KR20160133386A - Method of Avoiding Collision Systemn using Blackbox Rear Camera for vehicle - Google Patents

Abstract

The present invention relates to a collision prevention method for a side rear collision prevention system using a rear-view camera for a vehicle black box, and more particularly, to a collision prevention method of a side rear collision prevention system using a rear-view camera for a vehicle black box, which can not only measure a speed of an approaching side rear vehicle when changing lanes but also can warn a possibility of collision, thereby predicting and preventing a collision of a driving vehicle by using a rear-view camera of a black box installed in a driving vehicle.

Description

BACKGROUND OF THE INVENTION 1. Field of the Invention [0002] The present invention relates to a collision avoidance system for a vehicle,

BACKGROUND OF THE INVENTION 1. Field of the Invention [0001] The present invention relates to a collision avoidance method for a rear-side collision avoidance system using a black box rear camera for a vehicle, and more particularly, And more particularly, to a collision avoidance method of a side rear collision preventing system using a vehicle black box rear camera capable of predicting and preventing collision of a traveling vehicle,

Recently, automobiles are being developed as intelligent vehicles that can provide improved safety and convenience by using advanced information and communication technologies as well as improving fuel efficiency and performance as vehicles.

However, even in the case of such an intelligent automobile, there is a continuing difficulty in the case of a driver having a low driving experience, in the case of parking or changing the lane while driving.

In this case, when the vehicle is parked, the vehicle moves at a relatively low speed, so that even if a collision occurs, it may be completed by a light contact accident. However, in case of changing the lane while driving, Which can lead to irreversible large-scale accidents.

Furthermore, in the case of an intelligent vehicle, since the driver is provided with numerous functions such as an entertainment system, an air purifier, and a convenience device, the driver can operate the unnecessary device in addition to the operation device for driving, The risk of accidents is increasing.

As a result, various techniques for preventing a collision with a nearby vehicle caused by an inexperienced driver of a novice driver who has a slight dexterity and little driving experience when the lane changes while driving are actively studied, There was a technique of using a sensing sensor as an anti-collision technique.

However, according to the related art, there is a problem that it is difficult to provide the same reliability to a vehicle using various sensors because the distances and angles that can be measured vary according to the types of the sensors, There is a problem in that the production cost of the vehicle is increased because there are many cases in which a separate auxiliary device is required in addition to the detection sensor.

Therefore, even if the detection sensor and the auxiliary device are not attached, it is possible to predict and prevent the collision with the vehicle approaching the rear side of the traveling vehicle at the time of lane change, There is a need for technology that can be applied.

Patent Document 1: JP 10-2010-0114312 (published on May 25, 2012)

SUMMARY OF THE INVENTION The present invention has been conceived to solve the above problems, and it is an object of the present invention to provide a vehicle rearview camera capable of measuring the speed of a rear- Rear anti-collision system and a collision prevention method using a rear-view camera for a vehicle, which can warn the driver of the vehicle and can predict and prevent collision of the vehicle.

A side-rear collision avoidance system using a black box rear camera for a vehicle according to an embodiment of the present invention includes: a vehicle-mounted black box rear camera installed at a rear side of a traveling vehicle to photograph a side rear image and generate image data; The image data generated by the black box rear camera for a vehicle is analyzed to divide an area corresponding to a driving lane and a rear side vehicle and a plurality of objects corresponding to a rear side vehicle are extracted as vehicle candidates, A rear-side vehicle detection unit which detects an object judged to be in a running state as a rear-side vehicle; A rear side vehicle speed measuring unit for calculating the distance between the object detected as the side rear vehicle in the side rear vehicle detecting unit and the rear camera of the vehicle black box and then measuring the relative speed of the side rear vehicle by receiving the traveling speed of the traveling vehicle; Wow; A control unit for receiving the relative speed of the side rear vehicle measured by the side rear vehicle speed measuring unit and determining a risk of collision between the traveling vehicle and the side rear vehicle at the time of lane change; And a vehicle collision warning device for receiving a control signal from the control unit when the risk of collision is determined by the control unit, and audibly or visualizing an alarm signal of a collision risk and transmitting the alarm signal to the driver.

The side rear vehicle detection unit includes an outline extracting unit for extracting various types of outline from the image data generated by the rear camera for a vehicle black box; A lane candidate detecting unit for detecting a candidate driving lane by applying a Hough transform algorithm used for straight line detection to various contour lines obtained by the contour extracting unit; A driving lane determining unit that determines an outline that passes through a reliability vote among the driving lane candidate groups acquired by the lane candidate detection unit and repeats over a predetermined frame as an actual driving lane; A rear-side ROI recognition unit for recognizing an outer area of the driving lane adjacent to the rear side of the driving vehicle as the rear-rear ROI among the driving lanes determined by the driving lane determination unit; A vehicle candidate extracting unit for classifying a plurality of objects corresponding to a side rear vehicle in the lateral rearward ROI to extract a vehicle candidate; And a vehicle information transmitting unit for detecting an area corresponding to an object continuously and repeatedly displayed over a predetermined frame among a plurality of objects corresponding to the vehicle candidate as a side rear vehicle and transmitting side rear vehicle information to the side rear vehicle speed measuring unit ; ≪ / RTI >

The side rear vehicle speed measuring unit may include a vehicle feature point extracting unit that extracts specific pixels of a region corresponding to the side rear vehicle based on the side rear vehicle information received by the vehicle information transmitting unit as feature points; A vehicle distance calculation unit for measuring a distance to the side rear vehicle using the minutiae extracted by the minutiae point extraction unit; And a relative speed generator for generating a relative speed of the rear-side vehicle using the difference between the frames of the pixels constituting the area corresponding to the side rear vehicle and the traveling speed of the traveling vehicle.

The control unit calculates the risk of collision by using the relative speed of the rearward vehicle inputted by the relative speed generator and the distance between the traveling speed of the traveling vehicle and the rearward vehicle when the operation signal is applied to the turn signal lamp of the traveling vehicle It can be judged.

A method for preventing a collision between a vehicle and a rear vehicle using a black box rear camera according to an embodiment of the present invention includes a first step of generating image data by photographing a side rear image of a traveling vehicle; A second step of extracting a contour line from the image data and detecting a driving lane candidate group using a Hough transform algorithm used for straight line detection; A third step of recognizing a driving lane candidate having the highest value as a driving lane through reliability vote among the driving lane candidate groups; A fourth step of determining that the driving lane is an actual driving lane when the driving lane repeatedly appears over a predetermined number of frames and feeding back to the first step when the driving lane appears only in a frame less than a preset number of times; If the actual driving lane is detected in the fourth step, a plurality of objects repeatedly appearing over a predetermined number of frames in the outer region of the driving lane are detected as the side rear vehicle, and if the side rear vehicle is not detected, Step 5; The distance to the vehicle black box camera is measured based on the specific position of the area corresponding to the side rear vehicle, and the difference between the traveling speed of the traveling vehicle and the frame difference between the frames corresponding to the side rear vehicle, A sixth step of measuring a speed; When an operation signal for the turn signal lamp of the driving vehicle is applied, it is determined that there is a risk of collision between the vehicle behind the vehicle and the driving vehicle and an alarm signal is transmitted to the driver, and if the operation signal of the turn signal lamp is not applied, Step.

As described above, according to the present invention, it is possible not only to measure the speed of a rear-side vehicle approaching at the time of lane change but also to warn of possibility of collision, by using a rear camera of a black box mounted on a traveling vehicle, There is an effect of providing a collision prevention system and a collision prevention method for side collision which can increase the safety of the driving vehicle by preventing the collision of the vehicle due to the less driver and the driver.

In addition, since the collision of the traveling vehicle can be predicted and prevented by using a rear camera of a black box mounted on a vehicle in general, the present invention does not require a sensor for collision prevention and a separate auxiliary device, The manufacturing cost can be greatly reduced.

Further, since the relative speed of the vehicle behind the vehicle can be calculated using the difference between the frames of the pixels constituting the rear-rear vehicle area, the present invention does not require a complicated computing device, There is an effect that can detect danger.

1 is a block diagram schematically showing the overall configuration of a rear-side collision avoidance system using a black box rear camera for a vehicle according to an embodiment of the present invention.
2 is a block diagram schematically showing the detailed configuration of the laterally rear vehicle detecting portion shown in Fig.
3 is a block diagram schematically showing the lateral rear vehicle speed measuring unit shown in Fig.
4 is a flowchart illustrating a side rear collision avoiding method using a black box rear camera for a vehicle according to an embodiment of the present invention.

The description of the present invention is merely an example for structural or functional explanation, and the scope of the present invention should not be construed as being limited by the embodiments described in the text. That is, the embodiments are to be construed as being variously embodied and having various forms, so that the scope of the present invention should be understood to include equivalents capable of realizing technical ideas.

Meanwhile, the meaning of the terms described in the present invention should be understood as follows.

The terms "first "," second ", and the like are intended to distinguish one element from another, and the scope of the right should not be limited by these terms. For example, the first component may be referred to as a second component, and similarly, the second component may also be referred to as a first component.

It is to be understood that when an element is referred to as being "connected" to another element, it may be directly connected to the other element, but there may be other elements in between. On the other hand, when an element is referred to as being "directly connected" to another element, it should be understood that there are no other elements in between. On the other hand, other expressions that describe the relationship between components, such as "between" and "between" or "neighboring to" and "directly adjacent to" should be interpreted as well.

It should be understood that the singular " include "or" have "are to be construed as including a stated feature, number, step, operation, component, It is to be understood that the combination is intended to specify that it does not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, or combinations thereof.

In each step, the identification code (e.g., a, b, c, etc.) is used for convenience of explanation, the identification code does not describe the order of each step, Unless otherwise stated, it may occur differently from the stated order. That is, each step may occur in the same order as described, may be performed substantially concurrently, or may be performed in reverse order.

All terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs, unless otherwise defined. Commonly used predefined terms should be interpreted to be consistent with the meanings in the context of the related art and can not be interpreted as having ideal or overly formal meaning unless explicitly defined in the present invention.

Hereinafter, embodiments of the present invention will be described with reference to the accompanying drawings.

1 is a block diagram schematically showing the overall configuration of a rear-side collision avoidance system using a black box rear camera for a vehicle according to an embodiment of the present invention.

As shown in the figure, a side rear-end collision avoidance system using a black box rear camera for a vehicle according to an embodiment of the present invention includes a black box rear camera 100 for a vehicle, a rear-side vehicle detection unit 200, A controller 300, a controller 400, and a vehicle collision warning device 500. [

More specifically, the vehicle-mounted black-box rear camera 100 is provided at a rear side of the traveling vehicle to photograph the rear-side image and generate image data. The rear-side image information of the traveling vehicle photographed through the camera lens Resolution digital image data corresponding to the amount of information corresponding to the image information around the rear side of the traveling vehicle.

At this time, the vehicle black box rear camera 100 may be one of a plurality of cameras constituting a multi-channel vehicle black box, or may be composed of a single camera installed independently, It is preferable that the camera is a camera to which an image processing technique capable of preventing the image from being shaken even when taken.

The side rear vehicle detection unit 200 analyzes the image data generated by the vehicle black box rear camera 100 to divide an area corresponding to the driving lane and the rear side vehicle, And detects an object which is judged to be in a state of being actually driven among the plurality of vehicle candidates as a side rear vehicle.

The side rear vehicle speed measuring unit 300 calculates the distance between the object detected as the side rear vehicle in the side rear vehicle detecting unit 200 and the distance between the rear side camera 100 for the vehicle and the traveling direction of the traveling vehicle And measures the relative speed of the side rear vehicle based on the speed.

The control unit 400 may receive the relative speed of the side rear vehicle measured by the side rear vehicle speed measuring unit 300 and determine the risk of collision between the traveling vehicle and the side rear vehicle at the time of lane change. According to an embodiment of the present invention, when the risk of a collision is determined by the control unit 400, the control unit 400 receives a control signal from the control unit 400, Visualization can be delivered to the driver.

At this time, the vehicle collision alerting apparatus 500 used in the embodiment of the present invention is capable of displaying an alarm signal in a window in front of a traveling vehicle viewed by a driver, such as a head up display (HUD) Or may be a device connected to the internal speaker of the vehicle to generate a warning sound related to a collision risk or a certain audible sound.

Fig. 2 is a block diagram schematically showing a detailed configuration of the laterally rear vehicle detecting portion shown in Fig. 1, and Fig. 3 is a block diagram schematically showing the lateral rear vehicle speed measuring portion shown in Fig.

2 to 3, a side rear-end collision avoiding system using a black box rear camera for a vehicle according to an embodiment of the present invention will now be described in more detail.

As shown in the drawing, a side rear vehicle detection unit 200 constituting a side rear-side collision avoidance system according to an embodiment of the present invention includes an outline extracting unit 210, a lane candidate detecting unit 220, A rearward interest area recognition unit 240, a vehicle candidate extraction unit 250,

More specifically, the contour extracting unit 210 can extract various kinds of contour lines from the image data generated by the vehicle-use black box rear camera 100.

At this time, the outline extractor 210 may scan a plurality of image frames constituting the image data in real time to detect a large number of contours that can be recognized as lanes.

The lane candidate detecting unit 220 can detect a candidate driving lane on which the vehicle travels by applying a Hough transform algorithm used for straight line detection to various contour lines obtained by the contour extracting unit 210. [

Here, the Hough Transform algorithm is used to find features such as general lines, curves, and circles in image data, and is a technique of detecting a straight line using a polar coordinate system without using an orthogonal coordinate system.

In general, the equation of the straight line of the polar coordinate system is expressed by the following equation.

Here, when x and y are constants and the accumulation arrays of H [r, θ] for (x, y) are stacked, the same linear components are characterized by the intersection of the curves of the accumulation arrays. This is the Huff transform.

The driving lane determining unit 230 can determine the contour line that passes through the reliability vote among the driving lane candidates acquired by the lane candidate detecting unit 220 and repeats over a predetermined frame as an actual driving lane.

This is because not only one candidate of the lane detected by the lane candidate detecting unit 220 but variously detected, it is necessary to verify whether or not the detected candidates correspond to the actual driving lane. Therefore, This is because the outline having the highest reliability value can be recognized as a lane.

At this time, in the case of the video signal photographed by the driving vehicle, since noise is generated because of sensitivity to the brightness change around the driving vehicle, the contour information corresponding to the straight line recognized as the lane is recorded, Is determined to be an actual driving lane.

 In addition, the rear-side rear-interest area recognizing unit 240 can recognize the outer area of the traveling lane adjacent to the rear side of the traveling vehicle, which is determined by the traveling lane determining unit 230, as the rear- .

That is, when an actual driving lane is detected, area information on the lane located on the side of the driving vehicle is recorded on the basis of the actual driving lane rather than the driving lane in which the vehicle is running, so that the side rear area of interest is recognized.

In addition, the vehicle candidate extracting unit 250 may extract a plurality of objects corresponding to the rear-side vehicles in the rear-rearward-interest ROI as vehicle candidates. In the embodiment of the present invention, It is possible to easily detect the vehicle candidate.

That is, the vehicle information transmission unit 260 detects an area corresponding to an object continuously and repeatedly displayed over a predetermined number of frames among a plurality of objects corresponding to the vehicle candidate as a side rear vehicle, The rear vehicle information can be transmitted.

Next, the lateral rear vehicle speed measuring unit 300 constituting the lateral rearward collision avoiding system according to the embodiment of the present invention includes a vehicle characteristic point extracting unit 310, a vehicle distance calculating unit 320, (330).

More specifically, the vehicle feature point extracting unit 310 extracts, as feature points, specific pixels of a region corresponding to the side rear vehicle based on the side rear vehicle information received by the vehicle information transmitting unit 260 have.

That is, the vehicle characteristic point extracting unit 310 measures the point corresponding to the reference point among the areas occupied by the rear and rear vehicles in the image data as feature points. Since the height of the vehicle varies depending on the vehicle type, Regardless of the relative width of the vehicle and the overall length of the vehicle, the center can be marked as a reference point.

The vehicle distance calculation unit 320 may measure the distance between the object corresponding to the side rear vehicle and the vehicle's black box rear camera 100 using the characteristic points extracted by the vehicle characteristic point extraction unit 310 At this time, the reference value for the position of the vehicle black box rear camera 100 is preferably set in advance.

Also, the relative speed generating unit 330 may generate the relative speed of the side rear vehicle using the difference between the frames of the pixels constituting the area corresponding to the side rear vehicle and the traveling speed of the traveling vehicle.

That is, in the embodiment of the present invention, the relative speed generator 330 determines how many pixels are different between the previous frame and the next frame on the image frame continuously arranged to constitute the side rear image of the driving vehicle, So as to generate the relative speed of the rear-side vehicle in succession.

Further, when the pixels in the generated look-up table increase, the speed of the side rear vehicle can be obtained by adding the relative speed at the speed of the current driving vehicle and subtracting the relative speed from the speed of the current driving vehicle when the pixel decreases.

1, when the operation signal is applied to the turn signal lamp of the traveling vehicle, the relative rear-end collision avoidance system according to the embodiment of the present invention is operated by the relative speed generation unit 330 The collision risk can be determined by using the relative speed of the rear side rear vehicle, the traveling speed of the traveling vehicle, and the distance between the side rear vehicle and the traveling vehicle.

Here, the control unit 500 calculates the relative speed of the rear-side vehicle based on the relative speed of the rear-side vehicle generated by the relative-speed generating unit 330 and the distance of the vehicle behind the vehicle acquired by the vehicle- And an operation algorithm that is programmed and stored so as to calculate a collision risk and output a control signal.

In the embodiment of the present invention, assuming that the lane change of the driving vehicle takes about 3 seconds, the operation algorithm for the collision risk is as follows.

IF (distance - (speed of rear side vehicle - speed of driving vehicle) * 3 seconds <1M)

4 is a flowchart illustrating a side rear collision avoiding method using a black box rear camera for a vehicle according to an embodiment of the present invention.

As shown in the figure, a side rear-end collision avoiding method using a black box rear camera for a vehicle according to an embodiment of the present invention includes an image data generating step S10, a driving lane candidate group detecting step S20, S30), an actual driving lane determination step S40, a rear vehicle detection step S50, a distance / speed measurement step S60 of a rear vehicle, and a collision risk determination step S70.

Here, detailed description of the same components as those described above with reference to FIGS. 1 to 3 will be omitted in order to perform the side rear-end collision avoiding method using the black box rear camera for a vehicle according to the embodiment of the present invention.

The method for preventing side-rear collision using a rear-view camera for a vehicle black box according to an embodiment of the present invention will now be described in more detail.

First, the step of generating the image data (S10) may be a first step of photographing the side rear image of the traveling vehicle to generate image data.

Next, the driving lane candidate group detecting step (S20) may be a second step of extracting a contour line from the image data and detecting a driving lane candidate group using a Hough transform algorithm used for straight line detection.

Next, the driving lane recognition step S30 may be a third step of recognizing the driving lane candidate having the highest value as the driving lane through the reliability vote among the driving lane candidate groups.

Next, in the actual driving lane determining step S40, when it is determined that the driving lane is repeatedly displayed for a predetermined number of times (30 times) or more, And the fourth step of feedback to the first step.

Next, when the actual driving lane is detected in the fourth step, the side rear vehicle detecting step S50 is a step of detecting a plurality of objects repeatedly appearing over a predetermined number of times (30 times) in the outer region of the driving lane, And if the vehicle is not detected in the side rear vehicle, it may be the fifth step of feeding back to the first step.

Next, the distance / speed measuring step S60 of the side rear vehicle measures the distance to the vehicle black box camera based on the specific pixel of the area corresponding to the side rear vehicle, And a sixth step of measuring the relative speed of the side rear vehicle using the pixel difference between frames of the area corresponding to the vehicle.

Next, in the collision risk determination step (S70), when an operation signal for the turn signal lamp of the driving vehicle is applied, the collision risk determination step determines the risk of collision between the vehicle behind the vehicle and the driving vehicle to transmit an alarm signal to the driver, And if it is not applied, feedback to the first step.

As described above, according to the present invention, it is possible to not only measure the speed of a rear-side vehicle approaching at the time of lane change but also warn of possibility of collision, by using a rear camera of a black box mounted on a traveling vehicle, Side collision avoidance system and collision avoidance method capable of enhancing the safety of the traveling vehicle by preventing the collision of the vehicle due to collision.

In addition, since the collision of the traveling vehicle can be predicted and prevented by using a rear camera of a black box mounted on a vehicle in general, the present invention does not require a sensor for collision prevention and a separate auxiliary device, The manufacturing cost can be greatly reduced.

Further, since the relative speed of the vehicle behind the vehicle can be calculated using the difference between the frames of the pixels constituting the rear-rear vehicle area, the present invention does not require a complicated computing device, There is an effect that can detect danger.

While the present invention has been particularly shown and described with reference to exemplary embodiments thereof, it is clearly understood that the same is by way of illustration and example only and is not to be taken by way of limitation, It is within the scope of the present invention that component changes to such an extent that they can be coped evenly within a range that does not deviate from the scope of the present invention.

100: vehicle black box rear camera 200: side rear vehicle detection unit
210: contour extracting unit 220: lane candidate detecting unit
230: Driving lane determining unit 240: Side rear interest area recognizing unit
250: vehicle candidate extracting unit 260: vehicle information transmitting unit
300: side rear vehicle speed measuring unit 310: vehicle characteristic point extracting unit
320: vehicle distance calculation unit 330: side rear collision prevention system
400: control unit 500: vehicle collision warning device

Claims (1)

A first step of photographing a side rear image of the traveling vehicle to generate image data;
A second step of extracting a contour line from the image data and detecting a driving lane candidate group using a Hough transform algorithm used for straight line detection;
A third step of recognizing a driving lane candidate having the highest value as a driving lane through reliability vote among the driving lane candidate groups;
A fourth step of determining that the driving lane is an actual driving lane when the driving lane repeatedly appears over a predetermined number of frames and feeding back to the first step when the driving lane appears only in a frame less than a preset number of times;
If the actual driving lane is detected in the fourth step, a plurality of objects repeatedly appearing over a predetermined number of frames in the outer region of the driving lane are detected as the side rear vehicle, and if the side rear vehicle is not detected, Step 5;
The distance to the vehicle black box camera is measured based on the specific pixel in the area corresponding to the side rear vehicle and the difference between the traveling speed of the traveling vehicle and the frame difference between the frames in the area corresponding to the side rear vehicle, A sixth step of measuring a speed;
When an operation signal for the turn signal lamp of the driving vehicle is applied, it is determined that there is a risk of collision between the vehicle behind the vehicle and the driving vehicle and an alarm signal is transmitted to the driver, and if the operation signal of the turn signal lamp is not applied, Wherein the rear-side collision avoiding method comprises the steps of:

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