KR20160139608A - Apparatus for guiding drive of vehicle - Google Patents

Abstract

The present invention relates to a driving guide apparatus for a moving body which quickly notifies a driver of a moving body driving behind when a driving speed of a moving body driving on a road is lower than a prescribed speed or an obstacle such as freight dropped from a moving body for transporting freight and a falling rock exists on the road to prevent an accident. The driving guide apparatus for a moving body comprises: a message display panel disposed on a main body fixed on a centerline of a road on which a moving body drives or a roadside to display a driving guide message; an obstacle detection unit to use a first sensor fixed on the main body to detect an obstacle of the road to generate an obstacle detection signal; a driving speed detection unit to generate a low speed driving detection signal if a driving speed of the moving body detected by using a second sensor fixed on the main body is lower than a prescribed speed; a message receiving unit to receive a driving guide message transmitted by a driving guide apparatus in front of the moving body; and a message display control unit to determine the obstacle detection signal generated by the obstacle detection unit, the low speed driving detection signal generated by the driving speed detection unit, and a driving guide message to be displayed by the message receiving unit according to the driving guide message, and display the determined driving guide message on the message display panel.

Description

BACKGROUND OF THE INVENTION 1. Field of the Invention [0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a traveling guide apparatus for a moving object and, more particularly, to a traveling guide apparatus for a moving object in which, when the traveling speed of a moving object traveling on the road is low, To a driver of a moving vehicle traveling from the rear to promptly prevent a safety accident from occurring.

Generally, there is a high risk that various safety accidents such as a collision accident will occur when the mobile body travels at a speed higher than the specified speed on the road.

Therefore, a speed detecting device for detecting the traveling speed of the moving object is provided on the road on which the moving object travels.

As a speed detecting device for detecting the traveling speed of a moving body, various methods are known including a Korean Patent Registration No. 10-1442226 (entitled: Microwave Velocity Measurement Sensor).

However, the above-described speed detecting devices are for controlling the speeding of the moving object and can not inform the driver of the moving object of the traveling state of the moving object.

On the other hand, when the number of moving objects to be driven on the road increases or a safety accident such as a collision occurs in front of the vehicle, the driver of the moving object can not drive the moving object at the normal speed.

The driver of the moving vehicle traveling from the rear visually confirms the running state of the forward moving vehicle on a straight road or the like in which the forward visibility can be secured sufficiently when the moving vehicle is decelerated, .

The driver of the moving vehicle can not accurately recognize the driving situation of the forward moving vehicle on a road where the forward view can not be sufficiently secured, such as a curved road or a road inclined to the front and rear, and many safety accidents such as a collision accident are caused.

Therefore, in the management company managing the road, a driving guidance display panel is installed on a road where the risk of a safety accident is high, and a guidance message such as a traveling speed of the moving object is displayed to guide the traveling of the moving object.

However, displaying the guidance message on the driving guidance display panel allows the operator of the management company to individually check the driving speed of the moving vehicle and manually display the guidance message on the input and driving guidance display panel, There is a limit to notifying the driver.

In addition, there are many obstacles such as falling freight or falling rock slope from sloping slope side of a road side while a moving object carrying a cargo runs on the road.

The obstacle falling on the road obstructs the normal traveling of the moving body and causes safety accidents.

However, since the obstacle such as a cargo or a rock fell on the road is detected and the driver of the moving vehicle is not notified, the safety of the moving object such as collision with the obstacle while running or collision with the adjacent moving object or road structure avoiding the obstacle A lot of accidents are happening.

Korean Registered Patent No. 10-1442226 (registered on Apr. 12, 2014)

A problem to be solved by the present invention is to promptly inform a driver of a moving vehicle traveling from behind when a situation occurs in which a moving object is traveling at a low speed less than a predetermined speed or an obstacle is separated from the road, The present invention provides a traveling guide device for a moving body that can prevent a moving object.

Further, the present invention is not limited to the above-mentioned problems, and other problems not mentioned can be clearly understood from the following description by those skilled in the art to which the present invention belongs .

A traveling guide device for a moving vehicle according to the present invention comprises a message display panel provided in a main body fixed to a center line or road side of a road on which a moving vehicle runs and displaying a driving guidance message, Speed running detection signal when the traveling speed of the moving object detected using the second sensor fixed to the main body is a low speed lower than a preset speed A traveling speed detection unit for detecting a traveling speed of the moving object detected by the traveling speed detection unit, a message reception unit for receiving a traveling guidance message transmitted by the traveling guidance apparatus in front of the traveling of the moving object, a low speed traveling detection signal generated by the traveling speed detection unit, The message receiver determines and determines a driving guidance message to be displayed in accordance with the driving guidance message And a message display control unit for displaying a driving guidance message on the message display panel.

The control unit may determine an obstacle detection signal generated by the obstacle detection unit, a low speed driving detection signal generated by the traveling speed detection unit, and a driving guidance message to be displayed according to the priority of the driving guidance message.

The traveling guidance apparatus of the present invention may further include a message transmission unit for transmitting a message to the rearward travel guidance apparatus, and the control unit may be configured to transmit the obstacle detection signal generated by the obstacle detection unit and the low- A priority of the detection signal is compared with each other to determine a driving guidance message to be transmitted, and control to transmit the driving guidance message to be transmitted to the rear driving guidance apparatus through the message transmission unit.

The obstacle detecting unit may include a camera provided on the body as a first sensor for capturing an image of a subject, a video signal dividing unit dividing a video signal of a subject photographed by the camera into blocks of a preset size, An identical image detector for detecting a block of the same image signal by comparing blocks of the previous image signal divided by the current image signal and blocks of the current image signal, And an obstacle detection control unit for determining presence or absence of an obstacle and generating an obstacle detection signal according to the determination result.

Wherein the traveling speed detection unit comprises: an optical signal output unit for outputting an optical signal to the second sensor and irradiating the moving object with the optical signal; an optical signal receiving unit for receiving the optical signal reflected by the moving object through the second sensor; The optical signal output by the optical signal output unit and the optical signal received by the optical signal receiving unit are compared to detect the traveling speed of the moving object, and when the traveling speed of the moving object is a low speed less than a predetermined speed, And a speed detection control unit for generating the speed detection signal.

According to the traveling guide apparatus for a moving body of the present invention, when the traveling speed of the moving body is low at a speed lower than the set speed, or when an obstacle such as a cargo or rockfall falling from a moving body, And informs the driver of the moving vehicle promptly.

Therefore, the driver of the moving vehicle can accurately determine the driving state of the moving vehicle ahead in a curved road and a slope road, in which a forward view is not sufficiently secured, thereby preventing a safety accident from occurring in advance.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings, in which like reference numerals refer to like elements throughout.
Brief Description of the Drawings Fig. 1 is a view showing a schematic configuration in which a travel guide panel according to a travel guide device of the present invention is installed on a curved road,
2 is a view schematically showing the configuration of a travel guide panel according to the travel guide apparatus of the present invention,
3 is a block diagram showing the configuration of a travel guidance apparatus according to the present invention;
4 is a block diagram exemplifying the configuration of an obstacle detecting unit in the travel guidance apparatus of the present invention, and Fig.
5 is a block diagram illustrating the configuration of a traveling speed detecting unit in the travel guidance apparatus according to the present invention.

The following detailed description is merely an example, and is merely an example of the present invention. Further, the principles and concepts of the present invention are provided for the purpose of being most useful and readily explaining.

Accordingly, it is not intended to provide a more detailed structure than is necessary for a basic understanding of the present invention, but it should be understood by those skilled in the art that various forms that can be practiced in the present invention are illustrated in the drawings.

1 is a view showing a schematic configuration in which a travel guide panel according to a travel guide apparatus of the present invention is installed on a curved road. Here, reference numeral 100 is a curved road to which the travel guidance apparatus of the present invention is applied. The curved road 100 is composed of, for example, a two-lane uphill road 102 and a two-lane downhill roadway 104, which are reciprocating four-lane roads.

An ascending moving body 110 running on the ascending road 102 and descending moving bodies 112 running on the descending road 104 are arranged at a center line partitioning the ascending road 102 and the descending road 104 A center line dividing structure 120 such as a concrete block for preventing the center line from exceeding the center line may be installed.

In this curved road 100, an upward travel guide panel 150 for guiding the traveling of the ascending moving body 110 according to the traveling guide apparatus of the present invention is provided at the upper end of the center line dividing structure 120, A plurality of downward travel guide panels 152 for guiding the running of the downward traveling body 112 can be installed while maintaining a predetermined gap therebetween.

Although the upward travel guide panel 150 and the downward travel guide panel 152 are provided together, the upward travel guide panel 150 and the downward travel guide panel 152 may be formed of a predetermined The upward travel guide panel 150 and the downward travel guide panel 152 can be installed in various ways such that they can be installed alternately while maintaining an interval.

In some cases, the center line dividing structure 120 may not be installed at the center line of the curved road 100. The curvilinear road 100 on which the center line dividing structure 120 is not provided is provided on the right side road in the traveling direction of the ascending moving body 110 and the descending moving body 112, A plurality of panels 152 may be installed while maintaining predetermined intervals.

Herein, the upward travel guide panel 150 and the downward travel guide panel 152 according to the present invention guide guide are installed on the curved road 100. However, in the present invention, The present invention is not limited to this, and various methods can be used in various positions on the roads where the oblique road and the mist are frequent, and where the driver of the ascending moving body 110 and the driver of the descending moving body 112 can easily recognize, The travel guide panels 150 and 152 according to the travel guide apparatus of the present invention can be installed.

In the embodiment of the present invention, the driving guide panel 150, the driving guide panel 150, and the driving guide panel 150 according to the driving guide device of the present invention are installed on the roads of various car athletes including the round two lanes, 152 may be installed.

2 is a view schematically showing the configuration of a travel guide panel according to the travel guide apparatus of the present invention. Referring to FIG. 2, each of the travel guide panels 150 and 152 of the present invention is provided with a message display panel 210 for displaying a route guidance message to the main body 200. The message display panel 210 may display a predetermined driving guidance message, for example, by arranging a plurality of light emitting diodes in a matrix or using a liquid crystal display (LCD) panel or the like.

A first sensor 220 for detecting a falling obstacle or the like having a high risk of a safety accident and a second sensor 230 for detecting a traveling speed of the moving objects 110 and 112 are disposed above the message display panel 210, May be provided.

Here, the first sensor 220 can photograph a predetermined object, for example, a region of a predetermined road as a camera. The second sensor 230 includes an optical system for outputting an infrared signal or an optical signal such as a laser for detecting the traveling speed of the moving object 110 or 112 as described later, And an optical signal receiving sensor for receiving the optical signal.

The main body 200 may be installed on the center line dividing structure 120 or on the side of the road by the support block 240. In addition,

3 is a block diagram showing a configuration of a travel guidance apparatus according to the present invention. 3, the travel guidance apparatus of the present invention includes a message reception unit 300, a message transmission unit 310, an obstacle detection unit 320, a traveling speed detection unit 330, a message display control unit 340, A message display panel 350, and the like.

The message receiving unit 300 receives a driving guidance message transmitted by a driving guidance apparatus (hereinafter, referred to as a " front driving guidance apparatus ") installed in front of the moving vehicle.

The message transmission unit 310 transmits a driving guidance message to a driving guidance device (hereinafter, referred to as a " rear driving guidance device ") provided behind the moving vehicle.

The obstacle detecting unit 320 detects whether an obstacle is present using the image signal of the subject photographed by the first sensor 220 and generates an obstacle detecting signal when it is determined that there is an obstacle.

The traveling speed detecting unit 330 detects the traveling speed of the moving objects 110 and 112 by using the second sensor 230 and outputs a low speed traveling detection signal when the detected traveling speed is a low speed traveling less than a predetermined speed. .

The message display control unit 340 receives the driving guidance message received by the message receiving unit 300, the obstacle detection signal generated by the obstacle detecting unit 320, and the low- Determines a driving guidance message to be displayed and controls display of the determined driving guidance message on the message display panel 350.

The message display control unit 340 determines a driving guidance message to be transmitted according to an obstacle detection signal generated by the obstacle detection unit 320 and a low speed driving detection signal generated by the traveling speed detection unit 330, To the rearward travel guide apparatus through the message transmission unit 310. [0050] FIG.

In the traveling guide apparatus of the present invention having such a configuration, when the forward driving guidance apparatus transmits a predetermined driving guidance message, the message receiving unit 300 receives it and provides the received driving guidance message to the message display control unit 340 do.

The obstacle detecting unit 320 detects whether an obstacle is separated from the road by using the first sensor 220 installed in the main body 200 of the travel guide panel 150 or 152, And generates an obstacle detection signal when the obstacle is detected and provides the obstacle detection signal to the message display control unit 340.

The traveling speed detecting unit 330 detects the traveling speed of the moving objects 110 and 112 by using the second sensor 230 installed on the main body 200 of the traveling guide panel 150 and 152, Speed running detection signal and provides the low-speed running detection signal to the message display control unit 340 when the running speed is a low speed running less than a predetermined speed.

The message display control unit 340 displays the driving guidance message received and provided by the message receiving unit 300 and the obstacle detection signal detected and provided by the obstacle detecting unit 320 and the obstacle detection signal provided by the traveling speed detecting unit 330 And determines a predetermined driving guidance message in accordance with the determined priority.

The message display control unit 340 outputs a predetermined driving guidance message determined according to the priority to the message display panel 350 so that the driver of the moving vehicle can visually check the message.

Here, the priority order may be such that the low-speed traveling detection signal detected and provided by the traveling speed detection unit 330 is one, the obstacle detection signal provided by the obstacle detection unit 320 is two, The route guidance message received and provided by the mobile communication terminal 300 can be set to three positions.

The priority may be changed and set according to the state of the road on which the mobile unit 110 or 112 travels.

When the traveling speed detecting unit 330 provides a low speed traveling detection signal, the message display control unit 340 detects an obstacle detection signal provided by the obstacle detecting unit 320 and a driving direction information provided by the message receiving unit 300 Regardless of the message, for example, a driving guidance message called "decelerating operation" in accordance with the low-speed running detection signal is outputted to the message display panel 350 to be displayed.

When the driving speed detector 330 does not provide the low speed driving detection signal and the obstacle detector 320 provides the obstacle detection signal, the message display controller 340 determines that the message receiver 300 For example, a driving guidance message called " caution driving "in accordance with the obstacle detection signal is outputted to the message display panel 350 to be displayed regardless of the driving guidance message.

When the traveling speed detector 330 does not provide the low speed traveling detection signal and the obstacle detector 320 does not provide the obstacle detection signal and the message receiver 300 receives and provides the driving guidance message The message display control unit 340 outputs a driving guidance message of "decelerating operation" or " driving state "according to the received driving guidance message to the message display panel 350 to be displayed.

When the message receiving unit 300 does not provide the driving guidance message and the obstacle detecting unit 320 does not provide the obstacle detecting signal and the traveling speed detecting unit 330 does not provide the low speed traveling detecting signal, The message display control unit 340 outputs the driving guidance message "smooth running" to the message display panel 350 to be displayed.

The message display control unit 340 determines whether the obstacle detection unit 320 provides an obstacle detection signal or whether the traveling speed detection unit 330 provides a low speed traveling detection signal, Determine the driving guidance message.

For example, when the obstacle detecting unit 320 provides an obstacle detection signal, the message display control unit 340 determines "caution driving" with a driving guidance message to be transmitted, Decelerating operation "is determined by the driving guidance message to be transmitted when the driving detection signal is provided. In addition, the message display control unit 340 may be configured such that the obstacle detection unit 320 provides an obstacle detection signal, and when the traveling speed detection unit 330 provides a low-speed traveling detection signal, Deceleration operation "is determined by the driving guidance message to be transmitted.

When the driving guidance message to be transmitted is determined in this way, the message display control unit 340 transmits the determined driving guidance message "driving state" or "decelerating driving operation" to the rear driving guidance apparatus through the message transmission unit 310 .

Alternatively, in all cases listed above, the message "Incident occurred" may be transmitted and displayed.

In addition, the photographed moving picture or photograph may be displayed together with or independently at the bottom of the message so that the user can visually provide warning contents to the driver.

Here, the driving guidance message transmitted by the message display control unit 340 through the message transmitting unit 310 may be a message indicating that the driver of the moving vehicle traveling in the backward direction is able to drive the moving vehicle in response to the driving guidance message It is preferable to be able to transmit the vehicle to a rear travel guide apparatus installed within a distance, for example, a rear travel guide apparatus installed within about 1 km from the present position.

4 is a block diagram illustrating an example of the configuration of an obstacle detecting unit in the travel guidance apparatus according to the present invention. Referring to FIG. 4, the obstacle detecting unit 320 of the present invention includes a camera 400, which is a first sensor 220 installed in the main body 200, for photographing a predetermined subject, that is, And outputs a video signal of the subject.

Here, the camera 400 may include an optical unit, an image sensor, and a signal processing unit, which can perform a function of a viewfinder. Further, the optical unit may be driven by a mecha shutter, a motor, and an actuator, and may perform operations such as zooming and focusing by the actuator. Further, the optical unit picks up an image of a surrounding area.

The image sensor senses an image captured by the optical unit and converts the sensed image into an electrical signal. Here, the image sensor may be a CMOS (Complementary Metal-Oxide Semiconductor) sensor or a CCD (Charge Coupled Device) sensor, or a high-resolution image sensor may be used. The image sensor may also include a global shutter. The global shutter performs a function similar to a mechanical shutter incorporated in the sensor.

In the embodiment of the present invention, the image sensor may be a sensor capable of detecting an image of UHD (Ultra High Definition) or higher. The image sensed by the image sensor is converted into a digital image signal through the signal processing unit and output.

The video signal output from the camera 400 of the present invention may be Bayer data.

The video signal output from the camera 400 is input to the preprocessor 410 and preprocessed.

That is, the preprocessing unit 410 may include, for example, 3A (auto white balance (AWB), auto exposure (AF)) extraction and processing, lens shading correction, Dead pixel correction, knee correction, and the like.

The video signal preprocessed by the preprocessing unit 410 is input to the video signal converter 420 and converted into a video signal suitable for detecting an obstacle. For example, the image signal converter 420 converts a video signal input from the preprocessor 410 into a monochrome video signal, and converts the video signal into a video signal suitable for detecting an obstacle by adjusting the resolution.

The image signal transformed by the image signal transforming unit 420 is input to the image signal dividing unit 430 and is divided into blocks having a size suitable for detecting an obstacle. For example, the image signal dividing unit 430 divides the image signal converted by the image signal converting unit 420 into blocks each having a size suitable for detecting an obstacle such as 16X16 pixels or 32X32 pixels

The image signals of the respective blocks divided by the image signal dividing unit 430 are stored in the current image storing unit 442 of the memory 440 and inputted to the same image detecting unit 450, The previous image signal stored in the previous image storage unit 444 of the previous image is input to the same image detector 450.

The same image detector 450 compares a current image signal input from the image signal divider 430 and a previous image signal of the memory 440 on a block basis to generate an image signal of the same block, And blocks of the motionless video signals detected by the same video detector 450 are input to the obstacle detection controller 470. [

Then, the obstacle detection control unit 470 compares the blocks of the video signal input from the same video detector 450 with the corresponding blocks of the reference video signal stored in the reference video storage unit 460, and extracts different blocks from each other And compares the extracted video signal of the extracted block with the reference video signal stored in the reference video storage unit 460 for each pixel to determine pixels different from each other as pixels of the obstacle.

When the pixel of the obstacle is determined as described above, the obstacle detection control unit 470 determines whether or not the obstacle pixels are continuously connected, and when the number of pixels of the obstacle continuously connected is greater than a predetermined number, It is determined that the obstacle is an obstacle that obstructs the traveling and an obstacle detection signal is generated.

Alternatively, the obstacle may be identified through a sound wave, a radar in the form of a wave, or the like.

Here, when the obstacle detection control unit 470 determines the presence of an obstacle, an instantaneous error may occur due to the camera 400 being shaken by the wind.

Therefore, in implementing the present invention, it is preferable that the obstacle detection control unit 470 generates an obstacle detection signal when it determines the obstacle at the same position for a predetermined time, for example, for about 5 seconds.

The obstacle detection signal generated by the obstacle detection control unit 470 is input to the message display control unit 340 as described above and used to determine a driving guidance message displayed on the message display panel 350, And is used to determine the driving guidance message to be transmitted.

Or a message to be transmitted to a driver's navigation or black box, or a smartphone application interlocked with the present invention.

5 is a block diagram illustrating the configuration of the speed detection unit in the travel guidance apparatus according to the present invention. Referring to FIG. 5, the optical signal output unit 500 outputs an optical signal such as a laser or an infrared ray having a predetermined period.

The optical signal output from the optical signal output unit 500 is input to an optical system 510 that is a second sensor 230 installed in the main body 200 and is connected to the roads 102 and 104 And the optical signal output from the optical signal output unit 500 is input to the speed detection control unit 540. [

In this state, when the predetermined moving objects 110 and 112 pass through the optical system 510 at the position irradiated with the optical signal, the optical signals are reflected by the moving objects 110 and 112 and the moving objects 110 and 112 The optical signal reflected by the optical signal receiving sensor 230 is incident on the optical signal receiving sensor 230.

Then, the optical signal receiving sensor 230 detects the optical signal, and the optical signal receiving unit 530 receives the optical signal detected by the optical signal receiving sensor 230 and is input to the speed detecting control unit 540.

The speed detection control unit 540 compares the phase of the optical signal output from the optical signal output unit 500 with the optical signal detected by the optical signal reception sensor 230 to determine the phase of the optical signal The running speed is detected.

The speed detection control unit 540 compares the detected traveling speed with a preset traveling speed to determine whether or not the moving body 110 or 112 travels at a speed lower than a preset traveling speed, And generates a low-speed running detection signal when it is determined.

Here, an error may occur in the process of determining the low-speed travel using the optical signal output by the optical signal output unit 500 and the optical signal detected by the optical signal reception sensor 230 by the speed detection control unit 540 . Therefore, in implementing the present invention, it is preferable that the low-speed running detection signal is generated when the speed detection control unit 540 determines that the low-speed running continues for a predetermined time, for example, about 5 seconds.

The obstacle detection signal generated by the speed detection control unit 540 is input to the message display control unit 340 as described above and used to determine a driving guidance message displayed on the message display panel 350, And is used to determine the driving guidance message to be transmitted.

Or to a driver's navigation or black box, or to a smartphone application associated with the present invention.

While the present invention has been described in connection with what is presently considered to be practical exemplary embodiments, it is to be understood that the invention is not limited to the disclosed embodiments, but, on the contrary, All or some of the embodiments may be selectively combined.

Therefore, the scope of the present invention should not be limited to the described embodiments, but should be determined by the scope of the appended claims, as well as the appended claims.

100: Curved road 102: Upper road
104: Downhill road 110: Upward moving vehicle
112: Downward moving body 120: Center line partition structure
150: Upward travel guide panel 152: Downward travel guide panel
200: main body 210, 350: message display panel
220: first sensor 230: second sensor
240: support 300: message receiver
310: message transmission unit 320: obstacle detection unit
330: running speed detection unit 340: message display control unit
400: camera 410: preprocessing unit
420: video signal conversion unit 430: video signal division unit
440: memory 442: current image storage unit
444: previous image storage unit 450: same image detection unit
460: reference image storage unit 470: obstacle detection control unit
400: Optical signal output unit 410: Optical system
420: Optical signal receiving sensor 430: Optical signal receiving section
440: Speed detection control section

Claims (5)

A message display panel provided in a main body fixed to a center line or road side of a road on which the mobile body travels and displaying a driving guidance message;
An obstacle detection unit for detecting an obstacle on the road using a first sensor fixed to the main body and generating an obstacle detection signal;
A traveling speed detecting unit that generates a low-speed running detection signal when the traveling speed of the moving body detected using the second sensor fixed to the main body is a low speed less than a preset speed;
A message receiving unit for receiving a driving guidance message transmitted by the driving guidance apparatus in front of the moving vehicle; And
A driving speed detection signal generated by the obstacle detection unit, a low speed driving detection signal generated by the driving speed detection unit, and a driving guidance message to be displayed by the message receiving unit in accordance with the driving guidance message, and displays the driving guidance message on the message display panel And a message display control unit for controlling the display of the vehicle. The apparatus of claim 1,
Wherein the controller determines the driving guidance message to be displayed according to the priority of the driving guidance message, and the message receiving unit determines the driving guidance message to be displayed, based on the obstacle detection signal generated by the obstacle detection unit, the low speed driving detection signal generated by the traveling speed detection unit, Guide device. The method according to claim 1,
And a message transmission unit for transmitting a message to the rear driving guidance apparatus,
Wherein,
A driving guidance message to be transmitted is compared with a priority order of an obstacle detection signal generated by the obstacle detection unit and a low speed driving detection signal generated by the traveling speed detection unit, To the traveling direction of the moving object. The obstacle detection apparatus according to claim 1,
A camera provided on the main body as a first sensor for photographing a subject;
An image signal dividing unit dividing a video signal of a subject photographed by the camera into blocks of a preset size;
An identical image detector for detecting a block of the same image signal by comparing blocks of a previous image signal divided by the image signal dividing unit with blocks of a current image signal;
And an obstacle detection control unit for comparing the video signal of the block detected by the same video detection unit with the corresponding block of the reference video signal to determine the presence or absence of an obstacle and to generate an obstacle detection signal according to the determination result. . The driving force control apparatus according to claim 1,
An optical signal output unit for outputting an optical signal to the second sensor and irradiating the optical signal to the moving object;
An optical signal receiver for receiving the optical signal reflected by the mobile body through the second sensor; And
The optical signal output by the optical signal output unit and the optical signal received by the optical signal receiving unit are compared to detect the traveling speed of the moving object, and when the traveling speed of the moving object is a low speed less than a preset speed, And a speed detection control unit for generating a speed control signal based on the speed detected by the speed detection unit.

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