KR20160051993A - Apparatus for driver assistance - Google Patents

Apparatus for driver assistance Download PDF

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Publication number
KR20160051993A
KR20160051993A KR1020140149632A KR20140149632A KR20160051993A KR 20160051993 A KR20160051993 A KR 20160051993A KR 1020140149632 A KR1020140149632 A KR 1020140149632A KR 20140149632 A KR20140149632 A KR 20140149632A KR 20160051993 A KR20160051993 A KR 20160051993A
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South Korea
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lane
vehicle
detecting unit
top view
view image
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KR1020140149632A
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Korean (ko)
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KR102207325B1 (en
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이성수
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현대모비스 주식회사
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Priority to KR1020140149632A priority Critical patent/KR102207325B1/en
Priority to DE102015117535.5A priority patent/DE102015117535A1/en
Priority to CN201510666895.7A priority patent/CN105528914B/en
Priority to US14/884,121 priority patent/US9902426B2/en
Publication of KR20160051993A publication Critical patent/KR20160051993A/en
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/10—Path keeping
    • B60W30/12—Lane keeping
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
    • B60W40/06—Road conditions
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/10—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to vehicle motion
    • B60W40/105—Speed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/08—Interaction between the driver and the control system
    • B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
    • B60W2050/143—Alarm means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2420/00—Indexing codes relating to the type of sensors based on the principle of their operation
    • B60W2420/40—Photo, light or radio wave sensitive means, e.g. infrared sensors
    • B60W2420/403—Image sensing, e.g. optical camera
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2520/00—Input parameters relating to overall vehicle dynamics
    • B60W2520/10—Longitudinal speed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Y—INDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY
    • B60Y2300/00—Purposes or special features of road vehicle drive control systems
    • B60Y2300/10—Path keeping
    • B60Y2300/12—Lane keeping

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  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • Mathematical Physics (AREA)
  • Traffic Control Systems (AREA)
  • Image Analysis (AREA)

Abstract

The present invention relates to a driver assisting device. The driver assisting device comprises: a top view image output unit outputting a top view image in the direction of vertically viewing a periphery of a vehicle; a lane detection unit detecting a lane on a left side and a right side of the vehicle using a top-hat filter in the top view image; a speed measurement unit outputting a speed value of the vehicle; and an integrated control unit performing at least one among parking assistance and lane departure warning in accordance with the speed value of the vehicle.

Description

운전자 지원 장치{Apparatus for driver assistance}[0001] Apparatus for driver assistance [0002]

본 발명은 운전자 지원 장치에 관한 것으로, 보다 상세하게는 탑뷰영상에서 탑햇 필터(Top-hat filter)를 이용하여 차량의 좌측 및 차량의 우측에서 차선을 검출하고, 차량의 속도값에 따라 주차 지원 및 차선 이탈 경보 중 어느 하나를 수행하는 운전자 지원 장치에 관한 것이다.More particularly, the present invention relates to a driver assistance apparatus for detecting a lane on the left side of a vehicle and a right side of a vehicle using a top-hat filter in a top view image, The lane departure warning, and the lane departure warning.

최근 운전자 및 보행자의 안전을 위해 많은 차량에 지원은 주차 조향 보조 시스템(SPAS, Smart Parking Assist System) 및 차선 이탈 경보 시스템(LDWS, Lane Departure Warning System)이 적용되고 있다.Recently, for the safety of drivers and pedestrians, a lot of vehicles have applied Smart Parking Assist System (SPAS) and Lane Departure Warning System (LDWS).

주차 조향 보조 시스템(SPAS, Smart Parking Assist System) 및 차선 이탈 경보 시스템(LDWS, Lane Departure Warning System)에서는 차선을 검출하는 것이 필수적인 기술로 채택되고 있다. 양 시스템은 차선을 검출하는 각각 별도의 알고리즘을 이용하고 있어, 자원의 낭비 및 시스템의 비효율을 초래하고 있다.Detection of lanes is an essential technique in a parking assist system (SPAS) and a lane departure warning system (LDWS). Both systems use separate algorithms to detect lanes, resulting in waste of resources and system inefficiency.

최근에는 차선을 검출하는 기술을 양 시스템에 통합적으로 적용하여, 각각 다른 상황에 따라 주차 지원 및 차선 이탈 경보를 수행하는 기술이 연구 중에 있다.In recent years, a technique of integrating a lane detection technology into both systems and performing parking assist and lane departure warning according to different situations is under study.

본 발명이 해결하고자 하는 과제는 탑뷰영상에서 탑햇 필터(Top-hat filter)를 이용하여 차량의 좌측 및 차량의 우측에서 차선을 검출하고, 차량의 속도값에 따라 주차 지원 및 차선 이탈 경보 중 어느 하나를 수행하는 운전자 지원 장치를 제공함에 있다.A problem to be solved by the present invention is to detect a lane on the left side of a vehicle and a right side of a vehicle using a top-hat filter in a top view image, The present invention provides a driver assistance apparatus for performing a driver assistance function.

본 발명의 과제들은 이상에서 언급한 과제들로 제한되지 않으며, 언급되지 않은 또 다른 과제들은 아래의 기재로부터 당업자에게 명확하게 이해될 수 있을 것이다.The problems of the present invention are not limited to the above-mentioned problems, and other problems not mentioned can be clearly understood by those skilled in the art from the following description.

상기 과제를 달성하기 위하여, 본 발명의 실시례에 따른 운전자 지원 장치는, 차량의 주변을 위에서 아래로 보는 방향의 탑뷰영상을 출력하는 탑뷰영상출력부, 상기 탑뷰영상에서 탑햇 필터를 이용하여 상기 차량의 좌측 및 상기 차량의 우측에서 차선을 검출하는 차선검출부, 상기 차량의 속도값을 출력하는 속도측정부 및 상기 차량의 속도값에 따라 주차 지원 및 차선 이탈 경보 중 적어도 어느 하나를 수행하는 통합제어부를 포함한다.In order to achieve the above object, a driver assistance device according to an embodiment of the present invention includes a top view image output unit for outputting a top view image in a direction from the top to the bottom of the vehicle, A lane detecting portion for detecting a lane on the left side of the vehicle and a right side of the vehicle, a speed measuring portion for outputting a speed value of the vehicle, and an integrated controller for performing at least one of parking support and lane departure warning according to the speed value of the vehicle .

상기 차선검출부는 상기 탑뷰영상의 그레이스케일 영상에서 좌에서 우 방향으로 탑햇 필터를 적용하고, 최대값을 산출하여 차선 중심점을 검출한다.The lane detecting unit applies a top hat filter in a left-to-right direction in a gray-scale image of the top view image, calculates a maximum value, and detects a lane center point.

상기 차선검출부는 상기 중심점을 기준으로 상기 중심점의 좌측 경계 및 상기 중심점의 우측 경계에 대해 최대값을 산출하여 상기 차선 좌측 특징점 및 상기 차선 우측 특징점을 산출한다.The lane detecting unit calculates a maximum value with respect to the left boundary of the center point and the right boundary of the center point based on the center point and calculates the lane left feature point and the lane right feature point.

상기 차선검출부는 상기 차선 좌측 특징점 및 상기 차선 우측 특징점을 기준으로 전 방사 방향으로 탐색하여 선 성분을 추출한다.The lane detecting unit searches for the lane departure direction based on the left lane feature point and the lane right feature point to extract a line component.

상기 차선검출부는 상기 추출된 선 성분의 각도 오차를 비교하여 상기 선 성분의 유효성을 검사한다.The lane detecting unit compares angular errors of the extracted line components to check the validity of the line components.

상기 차선검출부는 상기 검출된 상기 차량의 좌측 및 상기 차량의 우측 차선 간격이 설정된 간격수치인지 여부를 판단하여 상기 차선의 유효성을 판단한다.The lane detecting unit determines whether the left lane of the vehicle and the right lane of the vehicle are an interval value, and judges whether the lane is valid.

기타 실시례들의 구체적인 사항들은 상세한 설명 및 도면들에 포함되어 있다.The details of other embodiments are included in the detailed description and drawings.

본 발명의 운전자 지원 장치에 따르면 다음과 같은 효과가 하나 혹은 그 이상 있다.According to the driver assistance apparatus of the present invention, one or more of the following effects can be obtained.

첫째,　탑뷰영상에서 탑햇 필터를 이용하여 상기 차량의 좌측 및 상기 차량의우측에서 차선을 검출함으로써 평행한 차선을 검출하여 설정된 간격수치에 의해 차선의 유효성을 판단하는 장점이 있다.First, in the top view image, there is an advantage that the lane is detected on the left side of the vehicle and the right side of the vehicle by using the top hat filter, and the validity of the lane is determined by the set interval value by detecting the parallel lane.

둘째,　차선 좌측 특징점 및 차선 우측 특징점을 기준으로 전 방사 방향으로 탐색하여 선 성분을 추출하고, 추출된 선 성분의 각도 오차를 비교함으로써 차선의 유효성을 검사하는 장점도 있다.Second, there is also an advantage that the validity of the lane is checked by comparing the angular errors of the extracted line components by extracting the line components by searching the lane-directed left and right lane feature points in all radiation directions.

본 발명의 효과들은 이상에서 언급한 효과들로 제한되지 않으며, 언급되지 않은 또 다른 효과들은 청구범위의 기재로부터 당업자에게 명확하게 이해될 수 있을 것이다.The effects of the present invention are not limited to the effects mentioned above, and other effects not mentioned can be clearly understood by those skilled in the art from the description of the claims.

도 1은 본 발명의 일실시례에 따른 운전자 지원 장치의 구성을 도시한 구성도이다.
도 2는 도 1에 도시한 일실시례에 따른 차선검출부가 탑햇 필터(top-hat filter)를 이용하여 특징점을 산출하는 모습을 도시한 예시도이다.
도 3은 도 1에 도시한 일실시례에 따른 차선검출부가 산출한 특징점에서 선 성분을 추출하는 모습을 도시한 예시도이다.
도 4는 도 1에 도시한 일실시례에 따른 차선검출부가 검출된 차선의 간격을 고려하여 차선의 유효성을 판단하기 위한 예시도이다.1 is a block diagram showing the configuration of a driver assistance apparatus according to an embodiment of the present invention.
FIG. 2 is an exemplary view showing a state in which the lane detecting unit according to the embodiment shown in FIG. 1 calculates feature points using a top-hat filter.
FIG. 3 is an exemplary diagram showing a state in which line components are extracted from feature points calculated by the lane detecting unit according to the embodiment shown in FIG. 1. FIG.
FIG. 4 is an exemplary diagram for determining the validity of a lane in consideration of the interval of the lane in which the lane detecting unit according to the embodiment shown in FIG. 1 is detected.

본 발명의 이점 및 특징, 그리고 그것들을 달성하는 방법은 첨부되는 도면과 함께 상세하게 후술되어 있는 실시례들을 참조하면 명확해질 것이다. 그러나 본 발명은 이하에서 개시되는 실시례들에 한정되는 것이 아니라 서로 다른 다양한 형태로 구현될 수 있으며, 단지 본 실시례들은 본 발명의 개시가 완전하도록 하고, 본 발명이 속하는 기술분야에서 통상의 지식을 가진 자에게 발명의 범주를 완전하게 알려주기 위해 제공되는 것이며, 본 발명은 청구항의 범주에 의해 정의될 뿐이다. 명세서 전체에 걸쳐 동일 참조 부호는 동일 구성 요소를 지칭한다.Brief Description of the Drawings The advantages and features of the present invention, and how to accomplish 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 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. To fully disclose the scope of the invention to those skilled in the art, and the invention is only defined by the scope of the claims. Like reference numerals refer to like elements throughout the specification.

이하, 본 발명의 실시례들에 의하여 운전자 지원 장치를 설명하기 위한 도면들을 참고하여 본 발명에 대해 설명하도록 한다. Hereinafter, the present invention will be described with reference to the drawings for explaining a driver assistance apparatus according to embodiments of the present invention.

도 1은 본 발명의 일실시례에 따른 운전자 지원 장치의 구성을 도시한 구성도이다. 본 발명의 일실시례에 따른 운전자 지원 장치는 탑뷰영상출력부(100), 차선검출부(200), 속도측정부(300) 및 통합제어부(400)를 포함한다.1 is a block diagram showing the configuration of a driver assistance apparatus according to an embodiment of the present invention. The driver assistance apparatus according to one embodiment of the present invention includes a top view image output unit 100, a lane detection unit 200, a speed measurement unit 300, and an integrated control unit 400.

탑뷰영상출력부(100)는 차량의 주변을 위에서 아래로 보는 방향의 탑뷰영상을 출력한다. 탑뷰영상출력부(100)는 AVM(Around View Monitoring) 시스템일 수 있다. 탑뷰영상출력부(100)는 차량의 전후측방 중 적어도 한 곳에 카메라를 구비한다. 탑뷰영상출력부(100)는 차량의 전후측방에 구비된 카메라가 차량 주변의 영상을 출력한다. 탑뷰영상출력부(100)는 차량 주변의 영상을 하나의 영상으로 합성하여 탑뷰영상을 출력한다.The top-view video output unit 100 outputs a top-view video in a direction from the top to the bottom of the vehicle. The top-view video output unit 100 may be an AVM (Around View Monitoring) system. The top view video output unit 100 includes a camera at least one of the front and rear sides of the vehicle. The top-view video output unit 100 outputs video images of the surroundings of the vehicle, the cameras provided at the front and rear sides of the vehicle. The top view video output unit 100 synthesizes the video around the vehicle into one video and outputs the top view video.

차선검출부(200)는 탑뷰영상에서 탑햇 필터를 이용하여 차량의 좌측 및 차량의 우측에서 차선을 검출한다. 차선검출부(200)는 탑뷰영상의 그레이스케일 영상에서 좌에서 우 방향으로 탑햇 필터를 적용하고, 최대값을 산출하여 차선 중심점을 검출한다. The lane detecting unit 200 detects a lane on the left side of the vehicle and on the right side of the vehicle using a top hat filter in the top view image. The lane detecting unit 200 applies the top hat filter in the left-to-right direction in the grayscale image of the top view image, calculates the maximum value, and detects the lane center point.

차선검출부(200)는 중심점을 기준으로 중심점의 좌측 경계 및 중심점의 우측 경계에 대해 최대값을 산출하여 차선의 좌측 및 우측의 특징점을 산출한다. 차선검출부(200)가 탑햇 필터를 이용하여 특징점을 산출하는 과정은 도 2에서 추후 설명한다. The lane detecting section 200 calculates the maximum value for the left boundary of the center point and the right boundary of the center point on the basis of the center point and calculates the left and right feature points of the lane. The process of calculating the minutiae points by the lane detecting unit 200 using the top hat filter will be described later with reference to FIG.

차선검출부(200)는 차선 좌측 특징점 및 차선 우측의 특징점을 기준으로 전 방사 방향으로 탐색하여 선 성분을 추출한다. 차선검출부(200)는 차선 좌측 특징점 및 차선 우측의 특징점을 기준으로 360도 방향으로 탐색하여 선 성분을 추출할 수 있다. 차선검출부(200)가 산출한 특징점에서 선 성분을 추출하는 것은 도 3에서 추후 설명한다. The lane detecting unit 200 searches for the lane departure direction on the basis of the left lane feature point and the lane lane feature point to extract a line component. The lane detecting unit 200 can search for the line component in the 360 degree direction based on the left lane feature point and the lane right feature point. The extraction of line components from the feature points calculated by the lane detecting unit 200 will be described later in Fig.

차선검출부(200)는 추출된 선 성분의 각도 오차를 비교하여 선 성분의 유효성을 검사한다. 차선검출부(200)는 검출된 좌측 및 우측 차선 간격이 설정된 간격수치(Vd)인지 여부를 판단하여 차선의 유효성을 판단한다. 차선검출부(200)가 검출된 좌측 및 우측 차선 간격이 설정된 간격수치(Vd)인지 여부를 판단하는 것을 도 4에서 추후 설명한다.The lane detecting unit 200 compares angular errors of the extracted line components to check the validity of line components. The lane detecting unit 200 determines whether the detected left and right lane intervals are equal to the set interval value Vd to determine the validity of the lane. The determination of whether or not the left and right lane intervals detected by the lane detecting section 200 is the set interval value Vd will be described later with reference to FIG.

속도측정부(300)는 차량의 속도값을 출력한다.The speed measuring unit 300 outputs the speed value of the vehicle.

통합제어부(400)는 차량의 속도값에 따라 주차 지원 및 차선 이탈 경보 중 적어도 어느 하나를 수행한다. 일실시례에 따른 통합제어부(400)는 차량의 속도값이 20 kph(kilometer per hour) 이하로 주행 중이면 주차 지원을 수행한다. 통합제어부(400)에서 수행되는 주차 지원은 주차 조향 보조 시스템(SPAS, Smart Parking Assist System)일 수 있다. 통합제어부(400)가 주차 지원을 수행할 때 차선검출부(200)가 출력한 차량의 좌측 및 우측 차선 간격을 고려한다. 통합제어부(400)는 차량의 좌측 및 우측 차선 간격이 차량의 폭보다 작으면 다른 주차 위치를 재 검색하여 차량을 주차시킬 수 있다.The integrated control unit 400 performs at least one of parking support and lane departure warning according to the speed value of the vehicle. The integrated control unit 400 according to one embodiment performs parking assistance if the vehicle speed is less than or equal to 20 kph (kilometer per hour). The parking assistance performed by the integrated control unit 400 may be a Smart Parking Assist System (SPAS). The left and right lane intervals of the vehicle outputted by the lane detecting unit 200 are considered when the integrated control unit 400 performs parking assistance. If the left and right lane intervals of the vehicle are smaller than the width of the vehicle, the integrated control unit 400 may re-search another parking position to park the vehicle.

일실시례에 따른 통합제어부(400)는 차량의 속도값이 20 kph를 초과하여 주행 중이면 차선 이탈 경보를 수행한다. 통합제어부(400)에서 수행되는 차선 이탈 경보는 차선 이탈 경보 시스템(LDWS, Lane Departure Warning System)일 수 있다. 통합제어부(400)는 차선검출부(200)가 검출한 차선을 인식하여 차량이 운전자의 제어 없이 검출한 차선 밖으로 주행되면 운전자에게 경보한다. 일실시례에 따른 통합제어부(400)는 조향 휠의 제어 유무를 확인하여 차량이 운전자의 제어에 의해 주행되는지 여부를 판단한다.The integrated control unit 400 according to one embodiment performs the lane departure warning when the vehicle speed value exceeds 20 kph. The lane departure alarm performed by the integrated control unit 400 may be a lane departure warning system (LDWS). The integrated control unit 400 recognizes the lane detected by the lane detecting unit 200 and alerts the driver if the vehicle travels outside the lane detected without the control of the driver. The integrated control unit 400 according to one embodiment determines whether or not the vehicle is driven under the control of the driver by confirming whether or not the steering wheel is controlled.

도 2는 도 1에 도시한 일실시례에 따른 차선검출부(200)가 탑햇 필터를 이용하여 특징점을 산출하는 모습을 도시한 예시도이다. 차선검출부(200)는 탑뷰영상을 그레이스케일(grayscale) 영상으로 변환한다. 차선검출부(200)는 그레이스케일 영상에서 수평방향으로 탑햇 필터를 적용한다. 차선검출부(200) 국부영역에서 최대값을 검출하여 차선의 중심점(CP)을 검출한다. 차선검출부(200)는 중심점)을 기준으로 차선 좌측 및 차선 우측 경계에 대해 국부 영역에서의 최대값을 검출하여 차선 좌측 특징점(LP) 및 차선 우측 특징점(RP)을 산출한다. 차선검출부(200)가 산출하는 차선 좌측 특징점(LP) 및 차선 우측 특징점(RP)은 어두운 부분(D)과 밝은 부분(B) 사이에 위치한다.FIG. 2 is an exemplary view showing a state in which the lane detecting unit 200 according to the embodiment shown in FIG. 1 calculates feature points using a top hat filter. The lane detecting unit 200 converts the top view image into a grayscale image. The lane detecting unit 200 applies a top hat filter in a horizontal direction on a gray scale image. The maximum value is detected in the local area of the lane detecting portion 200 and the center point CP of the lane is detected. The lane detecting section 200 detects the maximum value in the local area with respect to the left lane and the right lane boundary on the basis of the center point of the lane detecting section 200 to calculate the left lane characteristic point LP and the lane right characteristic point RP. The left lane characteristic point LP and the lane right characteristic point RP calculated by the lane detection unit 200 are located between the dark portion D and the bright portion B. [

도 3은 도 1에 도시한 일실시례에 따른 차선검출부(200)가 산출한 특징점에서 선 성분을 추출하는 모습을 도시한 예시도이다. 차선검출부(200)는 차선 좌측 특징점(LP) 및 차선 우측 특징점(RP)을 기준으로 전 방사 방향으로 탐색하여 선 성분을 추출한다. 차선검출부(200)는 차선 좌측 특징점 및 차선 우측의 특징점을 기준으로 360도 방향으로 탐색하여 선 성분을 추출할 수 있다. 일실시례에 따 차선검출부(200)는 도 3에서 차선 우측 특징점(RP)을 기준으로 시계 방향으로 탐색할 수도 있고, 차선 좌측 특징점(LP) 부분과 같이 차선 좌측 특징점(LP)을 기준으로 반시계 방향으로 탐색할 수도 있다. 차선검출부(200)는 차선 우측 특징점(RP)을 기준으로 반시계 방향으로 탐색할 수도 있고, 차선 좌측 특징점(LP)을 기준으로 시계 방향으로 탐색할 수도 있다.FIG. 3 is an exemplary diagram showing a state in which line components are extracted from feature points calculated by the lane detecting unit 200 according to the embodiment shown in FIG. The lane detecting unit 200 searches for the lane departure direction based on the left lane characteristic point LP and the lane right characteristic point RP to extract a line component. The lane detecting unit 200 can search for the line component in the 360 degree direction based on the left lane feature point and the lane right feature point. In one embodiment, the lane detecting unit 200 may search in the clockwise direction with respect to the lane right feature point RP in FIG. 3, and may search the left lane feature point LP as the lane left feature point LP, You can also navigate clockwise. The lane detecting unit 200 may search in the counterclockwise direction with respect to the lane right side feature point RP or in the clockwise direction with respect to the lane left side feature point LP.

차선검출부(200)는 추출한 선 성분의 각도 오차를 비교하여 선 성분의 유효성을 검사한다. 일실시례에 따른 차선검출부(200)가 고려하는 각도 오차는 설정된 값이며, 5도 이내로 설정될 수 있다. 차선검출부(200)는 선 성분의 유효성이 만족되면 차선의 중심점(CP)을 기준으로 차선 후보군을 저장한다.The lane detecting unit 200 compares angular errors of extracted line components to check the validity of line components. The angle error considered by the lane detecting unit 200 according to one embodiment is a set value and can be set to be within 5 degrees. The lane detecting unit 200 stores the lane candidate group on the basis of the center point CP of the lane when the validity of the line component is satisfied.

도 4는 도 1에 도시한 일실시례에 따른 차선검출부(200)가 검출된 차선의 간격을 고려하여 차선의 유효성을 판단하기 위한 예시도이다. 차선검출부(200)는 주차 상황 및 도로 주행 상황 중 적어도 어느 한 상황에서 차선의 유효성을 판단한다. 차선검출부(200)는 검출된 차량의 좌측 및 차량의 우측 차선 간격이 설정된 간격수치(Vd)인지 여부를 판단하여 차선의 유효성을 판단한다. 차선검출부(200)에 설정된 간격수치(Vd)는 차선검출부(200)에 저장되어 있을 수 있다. 차선검출부(200)에 지리 정보를 무선 통신을 통해 수신하여 실시간으로 주차선의 간격수치(Vd)를 설정할 수도 있다. 차선검출부(200)는 연속적인 탑뷰영상에서 차선의 유효성을 판단할 수 있다. FIG. 4 is an exemplary diagram for determining the validity of a lane in consideration of an interval of the lane in which the lane detecting unit 200 according to the embodiment shown in FIG. 1 is detected. The lane detecting unit 200 determines the validity of the lane in at least one of the parking situation and the road driving situation. The lane detecting unit 200 determines whether the left lane of the detected vehicle and the right lane of the vehicle are the set interval value Vd to determine the validity of the lane. The interval value Vd set in the lane detecting unit 200 may be stored in the lane detecting unit 200. [ It is also possible to set the interval value Vd of the parking line in real time by receiving the geographical information via the wireless communication in the lane detection unit 200. [ The lane detecting unit 200 can determine the validity of the lane on the continuous top view image.

이상에서는 본 발명의 바람직한 실시례에 대하여 도시하고 설명하였지만, 본 발명은 상술한 특정의 실시례에 한정되지 아니하며, 특허청구범위에서 청구하는 본 발명의 요지를 벗어남이 없이 당해 발명이 속하는 기술분야에서 통상의 지식을 가진 자에 의해 다양한 변형실시가 가능한 것은 물론이고, 이러한 변형실시들은 본 발명의 기술적 사상이나 전망으로부터 개별적으로 이해되어서는 안될 것이다.While the present invention has been particularly shown and described with reference to exemplary embodiments thereof, it is to be understood that the invention is not limited to the disclosed exemplary embodiments, but, on the contrary, It should be understood that various modifications may be made by those skilled in the art without departing from the spirit and scope of the present invention.

100 : 탑뷰영상출력부
200 : 차선검출부
300 : 속도측정부
400 : 통합제어부100: Top view video output unit
200: lane detection section
300: speed measuring unit
400:

Claims (6)

차량의 주변을 위에서 아래로 보는 방향의 탑뷰영상을 출력하는 탑뷰영상출력부;
상기 탑뷰영상에서 탑햇 필터를 이용하여 상기 차량의 좌측 및 상기 차량의우측에서 차선을 검출하는 차선검출부;
상기 차량의 속도값을 출력하는 속도측정부; 및
상기 차량의 속도값에 따라 주차 지원 및 차선 이탈 경보 중 적어도 어느 하나를 수행하는 통합제어부; 를 포함하는 운전자 지원 장치.A top view image output unit for outputting a top view image in a direction from the top to the bottom of the vehicle;
A lane detection unit for detecting a lane on the left side of the vehicle and the right side of the vehicle using a top hat filter in the top view image;
A speed measuring unit for outputting a speed value of the vehicle; And
An integrated controller for performing at least one of parking assist and lane departure warning according to the speed value of the vehicle; The driver assistance device. 제 1 항에 있어서
상기 차선검출부는 상기 탑뷰영상의 그레이스케일 영상에서 좌에서 우 방향으로 탑햇 필터를 적용하고, 최대값을 산출하여 차선 중심점을 검출하는 운전자 지원 장치.The method of claim 1, wherein
Wherein the lane detecting unit applies a top hat filter in a left-to-right direction in a gray-scale image of the top view image, calculates a maximum value, and detects a lane center point. 제 2 항에 있어서
상기 차선검출부는 상기 중심점을 기준으로 상기 중심점의 좌측 경계 및 상기 중심점의 우측 경계에 대해 최대값을 산출하여 상기 차선 좌측 특징점 및 상기 차선 우측 특징점을 산출하는 운전자 지원 장치.The method according to claim 2, wherein
Wherein the lane detecting unit calculates a maximum value for a left boundary of the center point and a right boundary of the center point based on the center point and calculates the lane left feature point and the lane right feature point. 제 3 항에 있어서
상기 차선검출부는 상기 차선 좌측 특징점 및 상기 차선 우측 특징점을 기준으로 전 방사 방향으로 탐색하여 선 성분을 추출하는 운전자 지원 장치.The method of claim 3, wherein
And the lane detecting unit searches for the lane departure direction based on the lane left feature point and the lane right feature point to extract a line component. 제 4 항에 있어서
상기 차선검출부는 상기 추출된 선 성분의 각도 오차를 비교하여 상기 선 성분의 유효성을 검사하는 운전자 지원 장치.The method of claim 4, wherein
Wherein the lane detection unit compares angular errors of the extracted line components to check the validity of the line components. 제 1 항에 있어서
상기 차선검출부는 상기 검출된 상기 차량의 좌측 및 상기 차량의 우측 차선 간격이 설정된 간격수치인지 여부를 판단하여 상기 차선의 유효성을 판단하는 운전자 지원 장치.The method of claim 1, wherein
Wherein the lane detecting unit determines whether the left lane of the vehicle and the lane of the right lane of the vehicle are a predetermined interval value to determine the validity of the lane.
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