KR20150043943A - Driving assist system having photography part and method using the same - Google Patents

Abstract

According to the present invention, a vehicle driving assistance method using a photographing part comprises: a first photographing step of generating a first image by photographing at least one of other vehicles, which are driven within the view of the photographing part, using the photographing part installed in a target vehicle; a second photographing step of generating a second image by photographing the other vehicles again using the photographing part after a predetermined time from the first photographing step; a precedent information calculating step of calculating precedent information due to a contrast between the target vehicle and a certain one of the other vehicles in the first image using a calculating part in the target vehicle; a subsequent information calculating step of calculating subsequent information due to a contrast between the target vehicle and a certain one of the other vehicles in the second image using the calculating part; an operating information calculating step of calculating operating information on the certain ones of the other vehicles according to the variation amounts of in the precedent and the subsequent information using the calculating part; a driving information generating step of generating driving information required for a driver using the operating information; and a driving information providing step of providing the operating information and the driving information for the driver using a driving information providing part in the target vehicle. In addition, according to the present invention, a vehicle driving assistance system having a photographing part comprises: the photographing part photographing at least one of other vehicles driven within the view thereof; a calculating part calculating precedent and subsequent information due to contrasts between the target vehicle and the other vehicles, operating information on the other vehicles, and driving information required for a driver through a first and a second image photographed at a predetermined time difference by the photographing part; and a driving information providing part providing the operating information and the driving information calculated by the calculating part.

Description

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a driving assistance system for a vehicle equipped with a photographing unit,

BACKGROUND OF THE INVENTION 1. Field of the Invention [0001] The present invention relates to a driving assistance system of a vehicle that assists a driving of a vehicle and a driving assistance method using the same. More particularly, And provides the information to the driver in the form of information useful to the driver.

In recent years, a driving assistance system has been actively researched and developed for assisting the driver and performing auxiliary vehicle control in order to improve the driver's convenience and prevent accidents.

Such a conventional driving assist system uses a method of irradiating a front or rear vehicle with a specific frequency of a radio wave and receiving reflected radio waves to obtain distance information between the vehicles. However, this has a problem of collecting only information of a single object.

Also, in the case of the conventional driving assist system, there is an external observation or information collecting device (GPS satellite, observation tower, etc.), and a process of receiving the collected information to the terminal of the own vehicle is required, . There is a limitation in that there is an external device for collecting GPS information in a plurality of vehicles, and a provider for providing information and providing it.

In addition, there is a problem of radio wave reception failure when the weather is deteriorated, when a high-rise building is passing through a dense area, when the surrounding radio wave is interfered, and the like.

Therefore, a method for solving the above problems is required.

Korean Patent Publication No. 10-2010-0028253

The driving assistance system of a vehicle and the driving assistance method of a vehicle using the same according to the present invention have an object to obtain driving information of a plurality of vehicles simultaneously and in real time to perform more precise driving assistance.

The solution of the present invention is not limited to those mentioned above, and other solutions not mentioned can be clearly understood by those skilled in the art from the following description.

A driving assisting method of a vehicle according to the present invention includes a first photographing step of photographing one or more opponent vehicles running in the field of view of the photographing unit with a photographing unit provided in a target vehicle to generate a first image, A second photographing step of re-photographing the opponent vehicle photographed by the first photographing step to the photographing section at a time point of time elapsed, and a second photographing step of photographing the target vehicle and the first image A preceding information calculating step of calculating the preceding information according to the contrast between the target vehicle and the predetermined relative vehicle shown in the second image in the calculating unit, A driving information calculating step of calculating operating information of a predetermined opponent vehicle in accordance with a change amount of the preceding information and the following information in an arithmetic unit, Used to include the operation information providing step of providing a driver portion provided with operation information including the operation information generator generating the operation information necessary to the driver and the driving information and the vehicle management information to the target vehicle.

The operation information calculation step may include a step of recognizing a plurality of opponent vehicles existing in the first image and the second image continuously photographed at the predetermined time intervals, a step of recognizing the position of each opponent vehicle, Tracking the same vehicle in the first image and the second image, and measuring a change direction and a change amount of the position of the opponent vehicle.

Also, the photographing unit may include a plurality of cameras. In this case, the traveling information calculating step may measure the position of the opponent vehicle by the triangulation method using the plurality of cameras fixed at a predetermined distance.

The preceding information includes a preceding distance that is a distance between the target vehicle and a predetermined opponent vehicle shown in the first image and a preceding position that is a relative position of the opponent vehicle with respect to the target vehicle, A trailing distance that is a distance between the target vehicle and a predetermined opponent vehicle shown in the second image, and a posterior position that is a relative position of the opponent vehicle with respect to the target vehicle.

The driving information calculating step may calculate the relative speed between the opponent vehicle and the target vehicle using the difference between the first shooting and the second shooting and the difference between the preceding distance and the following distance.

The driving information calculating step may calculate the position change direction and the position change amount of the opponent vehicle in comparison with the preceding position and the following position.

The traveling information calculating step may calculate the absolute speed of the opponent vehicle by adding the speed of the target vehicle to the relative speed of the opponent vehicle.

Further, after the operation information calculation step, there is further included an iteration step of repeating the second imaging step and the driving information calculation step, and the second image before the repetition can be used as the first image after the repetition.

The present invention also provides a driving assistance system for a vehicle, comprising: a photographing unit that photographs one or more opponent vehicles traveling in a visual field; a first image and a second image captured by the photographing unit, And an operation information providing unit for providing the driving information calculated by the calculating unit and the driving information to the driver.

The photographing unit may be a black box.

The photographing unit may be an infrared camera.

The photographing unit may be a front and a back camera.

The photographing unit may include a plurality of cameras.

The plurality of cameras may be disposed at regular intervals.

The photographing unit may be an arousal view system.

The driving assistance system of the present invention and the driving assistance method of the vehicle using the same according to the present invention have the merit that driving information for a plurality of vehicles can be acquired simultaneously and in real time by photographing to more precise driving assistance.

In addition, there is an advantage that an external observation or an information collecting device is not required and the loss can be efficiently reduced.

Also, as the shooting interval of each image is set shorter, the driving information of the vehicles can be acquired precisely.

The effects of the present invention are not limited to those mentioned above, and other effects not mentioned can be clearly understood by those skilled in the art from the following description.

1 is a view showing a state of a vehicle traveling on a road at a first time point.
2 is a view showing a state of a vehicle traveling on a road at a second time point.
FIG. 3 is a view showing a state in which a first image is acquired by a photographing unit in a driving assistance system of a vehicle according to an embodiment of the present invention.
FIG. 4 is a view showing a state in which a second image is acquired by a photographing unit in a driving assistance system of a vehicle according to an embodiment of the present invention.
5 is a diagram illustrating positions of vehicles at the time of acquiring a first image in a driving assistance system of a vehicle according to an embodiment of the present invention.
6 is a diagram illustrating positions of vehicles at the time of acquiring a second image in a driving assistance system of a vehicle according to an embodiment of the present invention.

Hereinafter, a driving assistance system for a vehicle and a driving assistance method for a vehicle using the same according to the present invention will be described in detail with reference to the drawings. In the following description, a vehicle to which the present system is attached and which is the subject of explanation is referred to as a target vehicle, and the other vehicles traveling on the basis of the target vehicle are referred to as a relative vehicle.

FIG. 1 is a view showing a vehicle traveling on a road at a first time point, and FIG. 2 is a view showing a vehicle traveling a road at a second time point.

As shown in Figs. 1 and 2, a plurality of vehicles running at various speeds and directions travel on the roads. At this time, relative to the target vehicle A, the relative vehicles B1 to B7 have relative speeds and relative positions. The relative speed and the relative position of each of the opponent vehicles B1 to B7 are changed in real time.

The conventional driving assist system uses a method of irradiating a single target vehicle with a radio wave of a specific frequency from a target vehicle A and receiving reflected radio waves to obtain distance information between the vehicles and reflecting the information on the control of the vehicle.

However, there is a problem in that it is necessary to perform the above-described operation individually for each vehicle in operation, the load on the processing device is increased, and only a few vehicles positioned closest to each other are selected according to the limitations of the device. Therefore, only a narrow range of traffic conditions are taken into consideration, so that there is a problem in that it can not cope with an unexpected situation efficiently.

In the case of the present invention, it is possible to acquire the driving information of a plurality of vehicles simultaneously and in real time through the image acquired by the photographing unit, which will be described later, so that the driving assistance can be performed more precisely.

For example, relative vehicles B1 to B7 having a predetermined relative position from the target vehicle A on the basis of Fig. 1 are changed in relative positions after a predetermined time as shown in Fig. The first relative vehicle B1, the sixth relative vehicle B6 and the seventh relative vehicle B7 are rearwardly moved relative to each other and the second relative vehicle B2 and the third relative vehicle B3 And the fifth relative vehicle B5, the relative position is shifted forward. In the case of the fourth opponent vehicle B4, it can be confirmed that the relative position has been shifted forward and leftward. The relative positions of the relative vehicles B1 to B7 are changed and the absolute distance to the target vehicle A is also changed.

 As described above, according to the present invention, driving assistance of the target vehicle can be precisely performed by changing the relative position and the absolute distance of the vehicle at two different view points.

To this end, the driving assistance system according to an embodiment of the present invention includes a photographing unit, an operation unit, and an operation information providing unit. The photographing unit is a component for photographing one or more opponent vehicles running in the field of view. At this time, all the opponent vehicles exposed in the photographing angle of the photographing unit can be photographed. That is, in the present invention, it is possible to simultaneously perform analysis on a plurality of opponent vehicles using the photographing unit.

The photographing unit is not limited to any photographing device capable of acquiring the image of the opponent vehicle. That is, the photographing unit may be a separate photographing device, a black box pre-mounted on the vehicle, or the like. The photographing unit may be an infrared camera for photographing at night, or may be a front and a back camera. The photographing unit includes a plurality of cameras, which can be disposed at regular intervals. Meanwhile, the photographing unit may be an Around View system.

The arithmetic unit is a component for calculating the preceding information and the trailing information according to the contrast between the target vehicle and the opponent vehicle through the first image and the second image photographed by the photographing unit at a predetermined parallax and the operation information of the opponent vehicle.

The driving support unit is a component that provides driving information calculated in the operation unit and driving information derived from the driving information to the driver.

Hereinafter, a driving assisting method using a driving assist system according to an embodiment of the present invention will be described.

The driving assisting method using the driving assist system using the driving assist system according to an embodiment of the present invention includes a first photographing step, a second photographing step, a preceding information calculating step, a following information calculating step, a driving information calculating step, And an operation information providing step.

The first photographing step is a step of photographing one or more opponent vehicles traveling in the field of view of the photographing unit with a photographing unit provided in the target vehicle to generate a first image.

In the second photographing step, the second image is generated by re-photographing the opponent vehicle photographed by the first photographing step to the photographing unit at a predetermined time after the first photographing step.

It is needless to say that the image of the opponent vehicle at different points in time can be acquired by the first imaging step and the second imaging step, and the opponent vehicle may include all of the plurality of vehicles located within the field of view of the imaging part .

Next, the preceding information calculation step is a step of calculating the preceding information according to the contrast between the target vehicle and the predetermined relative vehicle shown in the first image in the calculation unit provided in the target vehicle.

The preceding information includes various kinds of information that can be obtained by the contrast between the target vehicle and the predetermined opponent vehicle. In this embodiment, the preceding information is a distance between the target vehicle and the predetermined opponent vehicle shown in the first image A preceding distance, and a preceding position that is a relative position of the opponent vehicle with respect to the target vehicle. That is, the distance between the target vehicle and each of the opponent vehicles and the position of each opponent vehicle at the first image shooting time can be calculated by this step.

Next, the step of calculating the trailing information is a step of calculating trailing information according to the contrast between the target vehicle and the predetermined relative vehicle shown in the second image in the calculation unit provided in the target vehicle.

The trailing information includes various kinds of information that can be obtained by the contrast between the target vehicle and the predetermined opponent vehicle in the same manner as the preceding information. In the present embodiment, the trailing information includes the target vehicle and the predetermined opponent vehicle And a trailing position that is a relative position of the opponent vehicle with respect to the target vehicle. That is, the distance between the target vehicle and each of the opponent vehicles and the position of each opponent vehicle at the second image shooting time can be calculated by this step.

Next, the driving information calculating step calculates the driving information of the predetermined opponent vehicle according to the amount of change of the preceding information and the following information. In other words, in this step, the speed and direction of the opponent vehicle can be grasped according to the distance variation amount and the position variation amount between the target vehicle and each of the opponent vehicles.

That is, the driving information calculation step calculates the speed of the opponent vehicle using the speed of the target vehicle, the difference between the preceding distance and the following distance, and calculates the speed of the opponent vehicle, It is possible to calculate the position change direction and the position change amount.

At this time, as the shooting intervals of the first image and the second image are set shorter, the driving information of the opponent vehicle with higher precision and reliability can be calculated.

The operation information calculation step may include a step of recognizing a plurality of opponent vehicles existing in the first image and the second image continuously photographed at the predetermined time intervals, a step of recognizing the position of each opponent vehicle, Tracking the same vehicle in the first image and the second image, and measuring a change direction and a change amount of the position of the opponent vehicle.

At this time, when the photographing section includes a plurality of cameras, the position of the opponent vehicle may be measured by the triangulation method.

The driving information calculating step may calculate the relative speed between the opponent vehicle and the target vehicle using the difference between the first shooting and the second shooting and the difference between the preceding distance and the following distance, The absolute speed of the opponent vehicle can be calculated by adding the speed of the target vehicle to the speed.

The driving information generating step is a step of generating driving information necessary for the driver using the driving information. At this time, the driving information may be all information that can be generated through the information obtained in the driving information calculating step. For example, the driving information may include information such as a lane change point, a lane change speed, an overtaking direction, , Safe driving speed, recommended route for economical driving, recommended lane for safe driving, collision prevention, risk factor and obstacle recognition.

Next, an operation information providing step of providing the driving information to the driver with the driving information providing unit provided in the target vehicle is performed. In this step, the driving information and the driving information are transmitted to the driver through an audiovisual or the like.

And repeating the second photographing step to the driving information calculating step after the driving information calculating step. At this time, the second image before the repetition may be used as the first image after the repetition so as to narrow the time interval of the information calculation.

That is, the photographing unit continuously acquires images at predetermined time intervals, and can compare the two images of adjacent time differences to continuously control the vehicle.

Hereinafter, each of the steps will be described with reference to FIGS. 3 to 6. FIG. In this example, it is set that the eighth relative vehicle B8 and the ninth opposing vehicle B9 run in front of the target vehicle A, respectively.

First, as shown in FIG. 3, a first image of the eighth comparative vehicle B8 and the ninth relative vehicle B9 located in the field of view range of the photographing section in the target vehicle A is obtained at a predetermined point in time. As shown in FIG. 4, the second image is acquired at a point of time after the first image acquisition point. 5 shows the position of each vehicle at the first image acquiring time, and Fig. 6 shows the position of each vehicle at the second image acquiring time.

Here, it is assumed that the first image is taken at 14: 30: 45 seconds, the second image is taken at 14: 30: 46 seconds, and the speed of the target vehicle A is 61.2 km / h. It is also assumed that the eighth relative vehicle B8 was 80.2 m away from the target vehicle A at the time of the first image shooting and that the ninth relative vehicle B9 was 100.5 m away, The relative vehicle B8 is 70.0m away from the target vehicle A and the ninth relative vehicle B9 is assumed to be 120.8m away.

6, the eighth opposed vehicle B8 is relatively moved rearward relative to the target vehicle A, so that the velocity vector V1 of the eighth opposed vehicle B8 is moved toward the rear of the target vehicle A Direction.

Specifically, it can be seen that the eighth opponent vehicle B8 has an acceleration of -10.2 m / s per second since it is close to the 10.2 m target vehicle A for one second. Considering the speed of the target vehicle A (61.2 km / h = 17 m / s), the eighth target vehicle B8 is traveling at a speed of about 6.8 m / s (about 24.5 km / s) . At this time, since the direction of the velocity vector V1 of the eighth target vehicle B8 is parallel to the target vehicle A, it can be confirmed that the left / right movement has not occurred.

On the other hand, the ninth relative vehicle B9 relatively moved forward and left with respect to the target vehicle A, so that the velocity vector V2 of the ninth relative vehicle B9 is shifted to the leftward velocity vector V3, Direction velocity vector V4 is synthesized, it can be seen that the target vehicle A is in the left front diagonal direction.

Specifically, the ninth relative vehicle B9 is away from the target vehicle A for 20.3 m for one second, and thus has an acceleration of 20.3 m / s per second. In other words, considering the speed (61.2 km / h = 17 m / s) of the target vehicle A, it can be seen that the ninth vehicle B9 travels at a speed of about 37.3 m / s. At this time, since the velocity vector V2 of the ninth target vehicle B9 includes the velocity vector V3 in the left direction, it can be confirmed that it has moved to the left.

On the other hand, when the speed of the target vehicle can be known by using a speedometer or the like, the absolute speed can be obtained by adding this speed to the calculated relative speed. Absolute speed is advantageous in that it can produce more information needed for driver assistance than relative speed.

As described above, according to the present invention, since the velocity and the moving direction of each of a plurality of vehicles photographed based on two images at different time points can be grasped, it is possible to perform safe and precise control of the vehicle have.

Further, the driving assist system and the auxiliary method of the vehicle according to the present invention can be applied to an automatic operation control or an unmanned operation control system, which is advantageous in that it is excellent in its usability.

The embodiments and the accompanying drawings described in the present specification are merely illustrative of some of the technical ideas included in the present invention. Accordingly, the embodiments disclosed herein are for the purpose of describing rather than limiting the technical spirit of the present invention, and it is apparent that the scope of the technical idea of the present invention is not limited by these embodiments. It will be understood by those of ordinary skill 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.

A: Target vehicle B1 to B9: Relative vehicle

Claims (9)

A first photographing step of photographing one or more opponent vehicles running in the field of view of the photographing unit with a photographing unit provided in the target vehicle to generate a first image;
A second photographing step of re-photographing the opponent vehicle photographed by the first photographing step to the photographing unit after a predetermined time elapses after the first photographing step to generate a second image;
A preceding information calculation step of calculating a preceding information according to a contrast between a target vehicle and a predetermined relative vehicle shown in the first image in an operation unit provided in the target vehicle;
A trailing information calculating step of calculating trailing information according to a contrast between the target vehicle and a predetermined relative vehicle shown in the second image in the calculating unit;
A driving information calculation step of calculating driving information of a predetermined opponent vehicle according to a change amount of the preceding information and the following information in the arithmetic unit;
An operation information generating step of generating driving information necessary for the driver using the driving information; And
An operation information providing step of providing the driving information and the driving information to the driver through an operation information providing unit provided in the target vehicle;
Wherein the driving assistance method comprises the steps of: The method according to claim 1,
The driving information calculating step calculates,
Recognizing a plurality of opponent vehicles existing in the first image and the second image successively photographed at the predetermined time intervals;
Recognizing the position of each opponent vehicle;
Tracing the same vehicle in the first image and the second image of the other vehicle; And
Measuring a change direction and a change amount of the relative vehicle;
And a driving assist system for driving the vehicle. The method according to claim 1,
Wherein the photographing unit includes a plurality of cameras,
The driving information calculating step calculates,
A driving assisting method of a vehicle for measuring the position of an opponent vehicle by triangulation. The method according to claim 1,
The pre-
A preceding distance that is a distance between the target vehicle and a predetermined opponent vehicle shown in the first image and a preceding position that is a relative position of the opponent vehicle with respect to the target vehicle,
The post-
A trailing distance that is a distance between the target vehicle and a predetermined opponent vehicle shown in the second image and a trailing position that is a relative position of the opponent vehicle with respect to the target vehicle. 5. The method of claim 4,
The driving information calculating step calculates,
And calculating a relative speed between the opponent vehicle and the target vehicle using the difference between the first shooting and the second shooting and the difference between the preceding distance and the following distance. 5. The method of claim 4,
The driving information calculating step calculates,
And calculating a position change direction and a position change amount of the opponent vehicle in comparison with the preceding position and the posterior position. 6. The method of claim 5,
The driving information calculating step calculates,
And adding the speed of the target vehicle to the relative speed of the opponent vehicle to calculate the absolute speed of the opponent vehicle. The method according to claim 1,
After the operation information calculation step,
Further comprising an iterative step of repeating the second photographing step to the traveling information calculating step,
And the second image before the repetition is used as the first image after the repetition. A photographing unit photographing one or more opponent vehicles traveling in the field of view;
An operation unit for calculating driving information of the opponent vehicle and driving information necessary for the driver based on the contrast between the target vehicle and the opponent vehicle through the first image and the second image photographed by the photographing unit, ; And
An operation information providing unit for providing the operation information and the operation information calculated by the operation unit;
Wherein the driving assistance system comprises:

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