KR20160112580A

KR20160112580A - Apparatus and method for reconstructing scene of traffic accident using OBD, GPS and image information of vehicle blackbox

Info

Publication number: KR20160112580A
Application number: KR1020150038573A
Authority: KR
Inventors: 이영주; 임호섭; 강대성
Original assignee: 주식회사 엠디테크
Priority date: 2015-03-20
Filing date: 2015-03-20
Publication date: 2016-09-28
Also published as: KR101689805B1

Abstract

The present invention provides a system and a method for reconstructing a traffic accident scene, which is to perfectly reconstruct a traffic accident scene by accurately estimating a driving path on a road when a cause of a traffic accident is analyzed by synchronizing OBD data and GPS data to analyze the traffic accident and combining the synchronized data with black box image information. The system for reconstructing a traffic accident scene can reconstruct the traffic accident scene based on an actual image by fusing data of various sources photographing a scene before and after the traffic accident, such as OBD, GPS, and the black box image information. The system for reconstructing a traffic accident scene can accurately analyze the cause of the traffic accident based on a fact in case that there is a complex cause of the traffic accident by accurately and realistically estimating a situation right before the traffic accident to a traffic accident occurrence scene.

Description

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a system and a method for reconstructing a traffic accident site using OBD,

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.

Patent Registration No. 10-1040118: Traffic Accident Reproduction System and Control Method Thereof Open Patent Publication No. 10-2015-0014264: Apparatus and Method for Recreating a Traffic Accident Site

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 GPS acquisition unit 101, a MAP acquisition unit 102, a vehicle position display unit 103, an image vectorization unit 104, A lane detection unit 106, a vehicle position detection unit 107, an OBD acquisition unit 108, an OBD code data conversion unit 109, a vehicle travel generation unit 110, And a storage unit 111.

The GPS acquiring unit 101 acquires GPS path data received and stored from a GPS module (not shown) attached to the vehicle.

The MAP acquiring unit 102 acquires the surrounding map information based on the GPS path data collected by the GPS acquiring unit 101. At this time, the MAP obtaining unit 102 preferably detects surrounding map information corresponding to GPS path data collected based on the map information stored in advance in the internal system. However, the present invention is not limited to this, May be collected from an external site provided.

The vehicle position display unit 103 extracts the position, velocity, YAW, and the like of the vehicle on the basis of the GPS path data collected by the GPS acquisition unit 101 and maps the map to peripheral map information collected by the MAP obtaining unit 102 And displays it on the map.

The image vectorization unit 104 converts the GPS path map image mapped by the vehicle position display unit 103 into a vector path map. In this case, if the map information collected by the MAP obtaining unit 102 is map information previously stored in the internal system, the image vectorizing unit 104 does not need a separate vectorizing operation, A vectorization operation is required for matching with the map displayed on the vehicle position display section 103. [

The image acquiring unit 105 acquires image information photographed before and after a traffic accident from a vehicle black box.

The lane detecting unit 106 detects a lane of the road on which the vehicle travels from the vehicle running image collected by the image obtaining unit 105. [

The vehicle position detection unit 107 detects the left and right position on the road (which position is on the lane) based on the lane detected by the lane detection unit 106, and sets the position of the vehicle. 2, the vehicle position detection unit 107 detects an intersection P between the X-axis and Y-axis center lines based on the lane 10 detected by the lane detecting unit 106, The position of the vehicle before the N (arbitrary value) meter at the X axis intersection point P is set to the position of the vehicle. At this time, the N-meter is a value set for each image data photographed according to the performance of the black box, which can be changed by an administrator.

The OBD acquiring unit 108 acquires OnDrive Diagnostic (OBD) log (record) data when the vehicle is running.

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 OBD acquiring unit 108.

The vehicle travel generating unit 110 combines outputs from the vehicle position display unit 103, the vehicle position detection unit 107 and the OBD code data conversion unit 109 to generate a vehicle travel route including lanes on the map .

At this time, as shown in FIG. 3B, the vehicle drive generating unit 110 generates a detailed path on the road through the vehicle position and the lane arrangement set by the vehicle position detecting unit 107. In other words, when the road-based route is generated using only the GPS information in the state that the lane information and the vehicle position information are not included, rough vehicle position information in the middle of the road is generated as shown in FIG. 3A . However, the vehicle drive generating unit 110 can generate a detailed path on the road of the vehicle as shown in FIG. 3B using the vehicle position and the lane information.

Then, the vehicle drive generation unit 110 generates OBD data based on the OBD log data collected by the OBD code data conversion unit 109, based on the information such as the vehicle speed, the steering angle, the blinker, the accelerator, Speed and steering angle are corrected to generate a corrected vehicle travel route including lanes on the map.

The storage unit 111 stores the vehicle running path generated by the vehicle running generating unit 110 as a file.

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 MAP obtaining unit 102 detects surrounding map information based on GPS path data collected from the GPS obtaining unit 101 (S100). At this time, the MAP obtaining unit 102 preferably detects surrounding map information corresponding to GPS path data collected based on the map information stored in advance in the internal system. However, the present invention is not limited to this, May be collected from an external site provided.

Then, the vehicle position, velocity, YAW, and the like are extracted based on the collected GPS path data through the vehicle position display unit 103, and the map is displayed on the map by mapping to the collected surrounding map information (S200).

Then, the GPS path map image mapped by the vehicle position display unit 103 is vectorized through the image vectorization unit 104 and converted into a vector path map (S300). In this case, if the collected map information is map information previously stored in the internal system, a separate vectorization operation is unnecessary. In the case of using the map information collected from the external site, a vectorization operation is performed for matching with the displayed map need.

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 position detection unit 107 detects the left and right position on the road (which position is on the lane) to set the position of the vehicle (S500). At this time, as shown in FIG. 2, the position of the vehicle is detected by detecting the intersection P of the X-axis and Y-axis center line on the basis of the detected lane 10, (Arbitrary value) Set the position of the vehicle before the meter to the position of the vehicle. The N-meter is a value set for each image data photographed according to the performance of the black box.

On the other hand, the OBD code data conversion unit 109 detects information such as the speed, the steering angle, the blinker, the accelerator, the breaker, etc. of the vehicle from the OBD log data collected during the vehicle traveling through the OBD acquisition unit 108 (S600).

As shown in FIG. 3B, the vehicle drive generating unit 110 combines the detected vehicle position and lane information of the road based on the displayed map, so that the vehicle position and the lane arrangement including the lane on the map (S700).

Then, the vehicle drive generation unit 110 generates a vehicle drive generation signal based on the information on the speed, the steering angle, the blinker, the accelerator, the breaker, and the like collected from the OBD log data collected by the OBD code data conversion unit 109, And corrects the speed and the steering angle of the vehicle so as to generate and store the corrected vehicle travel route including the lane on the map (S800).

At this time, the vehicle drive generating unit 110 acquires the OBD trajectory to correct the steering angle, which calculates the instantaneous speed and the instantaneous steering angle received from the OBD data at the current position, moves after moving to the next position. Then, if there is a next instantaneous speed and instantaneous steering angle, OBD trajectory is obtained by calculating instantaneous speed and momentary steering angle received from OBD data at present position.

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

A GPS acquiring unit for acquiring GPS path data received from and stored in the GPS module,
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.

The method according to claim 1,
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.

3. The method of claim 2,
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.

2. The vehicle control apparatus according to claim 1, wherein the vehicle position detection unit
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 vehicle drive control apparatus according to claim 1,
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.

(A) detecting peripheral map information based on GPS path data collected from a GPS acquisition unit through a MAP acquisition unit,
(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:

The method according to claim 6,
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.

7. The method of claim 6, wherein step (C)
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.

7. The method of claim 6, wherein step (D)
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).