KR20150076882A - Device and method for alarming quick brake of preceding-vehicle to rewarding-vehicle - Google Patents

Device and method for alarming quick brake of preceding-vehicle to rewarding-vehicle Download PDF

Info

Publication number
KR20150076882A
KR20150076882A KR1020130165560A KR20130165560A KR20150076882A KR 20150076882 A KR20150076882 A KR 20150076882A KR 1020130165560 A KR1020130165560 A KR 1020130165560A KR 20130165560 A KR20130165560 A KR 20130165560A KR 20150076882 A KR20150076882 A KR 20150076882A
Authority
KR
South Korea
Prior art keywords
vehicle
pattern
distance value
taillight
image data
Prior art date
Application number
KR1020130165560A
Other languages
Korean (ko)
Inventor
최주희
Original Assignee
최주희
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 최주희 filed Critical 최주희
Priority to KR1020130165560A priority Critical patent/KR20150076882A/en
Publication of KR20150076882A publication Critical patent/KR20150076882A/en

Links

Images

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
    • B60Q1/00—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor
    • B60Q1/26—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic
    • B60Q1/44—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic for indicating braking action or preparation for braking, e.g. by detection of the foot approaching the brake pedal
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
    • B60Q9/00—Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00, e.g. haptic signalling
    • B60Q9/008—Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00, e.g. haptic signalling for anti-collision purposes
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Y—INDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY
    • B60Y2400/00—Special features of vehicle units
    • B60Y2400/30—Sensors
    • B60Y2400/301—Sensors for position or displacement
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Y—INDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY
    • B60Y2400/00—Special features of vehicle units
    • B60Y2400/30—Sensors
    • B60Y2400/303—Speed sensors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Y—INDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY
    • B60Y2400/00—Special features of vehicle units
    • B60Y2400/90—Driver alarms
    • B60Y2400/902—Driver alarms giving haptic or tactile signals

Abstract

An alarm device for notifying a braking state of a front vehicle according to the present invention comprises an image collection module installed in a rear vehicle for collecting image data of a preceding vehicle, processing the collected image data to detect a taillight pattern, And an image processing module for determining whether a distance value between the forward vehicle and the preceding vehicle is within a predetermined range, and detecting whether the taillight pattern detection state continues for a predetermined time or longer and the speed of the preceding vehicle is decelerated below a predetermined speed And an event occurrence detection module for determining whether an event has occurred or not. According to the present invention as described above, it is very convenient for the elderly who are somewhat lacking in concentration.

Description

BACKGROUND OF THE INVENTION 1. Field of the Invention [0001] The present invention relates to an alarm device and method for notifying a braking state of a front vehicle,

The present invention relates to an alarm apparatus and method for informing a driver of a rear vehicle that a braking force of a front vehicle is being changed. In particular, And the high luminance is turned on. The rear vehicle in the running state automatically recognizes the occurrence of an event through image-based or sensor-based pattern detection and distance value calculation, and visually or audibly informs the driver, The present invention relates to an alarm device and a method for notifying a braking state of a front vehicle in which a braking state of a front vehicle can be easily known.

In general, the vehicle is provided with a direction indicator for informing the progress direction of the vehicle by a blinking operation, such as a brake indicating that the braking device is operated while the vehicle is running and a brake for informing the outside, And the emergency stop light flashing, the vehicle width indicating the width of the vehicle, and the like.

In particular, the brake of a vehicle is a lamp device that is interlocked with a brake pedal that the driver steps on for braking while driving, and lights up at the rear of the vehicle, warning the rear vehicle of the braking state of the front vehicle, This is a lamp unit that can prevent accidents that may be caused by unintentional fire.

For example, when the driver of the front vehicle presses the brake pedal, the driver of the rear vehicle easily recognizes the braking state by the brake switch so that the driver can perform safe driving.

However, when the driver is driving the vehicle for a long time, the driver does not recognize the brake or the like that is lit at the rear of the vehicle due to fatigue, so that the braking of the rear vehicle may be delayed, causing a collision accident or failing to run safely.

That is, in the case of a conventional vehicle, since the driver relies only on a visual simple method in which a driver carefully observes a brake or the like illuminated at the rear of the front vehicle, when the driver runs the vehicle for a long time and fatigue is overloaded, There is a problem of causing an accident by recognizing the fact that the light is turned on late.

Furthermore, elderly people with poor concentration have difficulty in recognizing the braking effect of forward vehicles.

SUMMARY OF THE INVENTION Accordingly, the present invention has been made keeping in mind the above problems occurring in the prior art, and an object of the present invention is to provide an alarm device for informing a braking state of a front vehicle, Method.

Another object of the present invention is to provide an alarm device and method for notifying a driver of a braking state of a front vehicle capable of detecting a pattern such as a camera image based brake so as to inform the driver of whether the brake light is turned on or off using a single color camera .

Yet another object of the present invention is to provide an alarm apparatus and method for notifying a braking state of a front vehicle capable of calculating a camera image based distance value so as to determine a distance between a front vehicle and a rear vehicle using one color camera .

It is still another object of the present invention to provide an alarm device and method for storing shape and size information of brakes and the like for each vehicle type in a database to notify the braking fact of the front vehicle that pattern detection and distance value calculation are easy.

It is still another object of the present invention to provide an alarm device and method for notifying a braking state of a front vehicle in which pattern detection and distance value calculation are easy using a knowledge based algorithm so that a brake pattern detection and a distance value calculation can be performed even when a database is not provided .

It is still another object of the present invention to provide an alarm device and method for notifying a braking event of a preceding vehicle informing of the fact of an event by various methods such as a display, a speaker, or a lamp when an event occurs.

According to an aspect of the present invention, there is provided an alarm device for notifying a braking state of a front vehicle, comprising: an image collection module installed in a rear vehicle for collecting image data of a preceding vehicle; An image processing module for detecting the taillight pattern by processing the image data and determining whether a distance value between the rear vehicle and the front vehicle is within a predetermined range; And an event occurrence detection module for detecting whether the speed of the preceding vehicle is decelerated to a predetermined speed or less and determining whether an event has occurred.

According to another aspect of the present invention, an alarm method for notifying a braking state of a front vehicle of the present invention includes the steps of: collecting image data of a preceding vehicle in a running rear vehicle; extracting only a red color pattern from the collected image data; A step of extracting a specific shape pattern by processing the boundary of the red color pattern; detecting a tail light pattern by comparing the specific shape pattern with previously stored reference shape information; And detecting whether the speed of the preceding vehicle is decelerated to a predetermined speed or less.

As described above, according to the configuration of the present invention, the following effects can be expected.

First, by informing the driver of the braking effect of the front vehicle through the speaker or the lamp, it is expected to provide convenience to the elderly who are weak in concentration and slow in power.

Second, since the pattern detection and the distance value calculation can be performed using one color camera, the structure is not complicated, and it is economical to install it independently of a vehicle black box or navigation.

Third, since it can be installed integrally with an existing vehicle black box or navigation, it is expected to have a reflective effect that can further enhance the utility value of a black box or navigation.

Fourth, since the camera image-based pattern can be detected by using the library in which the shape information of the vehicle type is stored, the detection reliability of the brake and the like is very high, and even if it is not stored, Is expected to be effective.

Fifth, since the camera image-based distance value can be calculated using the library in which the size information of the vehicle type and the like is stored, the detection reliability of the brake and the like is very high, and since the sensor based distance value can be calculated even if it is not stored, Is expected to be effective.

1 is an example of the installation of an alarm device for notifying the braking fact of the front vehicle according to the present invention.
2 is a block diagram showing a configuration of an alarm device for notifying a braking fact of a front vehicle according to the present invention.
3 is a flowchart showing an alarm method for notifying a braking fact of a front vehicle according to the present invention.

Brief Description of the Drawings The advantages and features of the present invention, and how to achieve them, will become apparent with reference to the embodiments described in detail below with reference to the accompanying drawings. The present invention may, however, be embodied in many different forms and should not be construed as being limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the invention to those skilled in the art. Is provided to fully convey the scope of the invention to those skilled in the art, and the invention is only defined by the scope of the claims. The dimensions and relative sizes of layers and regions in the figures may be exaggerated for clarity of illustration. Like reference numerals refer to like elements throughout the specification.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, preferred embodiments of an alarm device for notifying a braking effect of a front vehicle according to the present invention will be described in detail with reference to the accompanying drawings.

1, an alarm device 10 for notifying a braking state of a front vehicle according to the present invention includes an image collection module 100 installed in a rear vehicle 20 and collecting image data of a front vehicle 30, The image processing module processes the collected image data to detect the taillight pattern 32 and determines whether the distance value between the rear vehicle 20 and the front vehicle 30 is within a predetermined range (for example, 20 meters) An event occurrence detection module for detecting whether or not an event is generated by detecting whether the pattern detection state of the front vehicle 30 and the tail light 32 continues for at least 1 second and whether the speed of the forward vehicle 30 decelerates to 4 km or less per hour And an event generation alarm module 400 for informing the driver of the rear vehicle 20 of the braking of the front vehicle 30, that is, the occurrence of an event.

The duration may be detected through a timer 310 and the deceleration may be detected through a speed sensor 320. [ This is because when the brake pedal is depressed to lower the speed of the front vehicle 30 in general, the lighting duration is short or the degree of deceleration does not exceed the braking force in many cases.

The alarm device 10 for notifying the braking fact of the front vehicle of the present invention can be integrally incorporated with the video recording device of the vehicle black box or the navigation device for the vehicle, or independently.

In addition, the rear vehicle 20 acquires the image data of the front vehicle 30 in the running state, and the obtained image data mainly includes the brake light or the tail light 32 which is turned off in the front vehicle 30 in the running state It is targeted.

Further, the alarm device 10 for notifying the braking fact of the front vehicle of the present invention will be described by taking the day as an example. In the nighttime, since the taillight state is both in the running state and in the stopped state, the lighting state is turned on differently. In other words, in the embodiment of the present invention, A case in which the tail light 32 of the vehicle under running lights up during braking in the unlit state will be described. Therefore, it is interpreted that the lighting in the specification includes not only the case of changing from the light-off state to the lighting state, but also the case of changing from the low-luminance lighting state to the high luminance lighting state.

The image collection module 100 is configured to receive an image of the tail light 32 of the front vehicle 30 at a predetermined position of the rear vehicle 20, (110), a color filter array (120) composed of RGB filters, and an image sensor (130) for generating image data for converting the received optical signals into electrical image signals required for image processing have.

The image sensor 130 may include a CCD (Charge Coupled Device) image sensor, a CMOS (Complementary Metal Oxide Semiconductor) image sensor, and the like. In addition, the color camera module may include an image, a web, or various digital cameras in addition to a CCD and a CMOS.

Meanwhile, the lens 110 of the present invention may be coated in a green color. By performing hardware green coating on the upper color camera lens 110, it is possible to more accurately detect the complementary red color. For example, there is a certain limit in detecting the red color through image processing by software, and coating of the lens 110 itself with the green color is more effective in judging the taillight especially illuminated in the daytime . The complementary colors red and green are yellow when mixed and can be distinguished most clearly during the daytime.

The image processing module 200 includes a color pattern detecting unit 210 for extracting only specific color image data from the image data of the multicolor to detect a red color pattern, And a distance value calculating unit 230 for estimating a distance between the front vehicle 30 and the rear vehicle 20. [

The color pattern detecting unit 210 extracts only red color from the raw image data and detects a red color pattern. For example, in a vehicle, color distribution map information of a sample in which a taillight area and a bumper other vehicle body area are separated is calculated, and color values (for example, RGB pixel values) of each area are calculated to obtain sample color distribution map information It is possible to easily detect only the red color pattern.

After the color pattern is detected, noise is removed using a local average filter in a specific color pattern so as to emphasize the pattern boundary of the specific shape, and the brightness of the specific color pattern is obtained by using spectrum equalization I can correct it. For example, a correction may be performed to remove the shadow effect, or a certain color pattern may be changed to a gray pattern, and then the gray pattern contrast value may be smoothed to have a constant contrast value distribution.

The shape pattern detector 220 can detect only a specific pattern, which can be regarded as the tail light 32, in the red color pattern. For example, using a knowledge based algorithm, the taillight 32 must be line-symmetric and depart from the fact that the shape and size are the same except for the directionality, Only the pattern of the shape can be detected. For example, a pair of resembling patterns spaced apart by a predetermined distance can be seen as a tail light 32.

In addition, in recent years, the tail lights 32 tend not only to be installed on both sides of the vehicle rear side but also to the rear center upper end. Therefore, when there are more similar patterns in the center of a specific pattern to be symmetrical, It is based on the fact that the similar-shaped pattern can be seen by the taillight 32.

Since the tail light 32 can be regarded as being progressed at the same time without selectively being turned on or off, the tail light 32 can be seen when the pair of specific patterns are turned on or off at the same time.

According to another embodiment of the present invention, the library 240 may further include taillight shape information and size information for each vehicle type.

The image processing module 200 can finally determine the tail light 32 by comparing it with the tail light 32 pattern provided by the color pattern detector 210 based on the previously stored library 240. [

The distance value calculating unit 230 can calculate the distance to the forward vehicle 30 by storing the size information as well as the shape of the various taillights 32 in the library 240 for each type of vehicle. That is, the distance value between the rear vehicle 20 and the front vehicle 30 can be estimated by comparing the size of the taillight 32 of the collected image data with the size of the preliminarily stored taillight 32 as a reference.

Alternatively, the focal length of the camera lens 110 may be used to calculate the distance from the image sensor 130 to the focal point of the vehicle, thereby measuring the distance to the vehicle ahead.

In other cases, when the color pattern is recognized on the image sensor 130 according to the distance, a phenomenon in which the red color appears gradually as the upper distance value becomes smaller within a predetermined distance range, The distance to the front vehicle 30 can be measured by calculating how much the vehicle changes in white color.

If the rear vehicle 20 and the front vehicle 30 are not located on the same straight line, the angle of inclination of the vehicle can be calculated and the direction value of the vehicle can be calculated. can do. In particular, the direction value can be used to recognize a specific pattern by reflecting a direction value when a pair of specific patterns are not mutually symmetric.

The present invention may further include a distance sensor 250 and an illuminance sensor 260. [

The distance value calculation unit 230 can calculate the image-based distance value. However, if the image-based distance value can not be calculated, it is necessary to calculate the sensor-based distance value either side by side or in parallel.

The distance sensor 250 may include a laser or an ultrasonic sensor that emits ultrasonic waves to the front vehicle 30. The ultrasonic sensor can calculate the distance by measuring the signal that the divergent laser or the ultrasonic wave is reflected to the forward vehicle 30 and returns. Although the sensor-based distance value may be more accurate than the image-based distance value, a separate sensor must be provided and the calculation may be complicated.

The illuminance sensor 260 can determine the day and the night. In addition, the headlamp of the rear vehicle 20 may include an illuminance that is reflected back to the front vehicle 30. For example, if the rear vehicle 20 does not turn on the headlamp at night, it is easy to identify the tail light 32 of the front vehicle 30. However, if the vehicle is turning on the headlamp, It is difficult to identify the taillight 32, or extraction of red color may become difficult.

The event generation alarm module 400 may include any method capable of informing the driver of the braking of the forward vehicle 30. For example, through the vibrator 410, the speaker 420, or the lamp 430.

According to another embodiment of the present invention, an alarm is provided as an example, but it is not excluded to directly control the machine of the rear vehicle 20 to brake the rear vehicle 20.

Hereinafter, an alarm method for notifying the braking fact of the front vehicle according to the present invention will be described in detail with reference to the drawings.

3, the rear vehicle 20 collects image data of the front vehicle 30 at the time of travel. (S10) The rear vehicle 20 in the running travels by using the image acquisition module 100, The image data of the tail light 32 of the vehicle 30 is acquired.

 Only the red color pattern is extracted from the collected image data. (S20) The color pattern detecting unit 210 extracts only a specific color pattern from the image data and detects a red color pattern.

(S30) The shape pattern detection unit 220 extracts only a specific shape pattern from the red color pattern.

The taillight pattern is detected by comparing the specific shape pattern and the previously stored reference shape information. (S40, S50) It is determined whether or not a specific shape pattern is stored in the library 240. If there is already stored information, Thereby detecting the taillight 32 pattern.

The distance value calculating unit 230 calculates the distance value between the rear vehicle 20 and the front vehicle 30 by comparing the size of the specific shape pattern with the size information of the reference shape stored previously. It is determined whether or not the distance value can be calculated based on the size information of the taillight 32 previously stored.

If the specific shape pattern is not stored in the library 240 so that it can not be compared with the reference shape information or is stored but is hard to be calculated, a tail light pattern is detected using a knowledge based algorithm. (S70) It is possible to determine the pattern as a taillight 32 pattern in the case of a pair of resembling patterns whose specific pattern is spaced apart by a predetermined distance.

(S80). If the distance value can not be calculated by the distance value calculation unit 230, the distance value is calculated using the distance sensor 250 can do.

It is detected whether or not the detected state of the taillight pattern 32 lasts for a predetermined time or longer. (S90) If the duration is 1 second or longer using the timer 310, the event is considered to have occurred.

It is detected whether or not the speed of the forward vehicle 30 is reduced to a constant speed or less. (S92) If the speed sensor 320 is used to decelerate the vehicle to a speed of 5 km / hr or less, an event is considered to have occurred.

If it is determined that an event has occurred, the driver is alerted to the occurrence of the event (S100). For example, the driver can be notified of the occurrence of an event through the vibrator 410, the speaker 420 or the lamp 430, Can be directly controlled.

As described above, the present invention detects the occurrence of an event such as a brake of a forward vehicle through image-based pattern detection and distance value calculation, and informs the driver of the rear vehicle audibly or sensibly. . Many other modifications will be possible to those skilled in the art, within the scope of the basic technical idea of the present invention.

10: Alarm device informing the braking of the front vehicle
20: rear vehicle 30: forward vehicle
32: Tail light
100: image acquisition module 110: lens
120: color array 130: image sensor
200: image processing module 210: color pattern detector
220: shape pattern detection unit 230: distance value calculation unit
240: Library 250: Distance sensor
260: illuminance sensor 300: event occurrence detection module
310: Timer 320: Speed sensor
400: Event occurrence alarm module 410: Vibrator
420: speaker 430: lamp

Claims (10)

An image collection module installed in the rear vehicle for collecting image data of the forward vehicle;
An image processing module processing the collected image data to detect a taillight pattern, and determining whether a distance value between the rear vehicle and the front vehicle is within a predetermined range; And
And an event occurrence detection module for detecting whether or not an event is generated by detecting whether the taillight pattern detection state continues for a predetermined time or longer and whether the speed of the preceding vehicle is decelerated to a predetermined speed or less, An alarm device to tell the truth. The method according to claim 1,
Further comprising a timer for determining the predetermined time, and the duration is at least one second. The method according to claim 1,
Further comprising a speed sensor for determining the predetermined speed, wherein the speed of deceleration is 5 km / h or less. The method according to claim 1,
Wherein the image acquisition module comprises:
And a lens coated in a green color. The method according to claim 1,
The image processing module includes:
A color pattern detector for extracting only a specific color pattern from the image data and detecting a red color pattern;
A shape pattern detector for extracting only a specific shape pattern from the red color pattern and detecting the tail light pattern; And
And a distance value calculation unit for estimating a distance value between the front vehicle and the rear vehicle. 6. The method of claim 5,
Further comprising a pre-stored library of shape information of the taillights for each vehicle type,
Wherein the image processing module compares the taillight pattern information provided by the shape pattern detection section with the tail light pattern information of the library. The method according to claim 6,
Further comprising a pre-stored library of taillight size information for each vehicle type,
Wherein the distance value calculation unit calculates a distance value between the rear vehicle and the front vehicle based on taillight size information of the library. The method according to claim 6,
Wherein the image processing module detects the tail light shape pattern using a knowledge based algorithm in the red color pattern,
Wherein the knowledge-based algorithm is characterized in that the pair of resembling patterns spaced apart by a predetermined distance are viewed as taillights. 8. The method of claim 7,
Further comprising an ultrasonic distance sensor for measuring a distance between the front vehicle and the rear vehicle,
Based distance value is calculated by the ultrasonic distance sensor when the distance value calculation unit does not calculate the image-based distance value. Collecting image data of a preceding vehicle in a running rear vehicle;
Extracting only a red color pattern from the collected image data;
Processing a boundary of the red color pattern to extract a specific shape pattern;
Comparing the specific shape pattern with previously stored reference shape information to detect a taillight pattern;
Detecting whether the taillight pattern detection state continues for a predetermined time or longer; And
And detecting whether the speed of the preceding vehicle is decelerated to a predetermined speed or less.
KR1020130165560A 2013-12-27 2013-12-27 Device and method for alarming quick brake of preceding-vehicle to rewarding-vehicle KR20150076882A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
KR1020130165560A KR20150076882A (en) 2013-12-27 2013-12-27 Device and method for alarming quick brake of preceding-vehicle to rewarding-vehicle

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
KR1020130165560A KR20150076882A (en) 2013-12-27 2013-12-27 Device and method for alarming quick brake of preceding-vehicle to rewarding-vehicle

Publications (1)

Publication Number Publication Date
KR20150076882A true KR20150076882A (en) 2015-07-07

Family

ID=53789754

Family Applications (1)

Application Number Title Priority Date Filing Date
KR1020130165560A KR20150076882A (en) 2013-12-27 2013-12-27 Device and method for alarming quick brake of preceding-vehicle to rewarding-vehicle

Country Status (1)

Country Link
KR (1) KR20150076882A (en)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR3046760A1 (en) * 2016-01-20 2017-07-21 Peugeot Citroen Automobiles Sa METHOD FOR SIGNALING REAR LIGHT PROBLEM TO A VEHICLE, AND DEVICE THEREOF
US11634120B2 (en) 2020-04-28 2023-04-25 Hl Mando Corporation Driver assistance system and driver assistance method

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR3046760A1 (en) * 2016-01-20 2017-07-21 Peugeot Citroen Automobiles Sa METHOD FOR SIGNALING REAR LIGHT PROBLEM TO A VEHICLE, AND DEVICE THEREOF
US11634120B2 (en) 2020-04-28 2023-04-25 Hl Mando Corporation Driver assistance system and driver assistance method

Similar Documents

Publication Publication Date Title
JP5855272B2 (en) Method and apparatus for recognizing braking conditions
JP5617999B2 (en) On-vehicle peripheral object recognition device and driving support device using the same
JP5615862B2 (en) Vehicle perimeter monitoring device
JP6132412B2 (en) Outside environment recognition device
JP5077184B2 (en) Vehicle detection device
JP6034923B1 (en) Outside environment recognition device
JP6236039B2 (en) Outside environment recognition device
JP6420650B2 (en) Outside environment recognition device
JP4807354B2 (en) Vehicle detection device, vehicle detection system, and vehicle detection method
CN110682907B (en) Automobile rear-end collision prevention control system and method
CN112339655A (en) Adaptive control system and method for vehicle tail lamp and vehicle
JP2008189148A (en) Traveling state detection device
JP5632811B2 (en) Vehicle driving support device
WO2016092925A1 (en) Approaching vehicle detection device
KR20150076882A (en) Device and method for alarming quick brake of preceding-vehicle to rewarding-vehicle
JP2004341801A (en) Chased vehicle lamp detection system and chased vehicle lamp detection method
CN112601059A (en) Image projection device for vehicle and vehicle
WO2015190052A1 (en) Preceding condition determination apparatus
KR20150076884A (en) Device and method for alarming start of preceding-vehicle to rewarding-vehicle
WO2008146304A2 (en) A forward brake indicate device and method thereof
JP6259335B2 (en) Outside environment recognition device
JP2006146754A (en) Preceding car detecting method and preceding car detecting apparatus
KR101850030B1 (en) Apparatus and method for lane change assistance using illumination
JP2012118929A (en) Outside environment determination device and outside environment determination program
CN108263276B (en) Safety warning system for vehicle under low visibility condition

Legal Events

Date Code Title Description
A201 Request for examination
E701 Decision to grant or registration of patent right