KR20170030936A - Distance measuring device for nearing vehicle - Google Patents
Distance measuring device for nearing vehicle Download PDFInfo
- Publication number
- KR20170030936A KR20170030936A KR1020150128487A KR20150128487A KR20170030936A KR 20170030936 A KR20170030936 A KR 20170030936A KR 1020150128487 A KR1020150128487 A KR 1020150128487A KR 20150128487 A KR20150128487 A KR 20150128487A KR 20170030936 A KR20170030936 A KR 20170030936A
- Authority
- KR
- South Korea
- Prior art keywords
- vehicle
- width
- preceding vehicle
- license plate
- electronic control
- Prior art date
Links
- 238000000034 method Methods 0.000 claims description 9
- 238000010586 diagram Methods 0.000 description 3
- 238000007796 conventional method Methods 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/14—Adaptive cruise control
- B60W30/16—Control of distance between vehicles, e.g. keeping a distance to preceding vehicle
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R16/00—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for
- B60R16/02—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Transportation (AREA)
- Physics & Mathematics (AREA)
- Mathematical Physics (AREA)
- Traffic Control Systems (AREA)
- Measurement Of Optical Distance (AREA)
Abstract
Description
The present invention relates to an inter-vehicle distance measuring apparatus, and more particularly, to an inter-vehicle distance measuring apparatus for estimating a vehicle width of a preceding vehicle through a number plate width of a preceding vehicle, a number of vehicle width pixels recognized in a preceding vehicle image, To an inter-vehicle distance measuring apparatus capable of improving distance accuracy.
The distance estimation performance of the front vehicle using the camera has a great influence on the performance of FCW (Forward Collision Warning) and AEB (Autonomous Emergency Braking) system.
Conventionally, a method of estimating the inter-vehicle distance based on the vehicle width of the preceding vehicle has been filed by a number of U.S. Patent No. 8,164,628.
The method of estimating the headway distance based on the vehicle width of the front vehicle including the patent can estimate a relatively accurate distance regardless of the vehicle pitch motion or the road gradient.
However, the conventional method of estimating the headway distance based on the vehicle width of the front vehicle requires a horizon line on the image and a pixel distance to the bottom of the vehicle in order to estimate the vehicle width of the preceding vehicle, It is difficult to accurately estimate the position of the horizon. Especially, it is not easy to accurately estimate the horizon due to the uphill or downhill road, the pitch motion of the vehicle, and the background of buildings and road facilities.
Therefore, there is a need for an inter-vehicle distance measuring device capable of accurately estimating the vehicle width of the preceding vehicle without estimating the horizon, thereby improving the accuracy of the inter-vehicle distance with the preceding vehicle.
SUMMARY OF THE INVENTION An object of the present invention is to provide an inter-vehicle distance that can improve the accuracy of the inter-vehicle distance from the preceding vehicle by estimating the vehicle width of the preceding vehicle through the width of the license plate of the preceding vehicle, the number of pixels of the vehicle width recognized in the image of the preceding vehicle, And a measuring device.
According to an aspect of the present invention, there is provided an electronic control system including a camera for photographing a forward vehicle located in front of a vehicle, a GPS receiver for receiving the position of the vehicle, Wherein the electronic control unit is determined on the basis of a license plate discriminated based on a ratio of the length and the length of the license plate of the preceding vehicle recognized in the image of the preceding vehicle received through the camera Estimating a vehicle width of the preceding vehicle using a number plate width, a number of vehicle width pixels recognized in the preceding vehicle image, and a number of plate pixels recognized in the preceding vehicle image, Of the vehicle-to-vehicle distance measurement apparatus.
Wherein the electronic control unit recognizes a traveling country based on the position of the vehicle received by the GPS receiver and calculates a ratio between a width and a length of the license plate of the front vehicle among the license plate standards provided in the recognized traveling country , The license plate specification of the preceding vehicle can be determined according to the license plate color of the preceding vehicle.
The electronic control unit may calculate a headway distance to the preceding vehicle by multiplying a value obtained by dividing the estimated vehicle width by the number of vehicle width pixels and a preset focal length.
The electronic control unit may provide the calculated headway distance to the driver's convenience.
According to the embodiment of the present invention, it is possible to estimate the vehicle width of the preceding vehicle through the number plate width of the front vehicle, the number of the vehicle width pixels recognized in the front vehicle image, .
1 is a block diagram for explaining an inter-vehicle distance measuring apparatus according to an embodiment of the present invention;
FIG. 2 is a flowchart illustrating an inter-vehicle distance measuring method using an inter-vehicle distance measuring apparatus according to an embodiment of the present invention.
Fig. 3 is a view showing the ratio of the length and length of the license plate recognized in the front vehicle image, the vehicle width recognized in the front vehicle image, and the license plate width recognized in the front vehicle image, and
4 is a diagram showing an environment for explaining a method of calculating an inter-vehicle distance from a preceding vehicle.
Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings.
1 is a block diagram for explaining an inter-vehicle distance measuring apparatus according to an embodiment of the present invention.
Referring to FIG. 1, an apparatus for measuring an inter-vehicle distance according to an embodiment of the present invention includes a
The
The GPS receiver 20 can receive the position coordinates of the vehicle from a GPS satellite (not shown). The position coordinates of the vehicle received from the GPS receiver 20 are provided to the
The
The
The
here,
Is the vehicle width of the front vehicle, Is the number of license plate width pixels of the front vehicle image, Is the vehicle width pixel number of the front vehicle image, Is the license plate width.Further, the
here
Is an inter-vehicle distance from the preceding vehicle, Is the focal length of the camera. The focal length of the camera may be a predetermined set value. Is the vehicle width of the front vehicle, Is the number of vehicle width pixels recognized in the front vehicle image.The
Conventionally, when calculating the accurate distance to the bottom of the vehicle from the horizon on the image of the preceding vehicle, the environment in which the position of the horizon can not be accurately estimated, such as the uphill road environment, the downhill road environment, the pitch motion environment of the vehicle, It is possible to accurately estimate the vehicle width of the preceding vehicle through the inter-vehicle distance measuring apparatus of the present invention, thereby improving the accuracy of the inter-vehicle distance from the preceding vehicle, thereby improving the performance of the driver's convenience.
An inter-vehicle distance measuring method using the inter-vehicle distance measuring apparatus having such a configuration will be described with reference to FIG.
FIG. 2 is a flowchart illustrating an inter-vehicle distance measuring method using an inter-vehicle distance measuring apparatus according to an embodiment of the present invention.
Referring to FIG. 2, the
Further, the
The
The
In step S19, the
The
The
The
By doing so, it is possible to measure accurately the distance of the vehicle using the camera without the expensive radar, and to provide a stable distance between the driver's comfort device and the driver's comfort device due to the accurate distance .
The invention being thus described, it will be obvious that the same way may be varied in many ways. Such modifications are intended to be within the spirit and scope of the invention as defined by the appended claims.
10: camera 20: GPS receiver
30: Electronic control unit 40: Driver's convenience
Claims (4)
Wherein the electronic control unit has a license plate width determined based on license plate specifications determined according to a ratio of the length and length of the number plate of the front vehicle recognized in the front vehicle image received through the camera, The vehicle width of the preceding vehicle is estimated by using the number of pixels of the vehicle width and the number of pixels of the number plate recognized in the preceding vehicle image, and the distance between the vehicle and the preceding vehicle is estimated through the estimated vehicle width Device.
Wherein the electronic control unit recognizes a traveling country based on the position of the vehicle received by the GPS receiver and calculates a ratio between a width and a length of the license plate of the front vehicle among the license plate standards provided in the recognized traveling country , And determines the license plate number of the preceding vehicle according to the license plate color of the preceding vehicle.
Wherein the electronic control unit calculates an inter-vehicle distance from the preceding vehicle by multiplying a value obtained by dividing the estimated vehicle width by the number of pixel of the vehicle width by a preset focal length.
And the electronic control unit provides the calculated inter-vehicle distance to the driver's convenience device.
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
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KR1020150128487A KR20170030936A (en) | 2015-09-10 | 2015-09-10 | Distance measuring device for nearing vehicle |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
KR1020150128487A KR20170030936A (en) | 2015-09-10 | 2015-09-10 | Distance measuring device for nearing vehicle |
Publications (1)
Publication Number | Publication Date |
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KR20170030936A true KR20170030936A (en) | 2017-03-20 |
Family
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KR1020150128487A KR20170030936A (en) | 2015-09-10 | 2015-09-10 | Distance measuring device for nearing vehicle |
Country Status (1)
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Cited By (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN110576855A (en) * | 2018-06-07 | 2019-12-17 | 本田技研工业株式会社 | Adaptive cruise control device |
US11288833B2 (en) | 2019-08-08 | 2022-03-29 | Samsung Electronics Co., Ltd. | Distance estimation apparatus and operating method thereof |
US11361558B2 (en) | 2020-02-04 | 2022-06-14 | Samsung Electronics Co., Ltd. | Apparatus and method for estimating road geomeiry |
KR102426854B1 (en) | 2021-04-27 | 2022-08-01 | 주식회사 에스더블유엠 | Apparatus for recognition of distance on autonomous vehicle |
Citations (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US8164628B2 (en) | 2006-01-04 | 2012-04-24 | Mobileye Technologies Ltd. | Estimating distance to an object using a sequence of images recorded by a monocular camera |
-
2015
- 2015-09-10 KR KR1020150128487A patent/KR20170030936A/en unknown
Patent Citations (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US8164628B2 (en) | 2006-01-04 | 2012-04-24 | Mobileye Technologies Ltd. | Estimating distance to an object using a sequence of images recorded by a monocular camera |
Cited By (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN110576855A (en) * | 2018-06-07 | 2019-12-17 | 本田技研工业株式会社 | Adaptive cruise control device |
CN110576855B (en) * | 2018-06-07 | 2022-09-02 | 本田技研工业株式会社 | Adaptive cruise control device |
US11288833B2 (en) | 2019-08-08 | 2022-03-29 | Samsung Electronics Co., Ltd. | Distance estimation apparatus and operating method thereof |
US11361558B2 (en) | 2020-02-04 | 2022-06-14 | Samsung Electronics Co., Ltd. | Apparatus and method for estimating road geomeiry |
US11631258B2 (en) | 2020-02-04 | 2023-04-18 | Samsung Electronics Co., Ltd. | Apparatus and method for estimating road geometry |
KR102426854B1 (en) | 2021-04-27 | 2022-08-01 | 주식회사 에스더블유엠 | Apparatus for recognition of distance on autonomous vehicle |
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