KR20160019178A - Vehicle control method, vehicle control apparatus, lane departure warning apparatus of vehicle, image recording apparatus for vehicle - Google Patents

Abstract

Disclosed are a vehicle control method, a vehicle control apparatus, a lane departure warning apparatus of a vehicle, and an image recording apparatus for a vehicle. According to the present invention, a black box function for a vehicle can be performed by using driving control devices of a vehicle, thereby increasing a competitive price of a vehicle and reducing the burden of expenses for a consumer. To this end, according to the present invention, the vehicle control apparatus comprises: a first driving control device having a distance measurement means to acquire distance information from a vehicle to a barrier; and a second driving control device having an imaging means to acquire moving direction information of the barrier through an image wherein the barrier is photographed and a control unit determining collision probability between the vehicle and the barrier based on the distance information, the moving direction information, and vehicle driving direction information.

Description

TECHNICAL FIELD [0001] The present invention relates to a VEHICLE CONTROL METHOD, a VEHICLE CONTROL APPARATUS, and a LANE DEPARTURE WARNING APPARATUS FOR VEHICLE, IMAGE RECORDING APPARATUS FOR VEHICLE,

BACKGROUND OF THE INVENTION 1. Field of the Invention [0002] The present invention relates to a video recording of a vehicle, and more particularly, to an apparatus and a method for recording and recording video around a vehicle.

The video recording apparatus for a vehicle is a device for photographing the surroundings of a vehicle and automatically recording the video. The video recording device for a vehicle is usually called a black box for a vehicle. The black box is a device that records the operational information of the aircraft when the aircraft is in operation. It collects the black box in case of an air accident and analyzes the recorded driving information to identify the cause of the accident and to identify the problem do. Such an aircraft black box has been expanded and manufactured for general vehicles.

The automotive black box consists of optical system, sensors, CPU, memory, etc. as one independent device. Since the vehicle-use black box as an independent individual device is fixedly installed at a certain position in a vehicle and operates by receiving power from a cigar jack or a fuse terminal, installation space is required and troublesome work of connecting the power supply cable is required Is required. A vehicle black box as such an independent individual device may create a visual sense of heterogeneity if it does not match the interior design of the vehicle.

According to an aspect of the present invention, an object of the present invention is to determine the possibility of a collision with an obstacle ahead of the driver (another vehicle / pedestrian, etc.) by using the operation control devices of the vehicle.

According to another aspect of the present invention, there is another object of the present invention to provide a vehicle black-box function using vehicle operation control devices.

The vehicle according to the present invention for the above purpose includes: a first operation control device having distance measurement means for obtaining distance information from the vehicle to an obstacle; And a control unit for determining the possibility of collision between the vehicle and the obstacle based on the distance information, the traveling direction information, and the traveling direction information of the vehicle, the image capturing means for obtaining the traveling direction information of the obstacle through the image of the obstacle, And a driving control device.

Further, in the above-described vehicle, the first operation control device is a constant-speed drive device for allowing the vehicle to travel automatically while maintaining a speed within a preset range.

Further, in the vehicle described above, it further includes determining an increase / decrease state of the distance from the vehicle to the obstacle from the distance information.

Further, in the above-described vehicle, the second operation control device is a lane departure warning device for detecting an escape of the vehicle to the vehicle and generating an alarm.

Further, in the above-described vehicle, the possibility of collision is determined by the second operating device.

In the vehicle described above, the control unit captures an image of an obstacle located in the front of the vehicle using the imaging unit, and analyzes the movement trajectory of the obstacle in the image of the obstacle to obtain moving direction information of the obstacle.

A vehicle control method according to the present invention for achieving the above object comprises the steps of: obtaining distance information from a vehicle to an obstacle; Obtaining moving direction information of the obstacle from the image of the obstacle; Obtaining driving direction information of the vehicle; Determining a possibility of collision between the vehicle and the obstacle based on the distance information, the moving direction information, and the traveling direction information; And recording the image photographed by the imaging means in the memory of the vehicle when it is determined that there is a possibility of collision between the vehicle and the obstacle.

Further, in the vehicle control method described above, the first operation control device is a constant-speed driving device for allowing the vehicle to travel automatically while maintaining a speed within a preset range.

Further, the vehicle control method described above further includes determining an increase / decrease state of the distance from the vehicle to the obstacle from the distance information.

In the above vehicle control method, the second operation control device is a lane departure alarm device for detecting an escape of the vehicle to the vehicle and generating an alarm.

Further, in the vehicle control method described above, the determination of the possibility of collision is made by the second operating device.

Further, in the vehicle control method described above, the step of acquiring the moving direction information may include the steps of: capturing an image of an obstacle located in front of the vehicle using the imaging means; And analyzing the movement trajectory of the obstacle in the image of the obstacle to obtain the moving direction information of the obstacle.

Further, in the vehicle control method described above, the memory is a built-in memory of the multimedia unit of the vehicle.

Further, in the vehicle control method described above, the multimedia unit is a combination of audio, video, and navigation integratedly.

In the above vehicle control method, when the obstacle is another vehicle, it is determined that there is a possibility of collision between the vehicle and another vehicle when the obstacle approaches within a predetermined distance from the vehicle.

Further, in the vehicle control method described above, when the obstacle is a pedestrian, it is determined that there is a possibility of collision between the vehicle and the pedestrian if the predicted moving direction of the pedestrian and the predicted traveling direction of the vehicle cross each other.

A vehicle control method according to the present invention for achieving the above object comprises the steps of: obtaining distance information from a vehicle to an obstacle; Obtaining movement direction information of an obstacle from a captured image of the obstacle; Obtaining driving direction information of the vehicle; And determining the possibility of collision between the vehicle and the obstacle based on the distance information, the moving direction information, and the traveling direction information.

In the above vehicle control method, the distance information is acquired by using the distance measuring means of the constant-speed-cruising device so that the vehicle can travel automatically while maintaining the speed within a predetermined range.

Further, in the vehicle control method described above, the image of the obstacle is captured using the imaging means of the lane departure warning apparatus for detecting the departure of the vehicle by the vehicle and generating an alarm.

Further, in the vehicle control method described above, the determination of the possibility of collision is made by the lane departure warning apparatus.

According to an aspect of the present invention, there is provided a vehicle departure warning apparatus comprising: imaging means for obtaining movement direction information of an obstacle; The distance information from the vehicle to the obstacle is received from the distance measuring means of the first operation control device, the traveling direction information of the vehicle is received, and the collision between the vehicle and the obstacle based on the distance information and the traveling direction information, And a control unit for controlling to record the image photographed by the image pickup means in the memory of the vehicle when it is judged that there is a possibility of collision between the vehicle and the obstacle.

Further, in the above-described vehicle departure warning apparatus, the memory is an internal memory of the multimedia unit of the vehicle.

Further, in the above-described vehicle departure warning apparatus, the multimedia unit is an integrated unit of audio, video, and navigation.

An image recording apparatus for a vehicle according to the present invention for a vehicle described above comprises: a multimedia unit having a memory; A first operation control device having distance measuring means for obtaining distance information from the vehicle to an obstacle; An image pickup means for obtaining the moving direction information of the obstacle, a control means for judging the possibility of collision between the vehicle and the obstacle based on the distance information, the moving direction information and the traveling direction information of the vehicle, And a control unit for controlling the image sensing unit to record an image photographed by the first operation control unit in the memory of the multimedia unit.

In the above-described image recording apparatus for a vehicle, the first operation control device is a constant-speed drive device for allowing the vehicle to travel automatically while maintaining a speed within a preset range.

In the above-described vehicle image recording apparatus, the second operation control device is a lane departure warning device for detecting an escape of the vehicle to the vehicle and generating an alarm.

Further, in the above-described video recording apparatus for a vehicle, determination of the possibility of collision and control of image recording are performed by the second operation apparatus.

Further, in the video recording apparatus for a vehicle described above, the multimedia unit is a combination of audio, video, and navigation integratedly.

Another vehicle control method according to the present invention includes the steps of: detecting an obstacle using a radar of a cruise control device; Obtaining distance information from the vehicle to the obstacle from the obstacle detection result; Obtaining driving direction information of the vehicle; Acquiring an image of an obstacle by using a camera of a departure warning apparatus; Obtaining identification information of the obstacle and moving direction information of the obstacle through analysis of the image; Determining a possibility of collision between a vehicle and an obstacle based on distance information, identification information, moving direction information, and traveling direction information; Generating an alarm when it is determined that there is a possibility of collision between the vehicle and the obstacle, and recording the image photographed by the camera in the internal memory of the AVN.

According to one aspect, an accident prevention effect is provided by determining the possibility of collision with an obstacle (other vehicle / pedestrian, etc.) in front using the operation control devices of the vehicle.

According to another aspect of the present invention, it is possible to perform a black box function for a vehicle using the operation control devices of a vehicle, thereby enhancing the cost competitiveness of the vehicle and reducing the cost burden on the consumer.

1 is a view showing operation control using a first operation control apparatus for a vehicle according to an embodiment of the present invention.
2 is a view illustrating a control system based on a cruise control system of a vehicle according to an embodiment of the present invention.
3 is a diagram illustrating operation control using a second operation control apparatus of a vehicle according to an embodiment of the present invention.
FIG. 4 is a diagram illustrating a control system based on a car separation alarm system according to an embodiment of the present invention.
5 is a view showing a control system of a black box device for a vehicle implemented through a combination of a constant speed driving device 202, a lane departure warning device and an AVN in a vehicle according to an embodiment of the present invention.
6 is a diagram illustrating a determination of the possibility of collision when the obstacle is a vehicle in the black box mode of the vehicle according to the embodiment of the present invention.
7 is a view illustrating a vehicle control method according to the first embodiment of the black box mode of the vehicle according to the embodiment of the present invention.
FIG. 8 is a diagram illustrating a collision probability determination when the obstacle is a pedestrian in the black box mode of the vehicle according to the embodiment of the present invention.
9 is a diagram illustrating a vehicle control method according to the second embodiment of the black box mode of the vehicle according to the embodiment of the present invention.

Among the terms mentioned in the description of the embodiment of the present invention, 'Subject Vehicle', 'Target Vehicle', 'Pedestrian' and 'Obstacle' can be defined as follows . The " vehicle " may be a vehicle to which an apparatus and method according to an embodiment of the present invention is applied. The 'other vehicle' may be other vehicles located around the 'vehicle'. For example, the vehicle in front of which the distance is measured through the distance measuring means (for example, radar) of the cruise control device during the operation based on the Smart Cruise Control may be a 'other vehicle'. The 'pedestrian' may be a person located near the vehicle. The 'pedestrian' can include both the person walking and the person staying in one place. 'Obstacle' may be a term referring to 'other vehicle' and 'pedestrian' as well as 'structure' around the vehicle.

1 is a view showing operation control using a first operation control apparatus for a vehicle according to an embodiment of the present invention. The vehicle 102 shown in FIG. 1 is traveling on the basis of a Smart Cruise Control (SCC), which is an embodiment of the first operation control device. When the driver sets a desired speed in the instrument panel cluster, the cruise control system controls the vehicle 102 to travel while maintaining the set speed even if the driver does not operate the accelerator pedal during operation. If an obstacle (another vehicle, a pedestrian, a structure, or the like) is detected in front of the vehicle 102, the distance between the obstacle and the vehicle 102 is automatically adjusted through deceleration so that the safety distance (see 652 in FIG. If necessary, the vehicle speed can be more actively decelerated or stopped by braking.

Fig. 1 (A) is a diagram showing a method of recognizing another vehicle 104 using the constant-speed driving device of the vehicle 102 traveling on the road. When the vehicle 102 travels constant speed along the lane on the road in the constant speed running mode, the constant speed traveling device (see 202 in FIG. 2) mounted on the vehicle 102 is driven by distance measuring means Radar) to see if there is another vehicle 104 running in front of the vehicle 102. [ If the other vehicle 104 is present, the constant-speed driving device obtains distance information from the vehicle 102 to the other vehicle 104. [ The constant-speed driving device also confirms that the distance between the vehicle 102 and the other vehicle 104 is increased / decreased. When the radar is used as the distance measuring means, it is determined whether or not the other vehicle 104 is present by receiving a radio wave or a sound wave that is reflected by the other vehicle 104 after emitting a radio wave or a sound wave toward the front of the vehicle 102, The increase / decrease of the distance between the other vehicle 104 and the vehicle 104 as well as the distance to the vehicle 104 can be known. Reference numeral 106 in Fig. 1 (A) indicates constant-speed-cruise-related information displayed on the display of the vehicle 102 in the constant-speed cruise mode. The constant-speed-travel-related information displayed on the display may include the current speed of the target amount 102 and the presence or absence of another ahead vehicle 104. [

 1 (B), 1 (C) and 1 (D) are diagrams showing how the vehicle 102 in the constant speed running mode is controlled depending on the presence or absence of the other vehicle 104 and the running state.

1 (B) is a case where no other vehicle 104 exists in front of the vehicle 102. Fig. When the other vehicle 104 is not found in front of the vehicle 102 in the constant speed running mode, the constant speed driving device of the vehicle 102 controls the running speed of the vehicle 102 so as to maintain the speed set in the constant speed running mode . If the speed set in the constant speed running mode is 80 km / h, the vehicle 102 in FIG. 1 (B) travels at a speed of 80 km / h.

1 (C) shows a case where another vehicle 104 exists in front of the vehicle 102. Fig. When the other vehicle 104 is found in front of the vehicle 102 in the constant-speed-cruise mode, the constant-speed driving device of the vehicle 102 is operated in the state of increasing / decreasing the distance and distance between the vehicle 102 and the other vehicle 104 And controls the traveling speed of the vehicle 102 so that the inter-vehicle distance between the vehicle 102 and the other vehicle 104 is maintained at a predetermined distance or more based on the determination result. If the distance between the vehicle 102 and the other vehicle 104 is increasing (that is, the vehicle 102 is moving away), the constant-speed driving device of the vehicle 102 keeps the traveling speed of the target vehicle amount 102 at 80 km / While driving. Conversely, if the distance between the vehicle 102 and the other vehicle 104 is in a state of decreasing (i.e., approaching), the constant-speed driving device of the vehicle 102 is capable of changing the speed of the vehicle 102 from 80 km / h So that the vehicle-to-vehicle distance between the vehicle 102 and the other vehicle 104 can be secured over a certain distance.

1D, when the other vehicle 104 moves to another lane and moves out of the driving route in a state where the vehicle 102 is decelerating at a speed lower than the set speed of 80 km / h, Controls the speed of the vehicle 102 to accelerate the speed of the vehicle 102 to 80 km / h, which is the set speed of the constant speed running mode, and then travel at a constant speed.

Although only the other vehicle 104 is described in the description of FIG. 1, the constant speed running control of the vehicle 102 as shown in FIG. 1 can also be performed for the 'pedestrian' or the 'structure'.

2 is a view illustrating a control system based on a cruise control system of a vehicle according to an embodiment of the present invention. 2, the constant-speed cruise control device 202 may include a control unit 204 and a radar 210. The control unit 204 may be an electronic control unit (ECU) of the constant-speed cruise control device 202. [ The radar 210 is an embodiment of distance measuring means for measuring the increase / decrease of the distance and the distance in the presence of an obstacle located in the vicinity of the vehicle 102, as mentioned in FIG. The radar 210 emits radio waves or sound waves toward the front of the vehicle 102, and receives reflected radio waves or sound waves. The presence or absence of an obstacle and the increase / decrease in distance and distance are measured in the emission and reception of radio waves or sound waves in the radar 210. The radar 210 transmits the measurement result to the control unit 204. The control unit 204 analyzes the detection result transmitted from the radar 210 and generates 'distance information' including information such as the presence and distance of an obstacle in front of the vehicle 102, an increase / decrease in distance, and the like.

The control unit 204 of the constant cruise control unit 202 receives the manipulated variable information of the steering wheel 254 via the steering wheel sensor 252 and receives the speed information of the vehicle 102 via the speed sensor 262 do. The manipulated variable information of the steering wheel 254 detected through the steering wheel sensor 252 can be used as a means for obtaining the running direction information of the vehicle 102. [ The speed information of the vehicle 102 may be speed information based on the rotational speed of the wheel 264 collected through an encoder provided on the wheel 264. [ The velocity information of the vehicle 102 can be collected based on the air flow rate around the vehicle 102 as well as the encoder of the wheel 264. [ The speed information of the vehicle 102 can be utilized for the constant-speed operation control of the vehicle 102, the control of the relative speed with respect to the other vehicle 104, and the distance maintenance control.

The control unit 204 of the constant cruise control unit 202 generates a plurality of control signals for controlling the vehicle 102 in the constant cruise mode. The plurality of control signals generated by the control unit 204 of the constant cruise control unit 202 may include a display control signal, a throttle valve control signal, and a brake control signal. The display control signal is a control signal for causing the display driver 272 to display information of a desired content on the display 274 (see display 106 in Fig. 1 (A)). The throttle valve control signal is a control signal for adjusting the opening degree of the throttle valve 284 by driving the throttle valve driving section 282. The throttle valve 284 is a valve for adjusting the amount of air supplied to the engine, and basically, its opening degree can be adjusted in response to the user's accelerator pedal operation. In the constant speed running mode, even if the user does not operate the accelerator pedal, the control unit 204 of the constant speed cruise control apparatus 202 takes the initiative of controlling the opening degree of the throttle valve 284 and is actually involved in the opening control of the throttle valve 284 do. The control section 204 of the constant cruise control device 202 when the vehicle is in the constant speed cruise mode is operated to increase / maintain / reduce the speed of the vehicle 102 in accordance with the surrounding environment of the vehicle 102, The opening degree of the throttle valve 284 can be controlled. The brake control signal is a control signal for causing the brake 294 to operate by driving the brake driver 292. [ In the constant speed running mode, the control unit 204 of the constant cruise control unit 202 takes the initiative in the control of the brake 294 and actually participates in the control of the brake 294 until the user's active intervention occurs. The control section 204 of the constant cruise control device 202 when the vehicle is in the constant speed cruise mode is provided with a brake (not shown) for maintaining / reducing the speed of the vehicle 102 in accordance with the surrounding environment of the vehicle 102, 294).

3 is a view showing an operation control using a second operation control device of a vehicle according to an embodiment of the present invention. The vehicle 102 shown in Fig. 3 is an example of a second operation control device, Lane Departure Warning System (LDWS). The lane departure warning apparatus recognizes the lane ahead of the vehicle 102 by using the image of the front side of the vehicle 102 and running information or the like so as to generate a warning when the risk of the lane departure of the vehicle 102 is predicted. to be. When the lane departure warning system is activated and the lane change is made while the turn signal light is not turned on while traveling above the preset speed, an alarm is generated. The vehicle departure warning apparatus of the vehicle 102 recognizes one lane through the identification of the lane formed on the surface of the road. For this purpose, the front of the vehicle 102 is photographed using a camera or the like which is an imaging means.

3 (A) is a view showing that both lanes 306 dividing the lane when the vehicle 102 travels on the road are recognized using the lane departure warning apparatus. 3 (A), the vehicle departure warning device (see 402 in FIG. 4) of the vehicle 102 is provided with an image pickup means (not shown) provided in the vehicle 102 for recognizing the lane 306 to the lane on the road (E.g., a camera) 304 to acquire an image of the front of the vehicle 102 and identify the lanes 306 of both lanes through analysis of the image.

Fig. 3 (B) is a view showing lane recognition through analysis of images in the vehicle departure warning apparatus of the vehicle 102. Fig. The lane dividing the lane is painted in yellow with the center line and the other lane painted in white. On the other hand, the surface of the road is mostly asphalt dark color, and even if it is made of concrete, it is painted in dark color to prevent glare. Thus, since the yellow and white lanes are clearly distinguished from the dark colors of the road, the lane departure alarm can recognize the lane through contrast between the lighter color of the lane and the darker color of the road surface. That is, as shown in Fig. 3 (B), the lane 306 is recognized through the contrast between the colors of the road surface and both lanes 306 in the image (moving image) taken in front of the vehicle 102. [ Particularly, since the lane 306 has a continuity of its characteristics, recognition of the lane 306 through analysis of the image can be facilitated.

Fig. 3 (C) is a diagram showing the lane recognition result displayed on the display of the vehicle 102. Fig. As can be seen in FIG. 3 (C), the relative position of the vehicle 102 and both lanes 306 as well as the recognized lane markings are displayed together.

FIG. 4 is a diagram illustrating a control system based on a car separation alarm system according to an embodiment of the present invention. 4, the lane departure warning apparatus 402 may include a control unit 404 and a camera 410. [ The control unit 404 may be an electronic control unit (ECU) of the lane departure warning apparatus 402. The camera 410 may include an optical system 406 and an image processor 408. The camera 304 is an embodiment of the imaging means for recognizing the lanes 306 on both sides with the vehicle mentioned in Fig. The optical information of the subject in front of the vehicle 102 is transmitted to the image processor 408 through the optical system 406. [ The image processor 408 converts the optical information of the subject input through the optical system 406 into image information in the form of electric signals and provides the image information to the controller 404. The control unit 404 converts image information provided from the image processor 408 into image data, and performs analysis for lane recognition on the image. The control unit 404 of the vehicle departure warning apparatus 402 recognizes both lanes 306 of the vehicle 102 as a driving vehicle through this analysis (refer to Fig. 3 (B)). The image data generated at this time can be outputted to the outside so as to be able to be recorded in AVN (Audio Video Navigation) (refer to 502 in FIG. 5 to be described later) in the black box mode (image recording mode) of the vehicle according to the embodiment of the present invention have.

The vehicle black box is an apparatus for recording an image of the surroundings of the vehicle, etc., by recording the operation of the accelerator pedal of the vehicle, the operation of the brake pedal, the engine state and the speed in the form of data. The black box mode of the vehicle according to the embodiment of the present invention is an operation mode in which the functions of the constant speed driving device 202, the lane departure warning device 404, and the AVN are combined to function as a vehicle black box. That is, the vehicle black box device (vehicle image recording device) is implemented by combining the functions of the constant speed driving device 202, the car departure alarm device 404, and the AVN, thereby replacing the vehicle black box device as an existing independent device . The selection of the black box mode of the vehicle according to the embodiment of the present invention is performed in response to the operation of the button provided inside the vehicle 102 or in response to the menu selection at the AVN, And the vehicle departure warning device 402 are activated.

The lane departure warning apparatus 402 receives 'distance information' from the constant cruise control unit 202 described above with reference to Figs. 1 and 2. The lane departure warning apparatus 402 is a system for colliding a vehicle 102 based on moving direction information of an obstacle secured through analysis of image data acquired through a camera 304 and distance information received from the constant- And determines whether to record video data in the AVN according to the determination result.

The control unit 404 of the vehicle departure warning apparatus 402 generates a plurality of control signals for controlling the vehicle 102. The plurality of control signals generated by the control unit 404 of the vehicle departure warning apparatus 402 may include a display control signal and a collision alarm signal. The display control signal is a control signal for causing the display driver 272 to drive the display 274 so that information of a desired content is displayed (see Fig. 3 (C)). Information on the environment of the vehicle 102 secured by the vehicle departure warning apparatus 402 can be displayed on the display 274 (see Fig. 3 (C)). The controller 404 of the car departure alarm apparatus 402 generates a collision alarm signal to drive the alarm generator 462 so that a visual alert corresponding to the occurrence of an emergency situation is displayed on the display 274, Or drive the haptic sheet drive unit 472 to control the haptic sheet 474. The haptic sheet drive unit 472 can be controlled by the user. The haptic seat 474 is a seat for generating an alarm by transmitting a stimulus such as vibration of the driver's seat sheet to the driver as a method of generating an alarm when an emergency occurs while the vehicle 102 is running.

In the vehicle according to the embodiment of the present invention, the functions of the constant-speed cruise control device 202, the lane departure warning device 404, and the AVN (refer to 502 in Fig. 5) are combined without using the vehicle black box device as an independent device By implementing a black box device for a vehicle, it is possible to replace a black box device for a vehicle as an existing independent device. As a result, it is possible to reduce the burden and labor of purchasing and mounting a vehicle black box device as an independent device. To this end, in the vehicle according to the embodiment of the present invention, distance information, movement direction information, and type information about an obstacle (another vehicle, a pedestrian or a structure) are acquired through the constant cruise control device 202 and the lane departure warning device 404 , Collects the acquired information to determine the possibility of collision between the vehicle 102 and the obstacle, and then, if it is determined that there is a possibility of collision, the video currently being shot is recorded (recorded) in the AVN together with the safety measure.

5 is a view showing a control system of a vehicle black box device implemented through the combination of the constant speed driving device 202, the lane departure alarm device 402 and the AVN 502 in the vehicle according to the embodiment of the present invention. As shown in Fig. 5, the main control body of the vehicle black box apparatus according to the embodiment of the present invention is the control unit 404 of the lane departure warning apparatus 402. Fig. In the vehicle according to the embodiment of the present invention, in order to record an image photographed through the camera 306, which is an image pickup means provided in the car separation alarm apparatus 402, in the AVN 502, It is preferable that the control section 404 of the vehicle departure warning apparatus 402 is a control subject in the black box mode. Of course, the constant-speed driving device 202 or the AVN 502 may be a control subject in the black box mode. In this way, without developing a new control unit (ECU) for controlling the vehicle in the black box mode according to the embodiment of the present invention, the control unit 404 of the ECU, that is, the lane departure warning apparatus 402, It is possible to reduce the development cost of the new control unit (ECU) and solve the problem of the increase in the cost due to the use of the additional control unit (ECU) and the problem of securing the installation space. It is possible to enable the existing control unit (ECU) to perform the control in the black box mode according to the embodiment of the present invention by updating the firmware.

The control unit 404 of the vehicle departure warning apparatus 402 acquires the shape information and the progress direction information of the obstacle from the image data in front of the vehicle 102 photographed using the camera 304. [ The acquisition of the shape information and the direction information of the obstacle is accompanied by the analysis of the image data. The type information of the obstacle is information about which type of obstacle is other vehicle / pedestrian / structure. The control unit 404 of the vehicle departure warning apparatus 402 receives distance information from the constant cruising apparatus 202 including information such as the distance from the vehicle 102 to the obstacle, the increase / decrease of the distance, and the like. The control unit 404 of the vehicle departure warning apparatus 402 collects the type information and the traveling direction information of the obstacle obtained from the lane departure warning apparatus 402 itself and the distance information received from the constant speed driving apparatus 202, (Other vehicle / pedestrian / structure), the direction of travel, and the distance from the vehicle 102, determines the possibility of collision between the vehicle 102 and the obstacle based on this information, If it is judged, the collision probability is calculated. When the distance between the vehicle 102 and the obstacle is getting closer, the control unit 404 of the lane departure warning apparatus 402 determines that there is a possibility of collision between the vehicle 102 and the obstacle. When the calculated collision probability is equal to or greater than a preset threshold value (for example, 50% or more), a countermeasure against collision is required. Therefore, a safety control for preventing collision and a recording control signal for video recording are generated. The photographed image of the camera 304 is recorded in the built-in memory 504 of the AVN 502 in response to the generation of the recording control signal.

In the black box mode of the vehicle according to the embodiment of the present invention, the video around the vehicle 102, which is captured by the camera 304, is recorded in the internal memory 504 of the AVN 502, Make it possible for both manufacturers and consumers to save money. The AVN of the vehicle basically has an internal memory for storing data. The AVN is a multimedia unit in which audio, video, and navigation are integrated into one device. In particular, a memory for storing navigation map data, traffic information data, living information data, address book data, telephone number data, . In the black box mode of the vehicle according to the embodiment of the present invention, since the memory built in the vehicle 102, that is, the built-in memory 504 of the AVN 502 is used for video recording, There is no need for additional memory for this. As a result, the manufacturer of the vehicle 102 can lower the selling price of the vehicle 102, and the consumer purchasing the vehicle 102 can purchase the vehicle 102 at an affordable price, thereby reducing the economic burden. In addition, considering the cost saving effect of a consumer who does not have a black box device for a vehicle as a separate independent device, the satisfaction of the consumer is further increased.

FIG. 6 is a diagram illustrating determination of the possibility of collision when the obstacle is another vehicle in the black box mode of the vehicle according to the embodiment of the present invention. 6, the vehicle 102 travels at a constant speed while detecting the obstacle (another vehicle / pedestrian / structure) ahead by using the cruise control device 202 in the black box mode turned on state, And is in a state of traveling while recognizing the vehicle departure warning apparatus 402. [ In particular, Fig. 6 shows the case where the obstacle is another vehicle. Most of the other vehicle 104 that precedes the vehicle 102 when shooting ahead in the vehicle 102 is photographed in its rearward direction. The approximate shape when viewed from the rear of the other vehicle 104 is a trapezoid having a somewhat long left and right, while a pedestrian is a narrow and vertically long shape. Therefore, the shape of the obstacle can be divided into the other vehicle 104 and the pedestrian based on the difference between the rear shape of the other vehicle 104 and the shape of the pedestrian.

6 shows a case where the distance between the vehicle 102 and the preceding vehicle 104 is substantially maintained at the safety distance 652 and the distance between the vehicle 102 and the preceding vehicle 104 is longer than the safety distance 652 (Fig. 6 (B)), and when the distance is closer to the safety distance 652 (Fig. 6 (C)). The safety distance 652 may be the minimum inter-vehicle distance allowed between the vehicle 102 and the other vehicle 104 for safety purposes. It is determined that the safety of the vehicle 102 can be ensured if the distance between the vehicle 102 and the other vehicle 104 is equal to or greater than the safety distance 652. Conversely, It is determined that the safety of the vehicle 102 is not ensured and the speed of the vehicle 102 is reduced or an alarm is generated to warn the driver.

6 (A) is a diagram showing a case where the inter-vehicle distance between the vehicle 102 and the preceding vehicle 104 is maintained at a substantially safe distance 652. [ In this case, the vehicle 102 can safely run while maintaining a safety distance from the preceding vehicle 104. [

6B is a diagram showing a case where the inter-vehicle distance between the vehicle 102 and the preceding vehicle 104 is gradually moved beyond the safety distance 652. [ In this case as well, as in the case of Fig. 6 (A), the vehicle 102 can travel safely while maintaining a distance equal to or longer than the safety distance from the preceding other vehicle 104. [

6C is a diagram showing a case in which the inter-vehicle distance between the vehicle 102 and the preceding vehicle 104 gradually approaches within the safety distance 652. In FIG. When the state of Fig. 6 (C) continues, the vehicle 102 and the other vehicle 104 may collide (or collide). Particularly, if the distance between the vehicle 102 and the other vehicle 104 is rapidly approaching, the possibility of collision is higher. Therefore, the control unit 404 of the vehicle departure warning apparatus 402 calculates the collision probability based on the speed at which the distance between the vehicle 102 and the other vehicle 104 approaches, that is, the reduction rate of the inter-vehicle distance, If it is more than the set value (for example, 50% or more), it is necessary to take a countermeasure against collision, so that a safety control for preventing collision and a recording control signal for video recording are generated. The photographed image of the camera 304 is recorded in the built-in memory 504 of the AVN 502 in response to the generation of the recording control signal.

7 is a view illustrating a vehicle control method according to the first embodiment of the black box mode of the vehicle according to the embodiment of the present invention. In the vehicle control method of Fig. 7, the obstacle is the other vehicle 104. Fig. 7, when the driver of the vehicle 102 selects the black box mode by operating a button provided inside the vehicle 102 or by selecting a menu on the AVN 502, the black box mode is turned on And the cruise control system 202 and the lane departure warning apparatus 402 are activated (702). Or the black box mode may be executed in response to at least one of the cruise control device 202 and the lane departure warning device 402 being activated. The AVN 502 only needs to record an image when necessary, so that it is sufficient if the AVN 502 is activated only in a state where data recording of the internal memory 504 is possible. Of course, all the functions of the AVN 502 may be activated.

When an obstacle is detected in the front of the vehicle 102 (Yes in 704) while the vehicle 102 is traveling in a state in which the black box mode is turned on, the radar 210 of the constant- (706), and an image of the obstacle is acquired using the camera 304 of the lane departure warning apparatus 402 (708). 7, since the obstacle is the other vehicle 104, the distance from the vehicle 102 to the other vehicle 104 is measured and the running image of the other vehicle 104 running on the front of the vehicle 102 is photographed do. However, the measurement of the distance and the acquisition of the image last for a predetermined time (for example, 0.5 sec). If no obstacle is detected in front of the vehicle 102 ('No' in 704), the turn-on state of the black box mode is maintained.

The control unit 404 of the vehicle departure warning apparatus 402 collects the distance information obtained by using the constant cruising apparatus 202 and the image information obtained by using the camera 304 of the lane departure warning apparatus 402 (Other vehicle / pedestrian / structure), direction of movement, distance from the vehicle 102, Here, the distance information includes information as to whether the distance between the vehicle 102 and the obstacle corresponds to an increase / sustain / decrease condition.

If the type of the obstacle is another vehicle (YES in 712), the control unit 404 of the lane departure warning apparatus 402 collects information on the type of obstacle (other vehicle / pedestrian / structure) (102) and the obstacle. For this, the control unit 404 first confirms whether the distance between the vehicle 102 and the obstacle is reduced (714). If the distance between the vehicle 102 and the obstacle decreases (see Fig. 6 (C)), the control unit 404 determines that there is a possibility of collision of the obstacle with the vehicle 102 (Yes in 714). Conversely, if the distance between the vehicle 102 and the obstacle does not decrease (see Figs. 6A and 6B), the control unit 404 determines that there is no possibility of collision of the obstacle with the vehicle 102 ('No' in 714). For reference, if the type of the obstacle is not other vehicle 104 (NO in 712), the turn-on state of the black box mode is maintained. Or if the obstacle is a pedestrian, it is possible to perform control corresponding to the obstacle if the obstacle is a pedestrian.

If it is determined that there is a possibility of collision of the obstacle with the vehicle 102 (Yes at 714), the control unit 404 of the car departure warning apparatus 402 calculates the collision probability (716). The collision probability can be calculated through the distance between the vehicle 102 and the obstacle and the degree to which the distance decreases (i.e., how fast it decreases). For example, if the distance between the vehicle 102 and the obstacle decreases rapidly, the collision probability can be determined to be relatively higher, and conversely, if the distance between the vehicle 102 and the obstacle decreases relatively slowly, As shown in Fig.

If the collision probability is 50% or more as a percentage (YES in 718), the control unit 404 of the lane departure warning apparatus 402 determines that control considering the occurrence of collision is necessary. To the main ECU of the main control unit 102 so that the safety control for preventing the collision can be performed (720). The safety control for preventing collision can be a control for collision avoidance start such as deceleration or change of direction of the vehicle 102. [

The control unit 404 of the vehicle departure alarm apparatus 402 transmits the image data obtained by using the camera 304 which is the image pickup means of the car departure warning apparatus 402 to the AVN 502 To the built-in memory 504 to start recording (722). Further, the control unit 404 of the vehicle departure warning apparatus 402 generates a collision alarm signal and transmits it to the alarm generating unit 462 (724). The alarm generating unit 462 is driven by the collision alarm signal so that a visual alert corresponding to the occurrence of an emergency is displayed on the display 274 or an acoustic alarm is outputted through the speaker 464, So that the haptic sheet 474 can be controlled.

The control unit 404 of the lane departure warning apparatus 402 may also be configured to perform a series of controls such as the safety control 720 for preventing collision, the recording of the image data 722 and the transmission of the collision alert signal 724 And continuously updates the collision probability between the vehicle 102 and the obstacle. If the collision probability between the vehicle 102 and the obstacle is reduced to less than 50% (Yes in 726) due to the result of the safety control 720 for collision avoidance or other reasons, The control unit 404 interrupts the transmission of the video data from the lane departure warning apparatus 402 to the AVN 502 and terminates the video recording in the AVN 502 at step 728. [ In the embodiment shown in FIG. 7, since the collision probability 50% is a criterion for determining the possibility of collision, it can be seen that there is no possibility of collision when the collision probability is reduced to less than 50%. In this case, Unnecessary memory use in the AVN 502 can be reduced. If the collision probability between the vehicle 102 and the obstacle is more than 50% (NO in 726), the control unit 404 of the lane departure warning apparatus 402 controls the safety control 720 for collision avoidance Recording of image data 722, and transmission of a collision alarm signal 724.

While the black box mode of the vehicle according to the embodiment of the present invention is turned on, a series of operations such as determination of possibility of dispatch, calculation of collision probability, and recording of image data when necessary can be repeatedly performed as described above . In this state, when the driver of the vehicle 102 operates the button for turning off the black box mode or the menu operation of the AVN 502 occurs (YES in 730), the controller of the lane departure warning apparatus 402 (404) terminates the black box mode of the vehicle (102). If the operation of the button for turning off the black box mode or the operation of the menu of the AVN 502 does not occur (NO at 730), the turn-on state of the black box mode is maintained.

FIG. 8 is a diagram illustrating a collision probability determination when the obstacle is a pedestrian in the black box mode of the vehicle according to the embodiment of the present invention. 8, the vehicle 102 travels at constant speed while detecting the obstacle (other vehicle / pedestrian / structure) ahead by using the cruise control device 202 in the black box mode turned on state, And is in a state of traveling while recognizing the vehicle departure warning apparatus 402. [ In particular, Fig. 8 shows a case where the obstacle is a pedestrian.

8 shows a case where the pedestrian 804 is in a state where the pedestrian 804 is stationary outside the vehicle 102 (Fig. 8A) and the case where the pedestrian 804 is further away from the lane (Fig. 8B) 306 (FIG. 8 (C)) when moving in a direction across the road.

When the pedestrian 804 is stopped outside the lane 306 as shown in Fig. 8 (A), or when the pedestrian 804 moves in a direction away from the lane, as shown in Fig. 8 (B) It can be determined that the safety of both the first and second apparatuses 804 can be ensured. That is, there is no possibility of collision between the vehicle 102 and the pedestrian 804.

Alternatively, as shown in Fig. 8 (C), when the pedestrian 804 moves in the direction crossing the lane 306, the estimated travel route of the vehicle 102 and the estimated travel route of the pedestrian 804 It can be judged that there is a possibility of collision between the vehicle 102 and the pedestrian 804 from this intersection. In this case, since the safety of the vehicle 102 and the pedestrian 804 is not ensured, the speed of the vehicle 102 may be reduced or an alarm may be generated to warn the driver. When it is determined that there is a possibility of collision, the control unit 404 of the lane departure warning apparatus 402 calculates the collision probability based on the traveling speed of the vehicle 102 and the traveling speed of the pedestrian 804, If it is greater than a predetermined value (for example, 50% or more), it is necessary to take measures against the collision. Therefore, a safety control for preventing collision and a recording control signal for video recording are generated. The photographed image of the camera 304 is recorded in the built-in memory 504 of the AVN 502 in response to the generation of the recording control signal.

9 is a diagram illustrating a vehicle control method according to the second embodiment of the black box mode of the vehicle according to the embodiment of the present invention. In the vehicle control method of Fig. 9, the obstacle is a pedestrian. 9, when the driver of the vehicle 102 selects a black box mode by operating a button provided inside the vehicle 102 or by selecting a menu on the AVN 502, the black box mode is turned on And the cruise control system 202 and the lane departure warning apparatus 402 are activated (902). The AVN 502 only needs to record an image when necessary, so that it is sufficient if the AVN 502 is activated only in a state where data recording of the internal memory 504 is possible. Of course, all the functions of the AVN 502 may be activated.

When an obstacle is detected in the front of the vehicle 102 (Yes in 904) while the vehicle 102 is traveling in a state in which the black box mode is turned on, the radar 210 of the constant- (906), and acquires an image of the obstacle using the camera 304 of the lane departure warning apparatus 402 (908). 9, the distance from the vehicle 102 to the pedestrian 804 is measured and the distance between the vehicle 102 and the pedestrian 804 is measured in front of the vehicle 102. In the embodiment of Fig. 9, since the obstacle is a pedestrian (for example, Takes a walking image. However, the measurement of the distance and the acquisition of the image last for a predetermined time (for example, 0.5 sec). If no obstacle is detected in front of the vehicle 102 (NO in 904), the turn-on state of the black box mode is maintained.

The control unit 404 of the vehicle departure warning apparatus 402 collects the distance information obtained by using the constant cruising apparatus 202 and the image information obtained by using the camera 304 of the lane departure warning apparatus 402 (Other vehicle / pedestrian / structure), direction of movement, distance from the vehicle 102, Here, the distance information includes information as to whether the distance between the vehicle 102 and the obstacle corresponds to an increase / sustain / decrease condition.

If the type of the obstacle is a pedestrian (Yes in 912), the control unit 404 of the lane departure warning apparatus 402 collects information on the type of obstacle (other vehicle / pedestrian / structure) 102) and the obstacle. For this, the control unit 404 first confirms whether the anticipated movement route of the vehicle 102 intersects with the anticipated movement route of the pedestrian 804 (914). If the anticipated movement paths of the vehicle 102 and the pedestrian 804 cross each other (see Fig. 8 (C)), the control unit 404 determines that there is a possibility of collision between the vehicle 102 and the pedestrian 804 ('Yes' in 914). Conversely, if the anticipated movement paths of the vehicle 102 and the pedestrian 804 do not intersect each other (see Figs. 8A and 8B), the control unit 404 controls the vehicle 102 and the pedestrian 804 (No in 914). For reference, if the type of the obstacle is not the pedestrian 804 (No in 912), the turn-on state of the black box mode is maintained. Or if the obstacle is the other vehicle 104, it may be possible to perform the corresponding control.

If it is determined that there is a possibility of collision between the vehicle 102 and the pedestrian 804 (Yes in 914), the control unit 404 of the lane departure warning apparatus 402 calculates the collision probability (916). The collision probability is a measure of the distance between the vehicle 102 and the pedestrian 804 and the degree to which the distance decreases (i.e., how quickly it decreases), the predicted travel path of the vehicle 102 and the expected travel path of the pedestrian 804 The intersection estimated position, and the like. For example, if the distance between the vehicle 102 and the obstacle is rapidly reduced in a state where each anticipated movement route is judged to intersect with each other, it is possible to determine that the collision probability is relatively higher, It is determined that the collision probability is relatively lower if the distance between the vehicle 102 and the obstacle is relatively slow.

If it is determined that the collision probability is 50% or more (Yes in 918), the control unit 404 of the lane departure warning apparatus 402 determines that the control considering the occurrence of collision is necessary. To the main ECU of the main control unit 102 so that the safety control for preventing the collision can be performed (920). The safety control for preventing collision can be a control for collision avoidance start such as deceleration or change of direction of the vehicle 102. [ In addition, the safety control for preventing collision may be a horn control for warning the pedestrian 804.

The control unit 404 of the vehicle departure alarm apparatus 402 transmits the image data obtained by using the camera 304 which is the image pickup means of the car departure warning apparatus 402 to the AVN 502 To the built-in memory 504 to start recording (922). Further, the control unit 404 of the vehicle departure alarm apparatus 402 generates a collision alarm signal and transmits it to the alarm generating unit 462 (924). The alarm generating unit 462 is driven by the collision alarm signal so that a visual alert corresponding to the occurrence of an emergency is displayed on the display 274 or an acoustic alarm is outputted through the speaker 464, So that the haptic sheet 474 can be controlled.

The control unit 404 of the lane departure warning apparatus 402 can also control the operation of the lane departure warning apparatus 402 while performing a series of controls such as the safety control 920 for avoiding collision and the recording of the image data 922 and the transmission of the collision warning signal 924 And continually updates the collision probability between the vehicle 102 and the pedestrian 804. If the collision probability between the vehicle 102 and the pedestrian 804 decreases to less than 50% due to the result of the safety control 920 for collision avoidance or other reasons ("Yes" in 926) The control unit 404 of the navigation apparatus 402 stops the transmission of the video data from the lane departure warning apparatus 402 to the AVN 502 and terminates the video recording in the AVN 502 in step 928. In the embodiment shown in FIG. 7, since the collision probability 50% is a criterion for determining the possibility of collision, it can be seen that there is no possibility of collision when the collision probability is reduced to less than 50%. In this case, Unnecessary memory use in the AVN 502 can be reduced. If the collision probability between the vehicle 102 and the pedestrian 804 is 50% or more ("NO" in 926), the control unit 404 of the lane departure warning apparatus 402 sets the safety control 920, the recording of the image data 922, and the transmission 924 of the collision alarm signal.

While the black box mode of the vehicle according to the embodiment of the present invention is turned on, a series of operations such as determination of possibility of dispatch, calculation of collision probability, and recording of image data when necessary can be repeatedly performed as described above . In this state, when the driver of the vehicle 102 operates the button for turning off the black box mode or the menu operation of the AVN 502 occurs (Yes in 930), the controller of the lane departure warning apparatus 402 (404) terminates the black box mode of the vehicle (102). If the operation of the button to turn off the black box mode or the menu operation of the AVN 502 does not occur (NO in 930), the turn-on state of the black box mode is maintained.

102: vehicle
104: Other vehicles
106: display of the vehicle
202: Cruise control
204: A control unit (ECU) of the constant-
304: camera (image pickup means)
306: Lane
402: Breaking alarm device
404: Control section (ECU)
502: Audio Video Navigation (AVN) (Multimedia Unit)
652: Safety distance
804: Pedestrians

Claims (29)

A first operation control device having distance measuring means for obtaining distance information from the vehicle to an obstacle;
And an image pickup means for obtaining the moving direction information of the obstacle through an image of the obstacle taken as an image, and the possibility of collision between the vehicle and the obstacle based on the distance information, the moving direction information, And a second operation control device having a control section for judging the operation state of the vehicle. The method according to claim 1,
Wherein the first operation control device is a cruise control device for allowing the vehicle to travel automatically while maintaining a speed within a predetermined range. The method according to claim 1,
Further comprising determining an increase / decrease state of the distance from the vehicle to the obstacle from the distance information. The method according to claim 1,
Wherein the second operation control device is a lane departure warning device for detecting an escape of the vehicle and generating an alarm. 5. The method of claim 4,
Wherein the determination of the possibility of collision is made by the second operating device. The apparatus of claim 1,
Capturing an image of the obstacle located in front of the vehicle using the image pickup means and analyzing a movement trajectory of the obstacle in the image of the obstacle to obtain moving direction information of the obstacle. Obtaining distance information from the vehicle to an obstacle;
Obtaining moving direction information of the obstacle from an image of the obstacle;
Obtaining driving direction information of the vehicle;
Determining a possibility of collision between the vehicle and the obstacle based on the distance information, the moving direction information, and the traveling direction information;
And recording the image photographed by the image pickup means in the memory of the vehicle when it is judged that there is a possibility of collision between the vehicle and the obstacle. 8. The method of claim 7,
Wherein the first operation control device is a constant-speed driving device for allowing the vehicle to travel automatically while maintaining a speed within a predetermined range. 8. The method of claim 7,
Further comprising determining an increase / decrease state of the distance from the vehicle to the obstacle from the distance information. 8. The method of claim 7,
Wherein the second operation control device is a lane departure warning device for detecting an escape of the vehicle and generating an alarm. 11. The method of claim 10,
And the determination of the possibility of collision is made by the second operating device. 8. The method according to claim 7, wherein the obtaining of the moving direction information comprises:
Capturing an image of the obstacle located in front of the vehicle using the imaging means;
And analyzing the movement trajectory of the obstacle in the image of the obstacle to obtain movement direction information of the obstacle. 8. The method of claim 7,
Wherein the memory is an internal memory of the multimedia unit of the vehicle. 14. The method of claim 13,
Wherein the multimedia unit is a combination of audio, video, and navigation integratedly. 8. The method of claim 7,
When the obstacle approaches another vehicle and the obstacle approaches within a predetermined distance from the vehicle, it is determined that there is a possibility of collision between the vehicle and the other vehicle. 8. The method of claim 7,
And determining that there is a possibility of collision between the vehicle and the pedestrian when the predicted moving direction of the pedestrian and the predicted driving direction of the vehicle cross each other when the obstacle is a pedestrian. Obtaining distance information from the vehicle to an obstacle;
Obtaining movement direction information of the obstacle from an image of the obstacle;
Obtaining driving direction information of the vehicle;
And determining the possibility of collision between the vehicle and the obstacle based on the distance information, the moving direction information, and the traveling direction information. 18. The method of claim 17,
Wherein the distance information is obtained by using the distance measuring means of the constant-speed driving device for allowing the vehicle to travel automatically while maintaining a speed within a predetermined range. 18. The method of claim 17,
And capturing an image of the obstacle by using an image pickup means of a lane departure warning apparatus for detecting an omission of the vehicle and generating an alarm. 20. The method of claim 19,
Wherein the determination of the possibility of collision is made by the lane departure warning apparatus. Imaging means for obtaining moving direction information of an obstacle;
And a controller for receiving the distance information from the vehicle to the obstacle from the distance measuring means of the first operation control device and receiving the running direction information of the vehicle and calculating the traveling direction information based on the distance information, And a control unit for controlling the possibility of collision between the vehicle and the obstacle and recording the image photographed by the imaging unit in the memory of the vehicle when it is determined that there is a possibility of collision between the vehicle and the obstacle Vehicle departure alarm system. 22. The method of claim 21,
Wherein the memory is an internal memory of the multimedia unit of the vehicle. 23. The method of claim 22,
Wherein the multimedia unit is a combination of audio, video, and navigation integratedly. A multimedia unit having a memory;
A first operation control device having distance measuring means for obtaining distance information from the vehicle to an obstacle;
An image pickup means for obtaining the moving direction information of the obstacle; and a control means for judging a possibility of collision between the vehicle and the obstacle based on the distance information, the moving direction information and the traveling direction information of the vehicle, And a control unit for controlling the image sensing unit to record an image photographed by the image sensing unit in the memory of the multimedia unit when it is determined that there is a possibility that the image sensing unit is likely to be present. 25. The method of claim 24,
Wherein the first operation control device is a constant-speed driving device for allowing the vehicle to travel automatically while maintaining a speed within a predetermined range. 25. The method of claim 24,
Wherein the second operation control device is a lane departure warning device for detecting a departure of the vehicle from the vehicle and generating an alarm. 27. The method of claim 26,
Wherein the determination of the possibility of collision and the control of the image recording are performed by the second operation device. 25. The method of claim 24,
Wherein the multimedia unit is a combination of audio, video, and navigation integratedly. Detecting an obstacle using a radar of the cruise control device;
Obtaining distance information from the vehicle to the obstacle from the obstacle detection result;
Obtaining driving direction information of the vehicle;
Obtaining an image of the obstacle by using a camera of a departure warning apparatus;
Obtaining identification information of the obstacle and moving direction information of the obstacle through analysis of the image;
Determining a possibility of collision between the vehicle and the obstacle based on the distance information, the identification information, the moving direction information, and the traveling direction information;
Generating an alarm when it is determined that there is a possibility of collision between the vehicle and the obstacle, and recording an image photographed by the camera in an internal memory of the AVN.

Images