KR20160112580A - Apparatus and method for reconstructing scene of traffic accident using OBD, GPS and image information of vehicle blackbox - Google Patents
Apparatus and method for reconstructing scene of traffic accident using OBD, GPS and image information of vehicle blackbox Download PDFInfo
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- KR20160112580A KR20160112580A KR1020150038573A KR20150038573A KR20160112580A KR 20160112580 A KR20160112580 A KR 20160112580A KR 1020150038573 A KR1020150038573 A KR 1020150038573A KR 20150038573 A KR20150038573 A KR 20150038573A KR 20160112580 A KR20160112580 A KR 20160112580A
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
- G08G1/0104—Measuring and analyzing of parameters relative to traffic conditions
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
- G01P1/00—Details of instruments
- G01P1/12—Recording devices
- G01P1/127—Recording devices for acceleration values
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T15/00—3D [Three Dimensional] image rendering
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- G—PHYSICS
- G07—CHECKING-DEVICES
- G07C—TIME OR ATTENDANCE REGISTERS; REGISTERING OR INDICATING THE WORKING OF MACHINES; GENERATING RANDOM NUMBERS; VOTING OR LOTTERY APPARATUS; ARRANGEMENTS, SYSTEMS OR APPARATUS FOR CHECKING NOT PROVIDED FOR ELSEWHERE
- G07C5/00—Registering or indicating the working of vehicles
- G07C5/08—Registering or indicating performance data other than driving, working, idle, or waiting time, with or without registering driving, working, idle or waiting time
- G07C5/0841—Registering performance data
- G07C5/085—Registering performance data using electronic data carriers
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
- G08G1/04—Detecting movement of traffic to be counted or controlled using optical or ultrasonic detectors
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- G—PHYSICS
- G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
- G09B—EDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS
- G09B29/00—Maps; Plans; Charts; Diagrams, e.g. route diagram
- G09B29/10—Map spot or coordinate position indicators; Map reading aids
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Abstract
Description
The present invention relates to a traffic accident scene reproduction system and method thereof, and more particularly, to a traffic accident scene reproduction system for synchronizing OBD data and GPS data in a traffic accident analysis and combining them with black box image information, It is about the method.
[0003] Conventional methods for recreating accidents in the event of a traffic accident include a skid mark on a tire left on the scene of an accident, damage to the road, damage to the vehicle, final position of the vehicle, listening to a witness statement, etc. And the collection and composition of such individual information is low in accuracy, inconvenient, and time consuming.
In order to solve such a problem, an automobile black box for recreating an accident has recently been introduced and an automation program has been developed, and an attempt to reproduce a traffic accident based on the image information of the vehicle black box has been attempted.
That is, in terms of reconstruction of an accident site, the vehicle black box stores accident record information about a certain time before and after the collision based on the collision point (accident point) on the internal electromagnetic recording medium. Therefore, , And the absence of witnesses, it is possible to protect the compliant driver. In case of an accident, the traffic police and insurance company staff dispatch to the field to collect the black box for the vehicle, so that the accident situation can be reproduced more easily than before. .
However, the above-described conventional vehicle black box use accident scene reproduction method has a problem in that it reproduces the accident situation only by the information inside the vehicle, so there is a limit to accurately reproduce a comprehensive accident situation in which external factors are considered. In other words, the cause of the accident is the internal defect of the vehicle or the operation of the vehicle. However, since there are many external factors of the vehicle (for example, a collision with an external vehicle or an obstacle, a road situation, a terrain situation, It is necessary to analyze the accident situation through on-site investigation.
Also, in the use of the above-described accident reproduction program, an accident environment is configured in a virtual space, objects such as a vehicle, a person, and an obstacle in which an accident occurred are grasped and arranged on the environment, It is necessary to reproduce the traffic accident scene through the program of the accident reproduction by estimating the momentum according to one path and collision. Due to the low GPS resolution, it is difficult to analyze the accurate driving, There is a problem in accurately estimating the traveling route on the road.
SUMMARY OF THE INVENTION Accordingly, the present invention has been made in an effort to solve the above problems, and it is an object of the present invention to provide a method and apparatus for synchronizing OBD data and GPS data in a traffic accident analysis, The present invention provides a system and method for reconstructing a traffic accident site in order to reproduce an accident scene completely.
Other objects of the present invention are not limited to the above-mentioned objects, and other objects not mentioned can be clearly understood by those skilled in the art from the following description.
In order to accomplish the above object, a feature of the OBD, the GPS, and the traffic accident scene reproduction system using the black box image information according to the present invention is as follows: A GPS acquiring unit for acquiring GPS path data received from and stored in the GPS module; a MAP acquiring unit for acquiring surrounding map information based on the collected GPS path data; A vehicle position display unit for extracting at least one of a speed, a speed, and a YAW and mapping the map information to the collected surrounding map information to display on a map; an image acquisition unit for collecting image information taken before and after a traffic accident from a vehicle black box; A lane detecting unit for detecting a lane of a road on which the vehicle has traveled from the vehicle running image, An OBD acquiring unit for acquiring OBD log data at the time of vehicle running, a OBD acquiring unit for acquiring OBD log data at the time of vehicle running, An OBD code data converter for extracting at least one of a vehicle speed, a steering angle, a blinker, an accelerator, and breaker information from the data, and an output generated by the vehicle position display, the vehicle position detector, and the OBD code data converter, A vehicle running generating unit for generating a vehicle running path including a lane and a storage unit for storing the vehicle running path generated by the vehicle running generating unit as a file.
Preferably, the MAP obtaining unit detects surrounding map information corresponding to the collected GPS path data based on the map information stored in advance in the internal system. However, the present invention is not limited to this, And may be collected from the site.
The image display apparatus may further include an image vectorization unit for vectorizing the GPS path map image mapped by the vehicle location display unit and converting the vectorized map image into a vector path map when the map information is collected from the external site.
Preferably, the vehicle position detecting unit detects an intersection between the X-axis and the Y-axis center line based on the lane detected by the lane detecting unit, and then sets a position before the arbitrary distance at the X-axis intersection as the position of the vehicle do.
Preferably, the vehicle drive generating unit generates a road detailed path through the vehicle position and the lane arrangement set by the vehicle position detecting unit, and then generates the detailed path on the road based on the OBD log data collected by the OBD code data converting unit. And corrects the speed and the steering angle of the vehicle so as to generate a corrected vehicle travel route including lanes on the map.
In order to achieve the above object, the present invention provides an On Board Diagnostic (OBD), Global Positioning System (GPS), and a method of reproducing a traffic accident site using black box image information A) detecting MAP information based on the GPS path data collected from the GPS acquiring unit through the MAP acquiring unit; and (B) comparing the position, speed, and speed of the vehicle based on the collected GPS path data with the vehicle position indicator. (C) extracting at least one of YAW and YAW from the image data and displaying the map on the map; (C) Detecting a lane of the road; (D) detecting a left / right position on the road through the vehicle position detecting unit based on the detected lane, Detecting at least one of a vehicle speed, a steering angle, a blinker, an accelerator, and a breaker from the OBD log data collected by the OBD acquiring unit through the OBD code data converting unit; (E) (F) generating a vehicle travel route through a lane arrangement and a vehicle position including a lane on a map by combining the detected vehicle position and lane information of the road based on the displayed map through the vehicle travel generating unit, (G) corrects the speed and the steering angle of the generated detailed route on the road based on the information detected from the collected OBD log data through the vehicle drive generation unit to generate a corrected vehicle travel route including the lane on the map The method comprising the steps of:
Preferably, when the collected map information uses map information collected from an external site, the method may further include a step of vectorizing the GPS path map image mapped by the vehicle location display unit through an image vectorization unit and converting the vectorized map into a vector path map .
Preferably, the step (C) includes the steps of: designating an inspection area for detecting a lane in an input image; designating an area of interest for the left lane and the right lane from the input image of the designated inspection area; Applying a Hough transform to detect a straight line component from a region of interest in the right lane to detect a lane, applying a Hough transform to the left lane to detect a left lane, And converting the left and right lane components of the left and right lanes, respectively, when the straight line components are detected through the hub conversion of the right lane and the left lane, Selecting a lane as a lane, filtering the selected lane to detect a lane It characterized by comprising the steps:
Preferably, the step (D) includes the steps of: detecting an intersection P of the X-axis and Y-axis center line based on the detected lane; and detecting a position before a certain distance from the detected X- To the position of the second lens group.
The system and method for reconstructing a traffic accident site using the OBD, GPS, and black box image information according to the present invention as described above have the following effects.
First, it is possible to reproduce the actual accident-based traffic accident scene by converging the data of various sources that captured scenes before and after the traffic accident such as OBD, GPS and black box image information, Accurate estimation of the scene is possible, and it is possible to analyze the cause of traffic accident based on facts accurately when there is a complex traffic accident cause.
Second, a virtual accident environment is formed based on various information at the time of an accident, so that the convenience of the accident recreation work is increased, and the reliability of the accident recreation is improved.
Third, by collecting, analyzing and applying various kinds of information according to an accident, it is possible to obtain an effect of shortening the time required to reproduce an accident situation because an investigation of an accident scene is not required.
Fourth, it can be applied to the emergency treatment of the victim through immediate accident analysis in case of an accident, it can be applied to identify the cause of the accident, and the effect of preventing the second accident in advance by providing accurate accident traffic information I will exert.
1 is a block diagram showing a configuration of a traffic accident scene reproducing system using OBD, GPS, and black box image information according to an embodiment of the present invention;
2 is a diagram for explaining a method of detecting a vehicle position in the vehicle position detecting unit of Fig. 1
Figs. 3A and 3B are diagrams showing an embodiment for generating a detailed route on the road through the vehicle position and the lane arrangement set by the vehicle drive generating unit of Fig. 1
4 is a flowchart illustrating a method of reproducing a traffic accident scene using OBD, GPS, and black box image information according to an embodiment of the present invention.
Fig. 5 is a flowchart for explaining a method of detecting a lane in Fig. 4
Other objects, features and advantages of the present invention will become apparent from the detailed description of the embodiments with reference to the accompanying drawings.
DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, preferred embodiments of a vehicle accident scene reproducing system using OBD, GPS, and black box image information according to the present invention will be described 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. It is provided to let you know. Therefore, the embodiments described in the present specification and the configurations shown in the drawings are merely the most preferred embodiments of the present invention and are not intended to represent all of the technical ideas of the present invention. Therefore, various equivalents It should be understood that water and variations may be present.
1 is a block diagram showing a configuration of a traffic accident scene reproducing system using OBD, GPS, and black box image information according to an embodiment of the present invention.
1, the traffic accident scene reproduction system of the present invention includes a
The
The
The vehicle
The
The
The
The vehicle
The
The OBD code data converter 109 extracts information such as the speed, the steering angle, the blinker, the accelerator, and the breaker of the vehicle from the OBD log data collected by the
The vehicle
At this time, as shown in FIG. 3B, the vehicle
Then, the vehicle
The
The operation of the OBD, GPS and the traffic accident scene reproducing system using the black box image information according to the present invention will be described in detail with reference to the accompanying drawings. Like reference numerals in FIG. 1 or FIG. 2 denote the same members performing the same function.
4 is a flowchart illustrating a traffic accident scene reproducing method using OBD, GPS, and black box image information according to an embodiment of the present invention.
Referring to FIG. 4, the
Then, the vehicle position, velocity, YAW, and the like are extracted based on the collected GPS path data through the vehicle
Then, the GPS path map image mapped by the vehicle
The lane of the road on which the vehicle has traveled is detected from the image information captured before and after the traffic accident collected from the vehicle black box through the lane detecting unit 106 (S400). A method of detecting the lane of the road will now be described in detail with reference to FIG.
Based on the thus detected lane, the vehicle
On the other hand, the OBD code
As shown in FIG. 3B, the vehicle
Then, the vehicle
At this time, the vehicle
As described above, according to the present invention, since the corrected vehicle traveling route is generated by using the OBD information as well as the GPS and black box image information, it is possible to accurately estimate from the situation just before the traffic accident to the scene of the traffic accident.
5 is a flowchart for explaining a method of detecting a lane in FIG.
Referring to FIG. 5, first, an inspection area for detecting a lane in an input image is designated (S401).
Then, a region of interest is designated for the left lane and the right lane from the input image of the designated inspection area (S402).
In order to detect the right lane, a Hough transform is applied to detect a straight line component from the RO area in the right lane (S403). In order to detect the left lane, a left lane RO is transformed to left and right. The transformation is applied (S404).
If a straight line component is detected through the hub conversion of the right lane and the left lane, respectively, the result is transformed left and right (S405).
The straight line components of the detected left and right lanes are analyzed, and the maximum value component is selected as the lane by the stochastic calculation (S406).
Then, a lane is detected by performing filtering on the selected lane (S407), and the lane is continuously detected while repeating the above process (S408).
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. It will be apparent to those skilled in the art that various modifications may be made without departing from the scope of the present invention. Accordingly, the true scope of the present invention should be determined by the technical idea of the appended claims.
Claims (9)
A MAP obtaining unit for collecting surrounding map information based on the collected GPS path data,
A vehicle location display unit for extracting at least one of a location, a speed, and a YAW of the vehicle based on the collected GPS route data, mapping the collected location information to the collected surrounding map information,
An image acquiring unit for acquiring image information captured before and after a traffic accident from a vehicle black box,
A lane detecting unit for detecting a lane of a road on which the vehicle travels from the collected vehicle traveling image,
A vehicle position detecting unit for detecting a left and right position on the road based on the detected lane and setting a position of the vehicle;
An OBD acquiring unit for collecting log data (OnDrive Diagnostics (OBD) log data)
An OBD code data converter for extracting at least one of a speed, a steering angle, a blinker, an accelerator, and a breaker information of the vehicle from the collected OBD log data,
A vehicle travel generating unit for generating a vehicle travel route including a lane on a map by combining outputs generated by the vehicle position display unit, the vehicle position detection unit, and the OBD code data conversion unit;
And a storage unit for storing the vehicle travel route generated by the vehicle travel occurrence unit as a file.
Preferably, the MAP obtaining unit detects surrounding map information corresponding to GPS path data collected on the basis of the map information stored in advance in the internal system, but the present invention is not limited thereto. A traffic accident site reconstruction system, which may be collected.
Further comprising an image vectorization unit for vectorizing the GPS path map image mapped by the vehicle location display unit and converting the vectorized map image into a vector path map when the map information is collected from the external site.
Wherein the intersection of the X-axis and the Y-axis center line is detected based on the lane detected by the lane detecting unit, and a position before the arbitrary distance from the X-axis intersection is set to the position of the vehicle.
The speed and the steering angle of the generated detailed path on the road are corrected based on the OBD log data collected by the OBD code data conversion unit after generating the road detailed path through the vehicle position and lane arrangement set by the vehicle position detection unit And a corrected vehicle travel route including lanes on the map is generated.
(B) extracting at least one of a position, a speed, and a YAW of the vehicle based on the collected GPS path data through the vehicle position display unit, mapping the collected map information to the collected surrounding map information,
(C) detecting a lane of a road on which the vehicle travels from image information captured before and after a traffic accident, which is collected from a vehicle black box through a lane detecting unit,
(D) detecting a left / right position on the road through the vehicle position detecting unit based on the detected lane, thereby setting a position of the vehicle;
(E) detecting at least one of a vehicle speed, a steering angle, a blinker, an accelerator, and a breaker from OBD log data collected by an OBD acquisition unit through a vehicle OBD code data conversion unit,
(F) generating a vehicle travel route through a lane arrangement and a vehicle position including a lane on a map by combining the detected vehicle position and lane information of the road based on the displayed map through the vehicle travel generating unit,
(G) corrects the speed and the steering angle of the generated detailed route on the road based on the information detected from the collected OBD log data through the vehicle drive generation unit to generate a corrected vehicle travel route including the lane on the map The method comprising the steps of:
When the collected map information uses map information collected from an external site, converting the GPS path map image mapped by the vehicle position display unit into an vector path map by vectorizing the GPS path map image through the image vectorization unit How to recreate a traffic accident site.
Designating an inspection area for detecting a lane in an input image;
Designating a ROI for a left lane and a right lane from an input image of the designated inspection area,
Applying Hough transform to detect a straight line component from the area of interest in the right lane to detect the right lane, applying a Hough transform to the left lane to detect the left lane, Wow,
If a straight line component is detected through the hub conversion of the right lane and the left lane, respectively,
Analyzing a linear component of the detected left and right lanes and selecting a maximum value component as a lane by stochastic calculation;
And detecting a lane by performing filtering on the selected lane.
Detecting an intersection (P) of an X-axis and a Y-axis center line based on the detected lane,
And setting the position of the vehicle to a position of the vehicle at an arbitrary distance from the detected X-axis intersection point (P).
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CN107886721A (en) * | 2017-11-09 | 2018-04-06 | 西华大学 | A kind of traffic accident road status data acquisition method |
KR101852268B1 (en) * | 2016-11-02 | 2018-06-05 | 현대오토에버 주식회사 | Vehicle operation state monitoring system and method |
CN108377352A (en) * | 2018-02-06 | 2018-08-07 | 珠海全志科技股份有限公司 | Method for processing video frequency and device, computer installation and storage medium |
WO2020075912A1 (en) * | 2018-10-10 | 2020-04-16 | 아주대학교산학협력단 | Image analysis device using image data of vehicle, and method therefor |
KR20210050150A (en) * | 2019-10-28 | 2021-05-07 | 고려대학교 세종산학협력단 | Method and procedure for driving autonomous test scenario using traffic accident image based on operational environment information in road traffic |
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KR102633427B1 (en) * | 2023-08-14 | 2024-02-07 | 주식회사 카비 | Method for creating a traffic accident site reconstruction report |
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