first and second cameras when the measured image information amount of the distance information exceeds a tolerance of a preset image information amount.