KR20140106853A - System and method for detecting of speed bump - Google Patents

Abstract

An embodiment of the present invention relates to a system and method for detecting a speed bump. The speed bump detecting system may include an imaging device which acquires images including a distance from the front of a vehicle and signal strength; a speed bump determining unit which analyzes image data including the distance from the front of the vehicle and the signal strength, the image data acquired from the imaging device, by a distance-based condition and a signal strength-based condition, thus detecting a speed bump; and a speed bump information providing unit which outputs speed bump information detected from the speed bump determining unit through an output unit.

Description

BACKGROUND OF THE INVENTION 1. Field of the Invention [0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention [0001]

Various types of speed limit brakes, such as Patent Document 1, are installed on the road surface to forcibly lower the running speed of the vehicle in the road section, and are usually installed for residential environment or pedestrian protection. can do.

This is one of the important safeguards that can prevent accidents by reducing overspeed.

However, if the driver can not accurately grasp the presence of the speed limiter in front of the driver, it may act as a risk factor for safe driving.

More specifically, the actual speeding-up preventing jaw is often difficult to be detected in a dark state due to peeling of paint applied for differentiation from the road surface.

If the driver does not know the existence of the overspeed braking and maintains the running speed, it can be a factor that hinders the safe driving of the driver due to a great impact on the lower end of the vehicle. In addition, it may be an element that may cause discomfort to the driver.

There is a method of notifying the driver of the position of the overspeed preventing jaw by using the GPS information and a method of recognizing the overspeed preventing jaw by acquiring the road surface state through the pressure / amplitude responsive damper.

However, there is a problem that the method of notifying the position of the overspeed inhibition tile using the GPS information has to update the road surface state which changes from time to time in real time, and the sensitive damper measures the vibration amount of the vehicle inputted into the tire, There is a problem that it is possible to grasp only the road surface information on the area that has already been traveled.

KR 2011-0108500A

One aspect of the present invention is to provide a system and method for overspeed protection for detecting an overspeed protection threshold by analyzing data measured from a ToF (Time of Flight) camera.

An overspeed protection system according to an embodiment of the present invention includes an imaging apparatus for acquiring an image including a distance and a signal intensity in front of a vehicle; A speed limit bust detection unit for detecting a speed limit bust by analyzing image data including a distance and a signal intensity of the front of the vehicle obtained from the image device through a distance based condition and a signal strength based condition; And a speed reducing jaw information providing unit for outputting the speed limiting jaw information detected by the speed controlling jaw detecting unit through an output unit.

In addition, the speed restraint tilt detecting unit may analyze the infrared ray distribution of the reflection measuring region having the highest infrared ray reflectance among the front area of the vehicle from the signal intensity information of the image data in front of the vehicle to check whether it matches the overspeed prohibiting infrared ray reflection distribution condition A signal intensity-based detection means for recognizing the excessive speed bounce infrared ray reflection condition as an overspeed braking state when the detected speed braking infrared ray distribution condition is identical with the over speed bounce infrared ray reflection distribution condition; The depth map of the front of the vehicle is obtained from the distance information of the image data in front of the vehicle, and the obtained depth map of the front of the vehicle is compared with the horizontal projection value of the general road. A distance-based detection means for recognizing the vehicle as an overspeed inhibition tilt; And a speed braking tester determiner that recognizes that a speed braking tack exists ahead of the driver when the signal strength based condition and the distance based condition match both the signal strength based detection means and the distance based detection means, have.

Further, the signal intensity-based detection means can recognize the transverse direction infrared ray distribution length of the reflection measurement region and the lateral direction infrared ray distribution deviation of the reflection measurement region as a speed limit bust when the threshold value is exceeded.

Speed overshoot height detecting means for calculating a height of the overspeed preventing threshold based on the position information of the overspeed preventing jaw detected from the signal strength detecting means and the distance based detecting means, the infrared distribution of the overspeed preventing jaw and the depth map of the overspeed preventing jaw; As shown in FIG.

The suspension control unit may generate suspension control information based on the height of the overspeed preventing jaw calculated by the overspeed preventing height detecting unit and a predetermined suspension control condition, and transmit the generated suspension control information to the suspension.

In addition, the imaging device may be a ToF (Time of Flight) camera.

According to another aspect of the present invention, there is provided an overspeed protection method for a vehicle, comprising: receiving image data including a distance and a signal strength from a video device; Analyzing the image data through a distance-based condition and a signal strength-based condition to detect an overspeed preventing jaw; And outputting the detected overspeed prevention information through an output unit.

The step of detecting the overspeed preventing step may include the steps of: obtaining an infrared ray distribution of a reflection measuring region having the highest infrared ray reflectance among the front area of the vehicle from the signal intensity information of the vehicle ahead of the image data; Confirming whether or not the infrared ray distribution of the detected reflection measurement region is in agreement with the overspeed protection infrared ray reflection distribution condition; And determining that there is a speed restricting jaw in front of the vehicle when it is determined that the condition of the speed restricting infrared ray reflection distribution matches the condition.

The step of detecting the overspeed preventing jaw may further include: obtaining a depth map of the vehicle ahead from the distance information of the vehicle ahead of the image data; Comparing a depth map of the acquired vehicle front with a horizontal projection value of a general road; And determining that there is a speed restricting jaw in front of the vehicle when the result of the comparison is that there is a difference from a horizontal projection value of the general road.

The step of detecting the overspeed preventing jaw may determine that the overspeed preventing jaw exists when the video data coincides with both the distance based condition and the signal strength based condition.

Further, after the step of detecting the overspeed preventing jaw, before the step of outputting the detected speed limiting jaw information through the outputting unit,

Calculating a height of the speed restricting jaw based on the position information of the speed restricting jaw, the infrared distribution of the speed restricting jaw, and the depth map of the speed restricting jaw.

The features and advantages of the present invention will become more apparent from the following detailed description based on the accompanying drawings.

Prior to that, terms and words used in the present specification and claims should not be construed in a conventional and dictionary sense, and the inventor may properly define the concept of the term in order to best explain its invention It should be construed as meaning and concept consistent with the technical idea of the present invention.

The overspeed preventing jaw detecting system and method according to the embodiment of the present invention detects the overspeed preventing jaw by analyzing the data measured from the ToF (Time of Flight) camera. Therefore, regardless of the weather, It is expected that the reliability of the result is improved and the safe driving service can be provided to the driver.

BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a view showing a configuration of an overspeed preventing jaw detecting system according to an embodiment of the present invention; FIG.
2 is a view showing in detail the configuration of a speed limiting restraining portion according to an embodiment of the present invention;
3 is a flowchart for explaining a method of detecting a speed limit bust point according to an embodiment of the present invention.
FIGS. 4 to 5 are diagrams for explaining a method of detecting a distance-based overspeed preventing jaw according to an embodiment of the present invention; FIG.
FIG. 6 is a diagram for explaining a method for detecting a signal intensity-based overspeed inhibiting chuck according to an embodiment of the present invention; FIG.
7 is a view for explaining a method of detecting the height of the overspeed preventing jaw according to the embodiment of the present invention.

BRIEF DESCRIPTION OF THE DRAWINGS The objectives, specific advantages, and novel features of the present invention will become more apparent from the following detailed description taken in conjunction with the accompanying drawings, in which: FIG. It should be noted that, in the present specification, the reference numerals are added to the constituent elements of the drawings, and the same constituent elements are assigned the same number as much as possible even if they are displayed on different drawings. In the following description, well-known functions or constructions are not described in detail since they would obscure the invention in unnecessary detail. In this specification, the terms first, second, etc. are used to distinguish one element from another, and the element is not limited by the terms.

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

FIG. 1 is a view showing a configuration of an overspeed protection tuck detection system according to an embodiment of the present invention, and FIG. 2 is a view showing in detail the configuration of a overspeed protection tuck recognition unit according to an embodiment of the present invention.

FIGS. 4 to 5 illustrate a method of detecting the distance-based overspeed preventing jaws, FIG. 6 illustrates a method of detecting the speed-based overspeed preventing jaw based on the signal strength, FIG. Will be described with reference to FIG.

1, the overspeed blocking jaw detecting system 100 includes a video device 110, a communication interface 120, a data storage 130, a speed braking tack catcher 140, 150, a suspension control processing unit 160, and an output unit 170.

More specifically, the imaging apparatus 110 is configured to acquire an image including a distance and a signal intensity in front of the vehicle. The imaging apparatus 110 includes a light emitting unit 111 that emits infrared rays and a light emitting unit 111 that absorbs infrared rays emitted from the light emitting unit 111 A light receiving portion 113 may be included.

At this time, the light emitting unit 111 may be mounted in the front radiator of the vehicle or the front head lamp of the vehicle, and the light receiving unit 113 may be mounted inside the front windshield of the vehicle. However, It may be possible to mount it at another position of the housing.

Also, the video device 110 may be a ToF (Time of Flight) camera.

The ToF (Time of Flight) camera is a device for generating a three-dimensional depth image by measuring the return time of infrared rays reflected by a special image sensor by switching infrared rays to high-speed pulses. Since the sensor uses a light source, (Light Detection And Ranging).

In other words, a time-of-flight (ToF) camera will cause the emitted infrared light to strike a three-dimensional object and return to the ToF camera. The lens of the light receiving unit 113 absorbs only infrared rays emitted by the sensor using a lens having a band pass filter function that transmits only a specific wavelength band. The image sensor in the light receiving unit 113 analyzes the absorbed infrared rays to generate a depth map. A method of calculating the phase difference by analyzing the emitted infrared signal and the wavelength of the infrared signal reflected back and checking the distance from the object based on the calculated phase difference is applied.

At this time, the calculation of the phase difference between the two signals causes the infrared signal radiated from the light emitting unit 111 to be absorbed by each pixel of the image sensor of the light receiving unit 113. At this time, the phase difference between the radiated signal and the absorbed signal is You can calculate the distance per pixel by pixel.

In addition, the distance measurement can be calculated through the speed of the infrared ray and the light emission cycle time. That is, the time difference of returning to the ToF camera after the infrared ray projected from the sensor reaches the sensing object can be calculated by converting the distance. This time difference can be calculated using the phase difference calculation method between the two signals described above. By comparing the radiated signal with the absorbed signal, it is possible to know the time when the infrared ray reflects the object through the generated phase difference, thereby calculating the distance.

The overspeed prevention part grasping part 140 can detect the overspeed preventing part by analyzing the image data including the distance and the signal strength of the front part of the vehicle obtained from the image device 110 through the distance based condition and the signal strength based condition.

2, the overspeed inhibition tach gripping unit 140 includes a signal strength based detection unit 141, a distance based detection unit 143, an overspeed inhibition determination unit 145, Means 147 may be included.

The signal strength based detection unit 141 analyzes the infrared ray distribution of the reflection measurement region having the highest infrared ray reflectance among the front area of the vehicle from the signal intensity information of the vehicle front side of the image data to check whether or not the infrared ray reflection condition of the overspeed prevention infrared ray region , It can be recognized as a speed braking tack when it is confirmed that it matches the condition of the speed braking infrared reflection distribution.

At this time, the signal intensity-based detection means 141 can recognize the transverse direction infrared ray distribution length of the reflection measurement region and the transverse direction infrared ray distribution deviation of the reflection measurement region as a speed limit bump when the threshold value is exceeded.

For example, as shown in FIG. 6 (b), the reflection measuring area of the overspeed preventing jaw has a relatively wide lateral direction of the infrared ray distribution relative to the normal road surface (FIG. 6 (a)), It may be narrow.

In addition, the transverse deviation of the infrared ray distribution is relatively larger than that of the general road surface, and the longitudinal deviation of the reflection measuring area of the overspeed preventing jaw may be relatively small compared to the normal road surface.

At this time, the reflection measuring area of the overspeed preventing jaw may be the area B in Fig. 6 (b).

The distance-based detection means 143 obtains a depth map of the front of the vehicle from the distance information of the vehicle ahead of the image data, compares the obtained depth map of the vehicle with the horizontal projection value of the general road, If there is a difference from the horizontal projection value, it can be recognized as a speed bump.

For example, referring to Figs. 4 and 5, the distance-based detection means 143 calculates an average of pixel values for each horizontal line in the depth map (Fig. 4 (c)) in front of the vehicle, 4 (d).

The graph of FIG. 4 (d) is obtained by applying an average vector of pixel values for each line from the top to the bottom of the depth map (FIG. 4 (c) (FIG. 4 (b)) generated based on the accelerator pedal (see FIG. 4 (b)).

As a result of comparison between Fig. 4 (b) and Fig. 4 (d), the difference between A-1 in Fig. 4 (b) and A- If it is larger, the distance-based detecting means 143 judges that it is the overspeed inhibition threshold.

The overspeed inhibition threshold determiner 145 recognizes that there is a speed inhibition threshold in front if both the signal strength based condition and the distance based condition are satisfied as a result of the analysis of the signal strength based detection means 141 and the distance based detection means 143 The present invention is not limited to this, and it may be possible to finally determine that there is a speed braking force forward even if the condition is based on only one of the signal strength based condition and the distance based condition.

The overspeed preventing height detecting means 147 detects the overspeed preventing jaw height based on the position information of the overspeed preventing jaw detected by the signal strength detecting means 141 and the distance based detecting means 143, Can be calculated.

7, the overspeed preventing height detecting means 147 detects the amplitude value of the amplitude of the reflection measuring area ( _ampere ) (FIG. 7A) and the area of the reflection measuring area the height can be calculated by estimating the estimated function as shown in FIG. 7 (c) by using the height of the overspeed preventing jaw calculated based on the dep _area (FIG. 7 (b)).

The speed control threshold information providing unit 150 may output the overspeed control information detected by the overspeed preventive detecting unit 140 through the output unit 170. [

The data storage unit 130 may store image data including the distance and signal intensity of the vehicle ahead obtained from the image device 110, and information related to the overspeed inhibition detection system.

The suspension control processing unit 160 may generate suspension control information based on the height of the overspeed preventing jaw calculated by the overspeed preventing height detecting unit 147 and predetermined suspension control conditions, and may transmit the generated suspension control information to the suspension 180.

The suspension control condition is a condition that allows the suspension to be adjusted according to the height of the overspeed preventing jaw so that the ride comfort of the driver can be maintained even in the presence of the overspeed preventing jaw.

The overspeed protection system 100 may be implemented in a form of being included in a navigation apparatus provided in a vehicle according to the needs of the operator or may be implemented as a separate apparatus according to the needs of the operator.

3 is a flowchart for explaining a method of detecting the overspeed preventing chuck according to an embodiment of the present invention.

First, the excessive-speed-bust control system 100 may receive image data including the distance and the signal strength from the video device 110 in the front of the vehicle (S101).

Next, the overspeed preventing jaw detecting system 100 can detect the overspeed preventing jaw by analyzing the image data through the distance-based condition and the signal strength-based condition.

More specifically, the excessive-speed-bust control system 100 can obtain the infrared ray distribution of the reflection measuring region having the highest infrared ray reflectance among the front area of the vehicle from the signal intensity information of the vehicle ahead of the image data (S103, S105).

Next, it is possible to confirm whether or not the infrared ray distribution of the grasped reflection measuring region is in agreement with the overspeed preventing infrared ray reflection distribution condition (S107).

As a result of the confirmation, if the overspeed preventing infrared ray reflection distribution condition is matched, the overspeed preventive detection system 100 can judge that the overspeed prevention beep exists in front of the vehicle.

As a result of checking in step S107, if the condition of the overspeed preventing infrared ray reflection distribution does not coincide with the condition of the overspeed prohibiting infrared ray reflection distribution, the overspeed preventing jaw detecting system 100 can re-start from step S101.

On the other hand, the overslaced bounce detection system 100 can acquire a depth map of the vehicle ahead from the distance information of the vehicle ahead of the image data (S109).

Next, the obtained depth map of the front of the vehicle can be compared with the horizontal projection value of the general road (S111).

As a result of the comparison, if there is a difference from the horizontal projection value of the general road, it can be judged that there is a speed braking obstacle in front of the vehicle.

Next, if the video data match both the distance-based condition and the signal strength-based condition, it can be determined that a speed bump exists (S113).

That is, the overspeed preventing jig detecting system 100 can recognize that there is a speed limiting jaw ahead in the case where the video data coincides with both the signal strength based condition and the distance based condition, and the present invention is not limited to this, It is also possible to make a final determination that there is a speed restricting jaw in front even if only one condition is met.

Next, the overslacing bust detection system 100 can calculate the height of the overspeed preventing tip based on the position information of the overspeed preventing jaw, the infrared distribution of the overspeed preventing jaw, and the depth map of the overspeed preventing jaw (S115).

Next, the excessive-speed-bounce-preventing detection system 100 may output the detected excessive-speed-bounce information through the output unit 170 (S117).

For example, the output unit 170 can output a message such as "Please note that there is a speed limiter at the front."

Next, the overslacing bust detecting system 100 may generate suspension control information based on the height of the overspeed preventing jaw calculated in step S115 and the predetermined suspension control condition, and may transmit the suspension control information to the suspension 180 (S119).

The suspension control condition is a condition that allows the suspension to be adjusted according to the height of the overspeed preventing jaw so that the ride comfort of the driver can be maintained even in the presence of the overspeed preventing jaw.

In the embodiment of the present invention, the speed braking force is detected and the height is grasped on the basis of the distance and signal intensity information of the front of the vehicle obtained through the ToF camera, and the driver is informed of the position of the speed braking force limit or used for suspension control. It is possible to improve the reliability of the speed braking force detection regardless of the surrounding conditions including the weather condition and the time during operation.

The above-described excessive-speed-busting-jaw detecting method may be implemented in the form of a program command that can be executed through various computer means and recorded on a computer-readable recording medium. At this time, the computer-readable recording medium may include program commands, data files, data structures, and the like, alone or in combination.

On the other hand, the program instructions recorded on the recording medium may be those specially designed and configured for the present invention or may be available to those skilled in the art of computer software.

The computer-readable recording medium includes a magnetic recording medium such as a magnetic medium such as a hard disk, a floppy disk and a magnetic tape, an optical medium such as a CD-ROM and a DVD, a magnetic disk such as a floppy disk, A magneto-optical media, and a hardware device specifically configured to store and execute program instructions such as ROM, RAM, flash memory, and the like. The recording medium may be a transmission medium, such as a light or metal line, a wave guide, or the like, including a carrier wave for transmitting a signal designating a program command, a data structure, and the like.

The program instructions also include machine language code, such as those generated by the compiler, as well as high-level language code that can be executed by a computer using an interpreter or the like. The hardware devices described above may be configured to operate as one or more software modules to perform the operations of the present invention, and vice versa.

While the present invention has been particularly shown and described with reference to exemplary embodiments thereof, it is to be understood that the same is by way of illustration and example only and is not to be construed as limiting the present invention. It is obvious that the modification or improvement is possible.

It will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the spirit and scope of the invention as defined by the appended claims.

100: Over-speed bounce detection system 110: Imaging device
111: light emitting portion 113: light receiving portion
120: Communication interface unit 130: Data storage unit
140: overspeed prevention part grasping part 141: signal strength based detection part
143: Distance-based detection means 145: Speed-
147: overspeed preventing height detecting means 150:
160: Suspension control processing unit 170:
180: Suspension

Claims (11)

An imaging device for acquiring an image including a distance and a signal intensity in front of the vehicle;
A speed limit bust detection unit for detecting a speed limit bust by analyzing image data including a distance and a signal intensity of the front of the vehicle obtained from the image device through a distance based condition and a signal strength based condition; And
Speed braking force information providing unit for outputting the braking-force-suppressing-jaw information detected by the speeding-braking-assistance grasping unit through an output unit;
And an overspeed preventing jaw detecting system.
The method according to claim 1,
The speed limit anti-
The infrared ray distribution of the reflection measurement region having the highest infrared ray reflectance among the front area of the vehicle is analyzed from the signal intensity information of the image data in front of the vehicle to check whether or not the infrared ray reflection distribution condition is satisfied with the overspeed prevention infrared ray reflection condition, A signal intensity-based detection means for recognizing the signal as an overspeed inhibition tilt when the condition is matched;
The depth map of the front of the vehicle is obtained from the distance information of the image data in front of the vehicle, and the obtained depth map of the front of the vehicle is compared with the horizontal projection value of the general road. A distance-based detection means for recognizing the vehicle as an overspeed inhibition tilt; And
Based on the signal intensity based detection means and the distance based detection means, if the both of the signal strength based condition and the distance based condition are satisfied;
And an overspeed preventing jaw detecting system.
The method of claim 2,
Wherein the signal intensity-
Wherein the transverse direction infrared ray distribution length of the reflection measurement region and the lateral direction infrared ray distribution deviation of the reflection measurement region exceed a threshold value.
The method of claim 2,
Speed braking height detecting means for calculating the height of the overspeed preventing jaw based on the position information of the excessive braking jaw detected from the signal intensity detecting means and the distance based detecting means, the infrared distribution of the overbraking braking jaw and the depth map of the overbraking braking jaw;
Further comprising: an overspeed preventing jaw detecting system.
The method of claim 4,
A suspension control processing unit for generating suspension control information based on the height of the overspeed preventing jaw calculated by the overspeed preventing height detecting unit and a predetermined suspension control condition and transmitting the generated suspension control information to the suspension;
And an overspeed preventing jaw detecting system.
The method according to claim 1,
Wherein the imaging device is a ToF (Time of Flight) camera.
The method comprising: receiving image data including distance and signal strength from a video device in front of the vehicle;
Analyzing the image data through a distance-based condition and a signal strength-based condition to detect an overspeed preventing jaw; And
Outputting the detected overspeed prevention information through an output unit;
And an overspeed preventing jaw detecting method.
The method of claim 7,
The step of detecting the overspeed preventing jaw may include:
Determining an infrared ray distribution of a reflection measuring region having the highest infrared ray reflectance among the vehicle front region from the signal intensity information of the vehicle ahead of the image data;
Confirming whether or not the infrared ray distribution of the detected reflection measurement region is in agreement with the overspeed protection infrared ray reflection distribution condition; And
Determining that there is a speed restricting jaw in front of the vehicle if the speed restricting infrared ray reflec- tion distribution condition is identical with the speed restricting infrared infra-red distribution condition;
Further comprising the steps of:
The method of claim 7,
The step of detecting the overspeed preventing jaw may include:
Obtaining a depth map of the vehicle ahead from the distance information of the vehicle ahead of the image data;
Comparing a depth map of the acquired vehicle front with a horizontal projection value of a general road; And
Determining that there is a speed braking obstacle in front of the vehicle when there is a difference from a horizontal projection value of the general road as a result of the comparison;
Further comprising the steps of:
The method of claim 7,
The step of detecting the overspeed preventing jaw may include:
And when the image data matches both the distance-based condition and the signal strength-based condition, it is determined that an excessive speed bump exists.
The method of claim 7,
Wherein, before the step of outputting the detected speed limiting jaw information through the output unit after the step of detecting the speed limiting jaw,
Calculating a height of the speed restricting jaw based on the position information of the speed restricting jaw, the infrared distribution of the speed restricting jaw, and the depth map of the speed restricting jaw;
Further comprising the steps of:

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