KR20060102018A - Curve road driving system of vehicle and method thereof - Google Patents

Abstract

The vehicle's driving control device detects all possible lanes, such as the center lane and the outer lane, from a single image input from one CCD camera, and calculates the bend angle of the curved road through the binary image processing of the detected plurality of lanes. To perform the deceleration, and to perform the acceleration control when it is out of the corner of the curved road,

Determining whether each recognition speed control mode bent by bending is selected; and when determining the control mode is selected, initializing the memory and collecting and temporarily storing images of all lanes displayed on the road through a single image input device; A process of calculating a curved road by binary image processing the image of the stored lane on the road, calculating a curved angle of the curved road, and considering a current vehicle speed, a curved road entry distance, and a curved angle, Determining, decelerating and controlling the brake actuator by the speed ratio determined at the determined deceleration point, and determining whether the return road at the corner of the curved road is a straight line during deceleration control; Acceleration control from the point is included.

Bend Furnace, Bent Angle, Automatic Reduction / Acceleration, Image Processing

Description

CURVE ROAD DRIVING SYSTEM OF VEHICLE AND METHOD THEREOF}

1 is a state diagram showing the calculation of the bending angle when driving a curved road in a conventional vehicle.

2 is a configuration diagram of an embodiment showing a configuration of a bend road traveling device in a vehicle according to the present invention.

3 is a flowchart of an embodiment of a curved road driving method in a vehicle according to the present invention.

4 is a state diagram showing the calculation of the bending angle of the curved road in the vehicle according to the present invention.

5 is a state diagram for the determination and calculation of the deceleration point during the running of the bend in the vehicle according to the present invention.

6 is a relation graph for determining a deceleration point according to a speed ratio when driving a curved road in a vehicle according to the present invention.

7 is a state diagram for determining and calculating an acceleration point after completion of driving of a curved road in a vehicle according to the present invention.

<Explanation of symbols for the main parts of the drawings>

10: mode switch 20: speed sensor

30: Brake / Acceleration Sensor 40: CCD Camera

50: controller 60: electronic brake actuator

70: ETC / ECU 80: Display

The present invention relates to a driving control apparatus for a vehicle, and more particularly, to detect all possible lanes such as a center lane and an outer lane from a single image input from a single CCD camera, and to process the detected multiple lanes through binary image processing. The present invention relates to a bend traveling apparatus and method for a vehicle that calculates a bent angle of a bend to perform an appropriate deceleration, and to automatically perform acceleration control when leaving a corner of the bend.

In general, when a vehicle enters a road on a curved road while driving, a driver decelerates the vehicle speed by driving a brake pedal to prevent an accident such as derailment and overturning due to overspeed, and then stops driving on the road. If you leave the bend (exit), drive the accelerator pedal to recover the vehicle speed.

However, if the driver is inexperienced in driving or incorrectly recognizes the bend angle of the curved road, an appropriate deceleration may cause an accident such as lane departure or overturning or a risk of such an accident.

Various technologies have been developed and applied to vehicles to actively cope with such emergencies. For example, video input and processing devices are installed on vehicles, and the road signs installed at the edges of the roads can be recognized. A method for enabling the driver to recognize the state of the road ahead is provided by automatically recognizing the state of the road in advance and then notifying the driver.

In addition, as another method disclosed in Patent Application No. 1998-0021038, a plurality of image input devices are mounted on a bumper of a vehicle, and the images input from the image input device are processed to detect lanes of a road and calculate a curved angle. Then, in view of the information of the distance and the vehicle speed sensor, a method of automatically calculating an appropriate speed limit according to the bend angle of the curved road and automatically decelerating the speed limit is provided.

The latter will be described in more detail with reference to FIG. 1 as follows.

When the vehicle enters the curved road as the vehicle travels, as shown in FIG. 1, the plurality of image input devices 120 mounted on the bumper of the vehicle recognizes a straight lane by one point and thus is not illustrated. Applied to the processing unit.

At this time, the image processing apparatus extracts each of the points y1, y2, ... y5 recognized by the plurality of image input apparatuses 120 and the inclination Δs with respect to the tangential direction, and the COS law Calculate the angle θ between each point and the slope Δs using.

When the bend angle θ of the curved road is calculated as described above, after detecting the current speed from the vehicle speed sensor, the appropriate vehicle speed set in the relationship between the vehicle speed and the bent angle θ of the curved road is extracted, and the brake actuator is driven. Through the control, the deceleration control is performed such that the current vehicle speed is maintained at a proper vehicle speed set corresponding to the bending angle.

The driving control method provided in the conventional vehicle has a disadvantage of increasing relative manufacturing costs by applying a plurality of expensive image input devices for more precise lane detection.

In addition, when the lane is blocked due to the presence of other vehicles or obstacles in front of the lane detection, when the lane is erased or broken due to the characteristics of the lane management or other reasons, the recognition of the curved road is not normally accompanied. There is a disadvantage which is calculated.

In addition, there is a disadvantage in that flexible cornering cannot be performed because excessive deceleration occurs through uniform control without checking the deceleration point without having to check the presence / absence of the simple reference speed.

That is, the control should be performed by varying the deceleration point according to the speed value of the vehicle obtained from the vehicle speed sensor, but there is a disadvantage in that active control is not performed.

In addition, if the vehicle departs from the corresponding point after driving in the curved road, the decelerated vehicle speed should be automatically recovered through proper acceleration, but such a function is not included.

The present invention has been invented to solve the above problems, and its object is to detect all possible lanes such as the center lane and the outer lane from a single image input from one CCD camera, and to detect the binary image of the plurality of lanes detected. Through processing, it calculates the bend angle of the bend, applies the relationship with the vehicle speed so that the appropriate deceleration is performed automatically, and when it is out of the bend, the acceleration control is automatically performed to provide flexibility for cornering and to recover the vehicle speed. To provide convenience.

The present invention for realizing the above object is a speed sensor for detecting the vehicle speed, a brake / acceleration sensor for detecting the operation of the brake pedal and the operation of the accelerator pedal, the brake actuator for driving the brake and the amount of air flowing into the combustion chamber In the vehicle comprising the ETC / ECU for controlling the engine output torque by adjusting the amount of fuel injected into each combustion chamber accordingly,

A mode switch for switching the contact point by the driver's selection, and outputting a signal to the controller to select the automatic deceleration and recovery control through the bending angle recognition of the curved road; A single image input device provided at a predetermined position of a lower portion of a windshield glass of a vehicle, comprising: a CCD camera for inputting images of all lanes displayed on a straight distance road in a driving direction and providing image information thereof to a controller; According to the selection of the automatic recognition mode of the curved road by the mode switch, the image information input from the CCD camera is temporarily stored in the frame unit, and the curved angle of the curved road is extracted through binary image processing, and the vehicle speed and the curved A controller for determining a deceleration point and a speed ratio in consideration of an angle and a distance to automatically decelerate at a speed determined through fuel injection amount and brake braking control; According to a control signal applied from the controller provides a curved road driving apparatus of the vehicle comprising a display unit for indicating information on the automatic speed adjustment in accordance with the entry of the curved road.

In addition, the present invention includes the process of determining whether the automatic speed control mode of each recognition bent by bending; Initializing the memory and collecting and temporarily storing images of all lanes displayed on the road through a single image input device when the selection of the control mode is determined; Binary image processing the image of the stored lane on the road to search a curved road, and calculating a curved angle of the curved road; Determining a deceleration point and a speed ratio in consideration of a current vehicle speed, a curved road entry distance, and a bent angle; Controlling deceleration by controlling a brake actuator at a speed ratio determined at the determined deceleration point; It is determined whether the return road at the corner of the curved road during the deceleration control is a straight line, and in the case of the straight line, an acceleration point driving method of the vehicle comprising the step of controlling the acceleration from the corresponding point is provided.

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

As shown in FIG. 2, the bend traveling device of a vehicle according to the present invention includes a mode switch 10, a speed sensor 20, a brake / acceleration sensor 30, a CCD camera 40, a controller 50, An electronic brake actuator 60, an ETC / ECU 70, and a display unit 80 are configured.

The mode switch 10 switches the contact point by the driver's selection, and provides the controller 50 with a signal for selecting the automatic deceleration and recovery control of the vehicle speed through the bending angle recognition of the curved road.

The brake / acceleration sensor 30 is a brake pedal operation detection sensor mounted on the brake pedal and an accelerator pedal operation detection sensor mounted on the accelerator pedal. The controller 50 detects information on the operation of the brake pedal and the operation of the accelerator pedal. To provide.

The CCD camera 30 is a single image input device installed at a predetermined position of the lower portion of the windshield glass of the vehicle. The CCD camera 30 inputs images of all lanes displayed on the road such as the center lane and the outer lane with respect to the straight distance in the driving direction. By providing the image information on the controller 50.

The controller 50 enters the corresponding mode when the automatic recognition mode of the curved road is selected from the mode switch 10, temporarily stores the image information input from the CCD camera 30 in units of frames, and stores the stored image information. Extracts the bend angle of the curved road through binary image processing, determines the deceleration point and the speed ratio for deceleration in consideration of the speed of the vehicle detected by the speed sensor 20, and then controls fuel injection amount and brake braking control. It automatically decelerates at a speed determined through the display unit, and displays all information on the display unit 80.

The controller 50 is an A / D converter for converting an analog signal input from the mode switch 10, the speed sensor 20, the brake / acceleration sensor 30 and the CCD camera 40 into a digital signal ( 51) and the bending angle of the bend path is detected through binary image processing from various signals converted and applied by the A / D converter 51 and applied to the deceleration point from the current speed of the vehicle and the distance of the bend path. Determine and control the speed ratio for deceleration according to the degree of bending of the curved road, and the image information of all lanes on the road applied through the central processor 52 in the frame unit. The electronic brake driving circuit 54 and the central processing unit 55 which drive the operation of the electronic brake actuator 60 according to the memory 53 for temporarily storing the control signal and the control signal applied from the central processing unit 52. Being And a display unit driving circuit 55 for driving the display of information of the overall operating state in accordance with the signal.

The electronic brake actuator 60 is operated according to a control signal applied from the controller 50 to restrain the wheel, thereby slowing down the speed of the vehicle.

The ETC / ECU 70 adjusts the amount of air introduced into the combustion chamber according to the control signal applied from the controller 50, and accordingly adjusts the amount of fuel injected into each combustion chamber so that the deceleration is performed at a determined speed ratio. If you leave the corner of the furnace to recover to the speed before deceleration.

The display unit 80 instructs the driver to recognize the information about the deceleration of the speed according to the entry of the curved road and the speed ratio thereof according to the control signal applied from the controller 50 in various ways such as numbers and letters. do.

Referring to the operation of the curved road running control in the vehicle according to the present invention configured to include the function as described above are as follows.

In the course of driving the vehicle to a certain destination, if the driver sets the automatic angle recognition and the speed control mode of the curved road using the mode switch 10, the central processing unit 52 in the controller 50 is the A / D converter. Recognizing each automatic bending and speed control mode bent in a curve from the signal applied through 51, sets the corresponding mode, and then initializes the previous execution data stored in the memory 53 (S101).

After the execution of S102, all of the displayed on the road that is input from the CCD camera 40, which is a single image input means installed at a predetermined position at the lower end of the windshield glass, is converted into a digital signal through the A / D converter 51 and applied. The video frame for the lane is temporarily stored in the memory 53 (S102).

Thereafter, the plurality of lane image frame data stored in the memory 53 are accessed to calculate the curved path search and the bend angle through binary image processing (S103).

As shown in FIG. 4, the curved path search and the calculation of the bent angle through the binary image processing are performed by searching vertical line components from the detected plurality of lane images to determine a vertical direction vector L and not belonging to the vertical direction. The curved path is searched by determining the vector L 'from the points, and the bending angle of the curved path is determined by applying the following Equation 1 from the angle formed by the vertical vector L and the vector L' of the points not belonging to the vertical direction. .

COS θ = L × L '/ ｜ L ｜ × ｜ L' ｜

 When the curved road search and the bending angle are determined in S103, the current vehicle speed is detected from the speed sensor 20 (S104), and the algorithm is set according to the distance between the current vehicle position and the curved road, the degree of the bent angle, and the vehicle speed. The appropriate deceleration point is calculated (S105).

In step S105, as shown in FIG. 5, when the speed of the vehicle is fast, the deceleration point may be earlier than the start point of the bending road, and may be provided immediately before the start of the bending road.

As shown in the graph of FIG. 6, the deceleration before the winding road starts to increase when the ratio of the current speed v and the reference speed v_r is equal to or greater than 1 (when the vehicle speed is equal to the reference speed), and reaches a maximum value when the ratio is higher than a predetermined ratio. Deceleration starts from L = Max) point.

In this case, the maximum value Max means the longest distance that can be searched for the curved path and the bent angle from the CCD camera 40.

As described above, when the appropriate deceleration point is determined, the electronic brake actuator 60 is operated through the electronic brake drive circuit 54 at the deceleration point so that the traveling vehicle speed of the vehicle travels at the determined vehicle speed, resulting in a ride comfort caused by sudden brake operation. Deterioration can be prevented (S106).

At this time, the predetermined method is set so that the driver can recognize the display unit 80 through the display unit driver circuit 55 about the information on the curved road and the bent angle and the deceleration control of the vehicle speed detected as described above. It is displayed as (S107).

As described above, when decelerating according to the degree of entry and bend of the curved road and passing through the exit point of the curved road, the speed should be accelerated at an appropriate speed to provide smooth cornering as soon as it returns to the center of the corresponding corner.

Therefore, the conditions for proper acceleration must be free of vehicles or other obstacles that impede acceleration in the first place.

Second, the driver should not step on the brake or accelerator pedal.

That is, the driver's choice of active brake pedal or accelerator pedal takes priority over the performance of the automatic acceleration mode.

Third, the speed of the current vehicle must be within the specified speed and the proper speed of the road on which it is driving.

If the above conditions are met, the central processing unit 52 in the controller 50 at the moment of passing through the escape point transmits an appropriate acceleration signal to the ETC / ECU 70 so as to be flexible cornering.

Therefore, when the auto acceleration is performed in the state where the deceleration control is performed through the process of S106, it is determined whether a front vehicle or an obstacle that is a risk of an accident is detected, and when the front vehicle or an obstacle is detected, the auto acceleration control is performed. Do not (S108).

Further, in the state where the deceleration control is performed as described above, it is determined whether a signal for operating the brake pedal or the accelerator pedal is detected by the driver from the brake / acceleration sensor 30 (S109). If the operation is detected, automatic acceleration control is not performed.

However, if there is no vehicle or other obstacle that acts as a risk factor when accelerating in front of the judgment in S108, and the operation of the brake pedal and the accelerator pedal is not detected in the judgment in S109, the central processing unit 52 determines The center escape point, that is, the acceleration point of the corner is calculated during driving (S110).

As shown in the accelerating point calculation is 7 in the S110, to search for the extraction point of the arc, leading to a straight line, the acceleration point determination contact of a straight line l2 vertical line l1 in contact with the corner entering a corner of a bent and thereby Finding A and detecting whether the road going out of the corner is a straight line, and if it is a straight line, controls the ETC / ECU 70 from the point A and performs automatic acceleration (S111), and displays the general control information on the display unit ( Instructs the driver through 80 (S112).

In the process of performing the acceleration control after deceleration as described above, if the corner continues like the U curve, the deceleration corner operation of the proper speed should be continued until the straight road is searched.

As described above, the present invention detects all possible lanes such as the center lane and the outer lane from a single image input from one CCD camera, and calculates the bent angle of the curved road through the binary image processing of the detected plurality of lanes. Therefore, proper deceleration and acceleration control is automatically performed, thereby providing stability and convenience in driving.

Claims (7)

The speed sensor for detecting the vehicle speed, the brake / acceleration sensor for detecting the operation of the brake pedal and the operation of the accelerator pedal, the brake actuator for driving the brake, and the amount of air flowing into the combustion chamber are adjusted, and the injection is carried out to each combustion chamber accordingly. In a vehicle comprising an ETC / ECU for adjusting the amount of fuel to be controlled to control the engine output torque, A mode switch for switching the contact point by the driver's selection, and outputting a signal to the controller to select the automatic deceleration and recovery control through the bending angle recognition of the curved road; A single image input device provided at a predetermined position of a lower portion of a windshield glass of a vehicle, comprising: a CCD camera for inputting images of all lanes displayed on a straight distance road in a driving direction and providing image information thereof to a controller; According to the selection of the automatic recognition mode of the curved road by the mode switch, the image information input from the CCD camera is temporarily stored in units of frames, and the curved angle of the curved road is extracted through binary image processing, and the speed of the vehicle is considered. A controller for determining a deceleration point and a speed ratio for deceleration to automatically decelerate at a speed determined through fuel injection amount and brake braking control; And a display unit for indicating information on automatic speed adjustment according to the entry of the curved road according to the control signal applied from the controller. The method of claim 1, Wherein the controller is decelerating in the running of the curved road passing through the center of the corner, the curved road running apparatus of the vehicle, characterized in that for performing the acceleration control for flexibility of the cornering. The method of claim 1, The controller may include an A / D converter for converting an analog signal input from the mode switch, a speed sensor, a brake / acceleration sensor, and a CCD camera into a digital signal; Binary image processing of all lane information displayed on the road applied by the A / D converter detects the bend angle of the curved road, and deceleration point in consideration of the current speed of the vehicle, the distance between the vehicle and the curved road, and the degree of the bent angle And a central processing unit for determining and controlling the speed ratio for deceleration; A memory for temporarily storing image information of all lanes on the road applied through the central processing unit in a prime unit; An electronic brake driving circuit for driving the operation of the brake actuator in accordance with a control signal applied from the central processing unit; And a display unit driving circuit for driving information display of an overall operating state according to a control signal applied from the central processing unit. Determining whether each recognized automatic speed control mode that is bent by bending is selected; Initializing the memory and collecting and temporarily storing images of all lanes displayed on the road through a single image input device when the selection of the control mode is determined; Binary image processing the image of the stored lane on the road to search a curved road, and calculating a curved angle of the curved road; Determining an appropriate deceleration point and a speed ratio in consideration of a current vehicle speed, a curved road entry distance, and a bent angle; Controlling deceleration by controlling a brake actuator at a speed ratio determined at the determined appropriate deceleration point; It is determined whether the outgoing road at the corner of the curved road during deceleration control is a straight line, and in the case of a straight line, a method of driving a curved road of a vehicle, comprising the step of accelerating control from the corresponding point. The method of claim 4, wherein The calculation of the curved road and the bent angle in the image of the lane displayed on the road, Determining a vertical direction vector L by searching vertical line components from the plurality of lane images; Searching for a curved path by determining a vector L 'from points not belonging to the vertical direction; The curved road driving method of claim 2, wherein the bending angle of the curved road from the angle formed by the vertical vector L and the vector L 'of points not belonging to the vertical direction is determined by applying Equation 2 below. COS θ = L × L '/ ｜ L ｜ × ｜ L' ｜ The method of claim 4, wherein The condition of the automatic acceleration during the deceleration control of the curved road, ① There must be no vehicles or other obstacles in front of the vehicle that impede acceleration. ② The driver should not step on the brake pedal or accelerator pedal. ③ The vehicle's curved road driving method, characterized in that the current vehicle speed is set in a condition not to exceed the prescribed speed and the proper speed of the road running. The method of claim 4, wherein Determination of the acceleration point during the deceleration control of the curved road, When entering the corner of the curved road to find the contact point of the line and the straight line perpendicular to the corner, and detects whether the road exiting the corner is a straight line, in the case of a straight line is characterized in that the automatic acceleration from the contact point of the vertical straight line How to drive a curved road of a vehicle.

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