KR20180092204A - System for Lane Detection Warning Of Vehicle And Method Of Driving Thereof - Google Patents

Abstract

The present invention relates to a lane detection warning system for a vehicle and a driving method thereof, which can prevent a collision by sensing a vehicle overtaking a lane of a subject vehicle and an overtaking vehicle. The lane detection warning system for a vehicle according to an embodiment of the present invention includes: a vehicle running detection unit for detecting a vehicle adjacent to a subject vehicle, calculating a distance between the subject vehicle and the adjacent vehicle to generate distance variation data, and detecting the running of the adjacent vehicle based on the generated distance variation data; an overtaking determination unit for analyzing the distance variation data, generating overtaking possibility data of the adjacent vehicle, and determining an overtaking expectation of the adjacent vehicle based on the generated data; a forward information detecting unit for analyzing the overtaking possibility data, generating window image data by overlapping a plurality of windows on a lane in the case where the adjacent vehicle is likely to overtake and detecting forward information based on the generated data; a lane loss determining unit for analyzing the window image data to determine a lost portion of the lane and generating alarm sound output data according to the lost portion; and an alarm sound output unit for outputting an alarm sound inside the subject vehicle based on the alarm sound output data.

Description

TECHNICAL FIELD [0001] The present invention relates to a lane detection alarm system for a vehicle,

The present invention relates to a lane detection alarm system for recognizing an overtaking vehicle and, more particularly, to a lane detection alarm system for a vehicle which can detect a vehicle entering a driving lane of a vehicle and a passing vehicle, And a driving method thereof.

There is a possibility of collision caused by a passing vehicle that is interrupted while driving, and the risk of collision is increased when the driving force is reduced due to insufficient driving and long driving. In addition, when the speed of the vehicle is rapidly reduced in order to avoid collision, the risk of accidents is further increased due to insufficient safety distance between the front and rear wheels. Here, recognizing the lane change of the passing vehicle only with the time information by the side mirror is limited. Therefore, it is necessary to detect a lane and detect a vehicle that is rapidly approaching a blind spot, and generate an alarm.

The conventional alarm system detects the distance between the host vehicle and the vehicle in the next lane by using the ultrasonic sensor disposed on the rear side of the host vehicle, and detects the vehicle to pass by. However, the conventional warning system detects a passing vehicle on the basis of the distance between the vehicle and the adjacent vehicle, so that there is a problem that the passing vehicle is mistaken as an overtaking vehicle to the adjacent vehicle traveling normally.

Patent Publication No. 2013-0078399 (Method and Apparatus for Preventing Collision Avoidance in Vehicles Considering Barrier Vehicles, Disclosure Date: Jul. 10, 2013)

SUMMARY OF THE INVENTION The present invention has been made to solve the above-mentioned problems, and it is an object of the present invention to provide a lane detection alarm system for a vehicle that can detect a vehicle passing a lane of a vehicle and a passing vehicle,

Other features and advantages of the invention will be set forth in the description which follows, or may be obvious to those skilled in the art from the description and the claims.

According to an aspect of the present invention, there is provided a vehicle lane warning alarm system for detecting a vehicle adjacent to a vehicle, calculating a distance between the vehicle and an adjacent vehicle, generating distance variation data, And a control unit that analyzes the distance change data, generates overtaking possibility data of the adjacent vehicle, and transmits the overtaking intention of the adjacent vehicle based on the generated data An overtaking decision unit for deciding whether to overtake the overtaking possibility data and analyzing the overtaking possibility data to generate window image data by overlapping a plurality of windows on a lane when the adjacent vehicle is likely to pass, A front information detecting unit for detecting front information based on the window image data, Determining the sildoen portion, and includes a lane-loss determination unit for generating a warning sound output data based on the loss section, alarm and outputting a warning sound from the inside of a vehicle chair, based on the warning sound output unit outputs sound data.

The vehicle travel detecting unit may include a rear ultrasonic sensor for sensing the rear side of the child vehicle, And a front ultrasonic sensor for sensing the front side of the child vehicle.

Also, The rear ultrasonic sensor senses a distance after the adjacent vehicle approaches the vehicle. The front ultrasonic sensor senses that the vehicle moving close to the rear ultrasonic sensor is adjacent to the rear ultrasonic sensor.

When the adjacent vehicle approaches the rear ultrasonic sensor and then approaches the front ultrasonic sensor, the overtaking determination unit determines the adjacent vehicle as a vehicle that is willing to pass.

The overtaking determination unit may determine that the adjacent vehicle is a vehicle that does not pass over when the adjacent vehicle is detected only by the rear ultrasonic sensor and is not detected by the front ultrasonic sensor. And, When the adjacent vehicle approaches the rear ultrasonic sensor after approaching the front ultrasonic sensor, it is determined that the adjacent vehicle is a vehicle which does not wish to pass.

In addition, And a front camera for photographing the front lane of the child vehicle. Then, a plurality of windows are overlapped on the lane of the front image photographed by the front camera to generate image data.

In addition, the lane-loss determining unit re-searches inner and outer line information of the window area lane at every cycle. Then, the inside and outside line information of the searched lane is compared with the previously stored inside and outside line information.

The lane loss determination unit may output first alarm sound data when an inner area of a lane included in the first to third windows of the plurality of windows is lost. And outputs the second alarm sound data when it is lost in an area between the inside and the outside of the lane included in the fourth to seventh windows of the plurality of windows. When the outer area of the lane included in the eighth through tenth windows of the plurality of windows is lost, the third alarm sound data is output.

According to another aspect of the present invention, there is provided a method of driving a lane detection alarm system for a vehicle, the method comprising: generating distance change data by calculating a distance between the vehicle and an adjacent vehicle; And determining whether the adjacent vehicle is to be passed.

The method includes the steps of: determining whether the neighboring vehicle should be passed; if there is an intention to overtake, generating window image data by overlapping a plurality of windows on a lane; Judging the lost part, and generating alarm sound output data according to the lost part.

In addition, when the inner area of the lane included in the first to third windows of the plurality of windows is lost, the first alarm sound data is output. And outputs the second alarm sound data when it is lost in an area between the inside and the outside of the lane included in the fourth to seventh windows of the plurality of windows. When the outer area of the lane included in the eighth through tenth windows of the plurality of windows is lost, the third alarm sound data is output.

The method may further include outputting an alarm sound in the vehicle based on the alarm sound output data.

The lane detection alarm system of the vehicle according to the embodiment of the present invention provides information on whether the rear side vehicle overtakes the vehicle using the ultrasonic sensor, When an accident occurs, by providing an alarm to the driver, it is possible to prevent a collision accident caused by an overtaking vehicle approaching from a blind spot.

In addition, other features and advantages of the present invention may be newly understood through embodiments of the present invention.

FIG. 1 is a schematic view of a lane detection alarm system for a vehicle according to an embodiment of the present invention. Referring to FIG.
2 is a diagram illustrating a method of recognizing a bargain of an overtaking vehicle according to an embodiment of the present invention.
3 is a diagram illustrating a window generation method for detecting lane loss according to an embodiment of the present invention.
4 is a flowchart illustrating a driving method of a lane detection alarm system of a vehicle according to an embodiment of the present invention.
5 is a flowchart illustrating an overtaking vehicle judging method according to an embodiment of the present invention.
6 is a flowchart illustrating a method for determining whether a lane is lost according to an embodiment of the present invention.

Hereinafter, exemplary embodiments of the present invention will be described in detail with reference to the accompanying drawings, which will be readily apparent to those skilled in the art to which the present invention pertains. The present invention may be embodied in many different forms and is not limited to the embodiments described herein.

In order to clearly illustrate the present invention, parts not related to the description are omitted, and the same or similar components are denoted by the same reference numerals throughout the specification.

Throughout the specification, when a part is referred to as being "connected" to another part, it includes not only "directly connected" but also "electrically connected" with another part in between . Also, when an element is referred to as "comprising ", it means that it can include other elements as well, without departing from the other elements unless specifically stated otherwise.

If any part is referred to as being "on" another part, it may be directly on the other part or may be accompanied by another part therebetween. In contrast, when a section is referred to as being "directly above" another section, no other section is involved.

The terms first, second and third, etc. are used to describe various portions, components, regions, layers and / or sections, but are not limited thereto. These terms are only used to distinguish any moiety, element, region, layer or section from another moiety, moiety, region, layer or section. Thus, a first portion, component, region, layer or section described below may be referred to as a second portion, component, region, layer or section without departing from the scope of the present invention.

The terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the invention. The singular forms as used herein include plural forms as long as the phrases do not expressly express the opposite meaning thereto. Means that a particular feature, region, integer, step, operation, element and / or component is specified and that the presence or absence of other features, regions, integers, steps, operations, elements, and / It does not exclude addition.

Terms indicating relative space such as "below "," above ", and the like may be used to more easily describe the relationship to other portions of a portion shown in the figures. These terms are intended to include other meanings or acts of the apparatus in use, as well as intended meanings in the drawings. For example, when inverting a device in the figures, certain portions that are described as being "below" other portions are described as being "above " other portions. Thus, an exemplary term "below" includes both up and down directions. The device can be rotated by 90 degrees or rotated at different angles, and terms indicating relative space are interpreted accordingly.

Unless otherwise defined, all terms including technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. Commonly used predefined terms are further interpreted as having a meaning consistent with the relevant technical literature and the present disclosure, and are not to be construed as ideal or very formal meanings unless defined otherwise.

Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings so that those skilled in the art can easily carry out the present invention. The present invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein.

FIG. 1 is a view schematically showing a lane detection and alarm system of a vehicle according to an embodiment of the present invention, and FIG. 2 is a diagram illustrating a method of recognizing an obstacle of an overtaking vehicle according to an embodiment of the present invention.

1 and 2, a vehicle lane detection and alarm system 100 according to an embodiment of the present invention includes a vehicle travel detection unit 110, an overtaking determination unit 120, a forward information detection unit 130, A lane loss determination unit 140 and an alarm sound output unit 150.

The vehicle travel sensing unit 110 senses the adjacent vehicle 40 by the front and rear ultrasonic sensors 10a and 10b outside the child vehicle 30. [

More specifically, the vehicle travel sensing unit 110 senses the adjacent vehicle 40 around the vehicle 30 using the rear ultrasonic sensor 10b and the front ultrasonic sensor 10a. First, the adjacent vehicle 40 is sensed by using the rear ultrasonic sensor 10b of the present vehicle 30. The front and rear ultrasonic sensors 10a and 10b of the subject vehicle 30 calculate the distance between the detected adjacent vehicle 40 and the subject vehicle 30 and calculate the distance between the adjacent vehicle 40 and the subject vehicle 30 To the overtaking determination unit 120. [0051]

The vehicle travel sensing unit 110 generates distance variation data between the vehicle 30 and the adjacent vehicle 40 based on the information about the distance between the vehicle 30 and the adjacent vehicle 40. [ The distance change data generated by the vehicle travel sensing unit 110 is provided to the overtaking determination unit 120. [

The overt ride determination unit 120 analyzes the distance change data, generates overtaking possibility data of the adjacent vehicle 40, and provides the overtaking possibility data to the forward information sensing unit 130. [

For example, when the adjacent vehicle 40 of the vehicle 30 approaches the rear ultrasonic sensor 10b and then moves away from the front ultrasonic sensor 10a, It is determined that the vehicle around the vehicle 30 is a vehicle that can pass. That is, it is determined that the nearby vehicle of the subject vehicle 30 is a vehicle that is willing to pass.

On the contrary, when the adjacent vehicle 40 of the subject vehicle 30 comes close to the rear ultrasonic sensor 10b and then goes to the back of the vehicle 30 to lower the speed, It is determined that the surrounding vehicle of the vehicle 30 does not wish to pass. That is, when the surrounding vehicle is detected only by the rear ultrasonic sensor 10b and the surrounding vehicle is not detected by the front ultrasonic sensor 10a, the overtaking determination unit 120 passes the surrounding vehicle of the subject vehicle 30 It is judged that there is no doctor.

When the surrounding vehicle of the vehicle 30 approaches the front ultrasonic sensor 10a and then speeds down, the overt ride determination unit 120 determines that the surrounding vehicle of the vehicle 30 is not passing over . That is, when the distance between the surrounding vehicle and the front ultrasonic sensor 10a gradually increases and the distance from the rear ultrasonic sensor 10b gradually approaches, the overtaking determination unit 120 determines that the surrounding vehicle of the vehicle 30 It is judged that the vehicle does not pass over.

The front camera 20 photographs the lane ahead of the child vehicle 30 and generates image data of the front lane. And provides the front lane image data generated by the front camera 20 to the front information sensing unit 130. [ The forward information sensing unit 130 generates image data by overlapping a window on a lane and provides the generated image data to the lane loss determination unit 140. [

More specifically, a plurality of windows are sequentially generated on both lanes of the image generated by the front camera 20 every predetermined cycle. At this time, the size of the window is determined in proportion to the vehicle speed. For example, if the vehicle speed is high, the size of the window is large, and if the vehicle speed is low, the size of the window is small. In addition, the window is generated in the order from the far side to the near side in the front side of the child vehicle 30. Specifically, when a window is generated from 500 meters ahead of the child vehicle 30, a first window is generated at a point 500 m ahead of the child vehicle 30, and a direction from the end point of the first window to a direction close to the child vehicle 30 The second to Nth windows are sequentially generated.

The lane-loss determining unit 140 detects both lanes (both lines) to determine the lane loss. The lane loss determination unit 140 analyzes the window data received from the front information sensing unit 130 to determine whether the lane is lost or not and the lane is lost if the lane is lost. Here, the vehicle is detected based on the lost lane and the lost lane.

The lane loss determination unit 140 searches for the inside and outside line information of the window area lane at every cycle. Then, the inside and outside line information of the searched lane is compared with the previously stored inside and outside line information. Hereinafter, the inside and outside line information of the searched lane will be referred to as first information, and the previously stored inside and outside line information will be referred to as second information.

At this time, if there is no difference between the first information and the second information, it is determined that there is no intervening vehicle because no lane variation caused by the external vehicle has occurred.

On the other hand, if there is a difference between the inside and outside line information re-searched and the pre-stored line information, the inside and outside line of the lane is re-detected through the forward camera 20 through one to two cycles, The difference between the line information detected in the first cycle and the line information detected in the second cycle is determined. At this time, since the lane has changed due to the external vehicle, it is determined that the intervening vehicle exists.

The lane loss determination unit 140 generates alarm sound output data according to the changed line area of the window and provides the generated alarm sound output data to the alarm sound output unit 150. [ 1 is given from the window generated at the earliest time, and a number increased by 1 is sequentially given to each window as the window is sequentially increased.

Here, the alarm sound output data is generated differently depending on a line where a lane variation of a window occurs.

For example, assuming that the number of windows is 10, the first to third windows generate the first alarm sound output data when a variation occurs in the inner line area of the lane. In the case where a loss occurs in the inner line area of the lane, the adjacent vehicle is completely interrupted by the driving lane of the child vehicle 30, thereby outputting an alarm sound.

In addition, the windows 4 to 7 generate second alarm sound output data when the lane variation occurs in the middle line between the inner line and the outer line. When a loss occurs between the inner line and the outer line area of the lane, the adjacent vehicle is interrupted by the driving lane of the child vehicle 30, thereby outputting an alarm sound.

In addition, windows 8 to 10 generate third alarm sound output data when a lane variation occurs in the outer line area. In the case where a loss occurs in the outer line area of the lane, the adjacent vehicle starts to interfere with the driving lane of the child vehicle 30, thereby outputting an alarm sound.

For example, the first to third alarm sound output data may output the same alarm sound or may output different alarm sounds.

As another example, The output times of the alarm sounds may be all the same on the basis of the first to third alarm sound output data, or the output times of the alarm sounds may be all different.

As another example, the output sizes of the alarm sounds may be all the same based on the first to third alarm sound output data, or the output sizes of the alarm sounds may be all different.

The alarm sound output unit 150 outputs an alarm sound according to the alarm sound output data received by the lane loss determination unit 140. [ The alarm sound output unit 150 outputs an alarm sound inside the vehicle 30 for the safety of the driver when the vehicle having the possibility of passing over comes in front of the vehicle 30. [

2 is a diagram illustrating a method of recognizing a bargain of an overtaking vehicle according to an embodiment of the present invention.

A front ultrasonic sensor 10a, a rear ultrasonic sensor 10b and a front camera 20 are disposed in the child vehicle 30 in order to detect that the adjacent vehicle is passing ahead of the child vehicle 30 . Here, the front ultrasonic sensor 10a and the rear ultrasonic sensor 10b are disposed outside the child vehicle 30 so that the vehicle positioned on both sides of the child vehicle 30 can be recognized.

The front ultrasonic sensor 10a recognizes the adjacent vehicle 40 adjacent to the child vehicle 30 after the rear ultrasonic sensor 10b first recognizes it. The rear ultrasonic sensor 10b recognizes that the distance between the adjacent vehicle 40 is getting closer to the subject vehicle 30. In addition, the frontal ultrasonic sensor 10a recognizes the adjacent vehicle 40 that is getting closer and recognizes that the distance is getting closer.

The front camera 20 is installed inside or outside the child vehicle 30 so that the front of the child vehicle 30 can be photographed. The front camera 20 detects an outer line of the lane.

3 is a diagram illustrating a window generation method for detecting lane loss according to an embodiment of the present invention.

The front information sensing unit 130 generates a window to detect a lane loss and overlaps the window on a lane of the image data. The window is generated every predetermined cycle from the far side to the far side of the child vehicle 30 and the width of the window is calculated from the lane detected by the front camera 20 Matches the width of both lines.

Further, the size of the window is determined in proportion to the vehicle speed. For example, if the vehicle speed is high, the size of the window is large, and if the vehicle speed is low, the size of the window is small.

4 is a flowchart illustrating a driving method of a lane detection alarm system of a vehicle according to an embodiment of the present invention.

4, the front and rear ultrasonic sensors 10a and 10b disposed on the child vehicle 30 propagate a transmission wave on the front and rear sides of the child vehicle 30, And detects the disposed adjacent vehicle 40 (S10).

Next, it is determined whether the front and rear ultrasonic sensors 10a and 10b disposed in the child vehicle 30 detect an adjacent vehicle 40 disposed around the child vehicle 30 in step S20.

5 is a flowchart illustrating an overtaking vehicle judging method according to an embodiment of the present invention.

Referring to FIG. 5, S20 will be described in detail.

Referring to FIG. 5, the method of detecting an overtaking vehicle determines whether the adjacent vehicle 40 is away from the rear ultrasonic sensor 10b of the child vehicle 30 (S21).

If it is determined in step S21 that the adjacent vehicle 40 is close to the rear ultrasonic sensor 10b of the child vehicle 30, step S10 is performed. That is, the front and rear ultrasonic sensors 10a and 10b are used to detect a vehicle adjacent to both sides of the child vehicle 30.

On the other hand, when it is determined in step S21 that the adjacent vehicle 40 is away from the rear ultrasonic sensor 10b of the child vehicle 30, the front ultrasonic sensor 10a of the child vehicle 30 is used to move the adjacent vehicle 40 (Step S22).

Next, it is determined whether the adjacent vehicle 40 is close to the front ultrasonic sensor 10a of the child vehicle 30 (S23).

If it is determined that the adjacent vehicle 40 is far away from the front ultrasonic sensor 10a of the child vehicle 30 as a result of the determination at S23, the nearby vehicle 40 is determined to be a non-passing vehicle (S24).

If it is determined in S23 that the adjacent vehicle 40 is close to the front ultrasonic sensor 10a of the child vehicle 30, (Step S25).

Whether or not the adjacent vehicle 40 is close to the rear ultrasonic sensor 10a of the child vehicle 30 in order to determine when the adjacent vehicle 40 is moving downward is referred to as the child vehicle 30, .

If it is determined that the adjacent vehicle 40 is away from the rear ultrasonic sensor 10a of the child vehicle 30 as a result of the determination at S25, the nearby vehicle 40 is determined to be a passing vehicle at step S26.

On the other hand, if it is determined in step S25 that the adjacent vehicle 40 is close to the rear ultrasonic sensor 10a of the child vehicle 30, it is determined that the adjacent vehicle 40 is not a passing vehicle do.

Referring again to FIG. 4, as a result of the determination in S20, the front and rear ultrasonic sensors 10a and 10b disposed in the child vehicle 30 sense the adjacent vehicle 40 disposed around the child vehicle 30 The front camera 20 disposed in the child vehicle 30 photographs the front of the child vehicle 30 to detect both lines of the lane and judges whether the lane is lost or not (S30).

6 is a flowchart illustrating a method for determining whether a lane is lost according to an embodiment of the present invention.

S30 will be described in detail with reference to FIG.

Referring to FIG. 5, in the method of determining whether a lane is lost, the front information sensing unit 130 first overlaps a window on both lanes detected by the front camera 20 of the child vehicle 30, And the forward information sensing unit 130 stores lane inner and outer line information of a window area at every cycle (S31).

Subsequently, the inside and outside lane information of the lane of the window area stored in the front information sensing unit 130 is compared with the previously stored inside and outside lane information (S32).

In step S33, it is determined whether there is a difference between the inner and outer lane information of the lane of the window area stored in the front information sensing unit 130, with respect to the stored inner and outer lane information of the lane.

If it is determined in step S33 that the lane inner and outer lane information of the window area stored in the forward information sensing unit 130 is not different from the previously stored lane inner and outer lane information, the procedure of S30 is performed do.

On the other hand, if it is determined in step S33 that the lane inner and outer line information of the window area stored in the forward information sensing unit 130 is different from the stored inner and outer lane information of the lane, the inner and outer line regions of the window are determined (S34).

Next, in step S40, it is determined whether or not a loss occurs in both lanes of the lane detected by the front camera 20 by determining inner and outer line areas of the window where the variation occurs.

Then, if it is determined in step S40 that no loss occurs in both lines of the lane detected by the front camera 20, the procedure of S30 is performed. That is, the front camera 20 disposed in the child vehicle 30 detects the front of the child vehicle 30, detects both lines of the lane, and determines whether the lane is lost (S30).

On the other hand, if it is determined in step S40 that a loss occurs in both lines of the lane detected by the front camera 20, it is determined that the adjacent vehicle 40 is an obstructing vehicle, and a warning sound is output to the driver (S50) .

The lane detection alarm system and the driving method of the vehicle according to the embodiment of the present invention provide information on whether the rear side vehicle overtakes the vehicle using the ultrasonic sensor, It is possible to prevent a collision accident caused by an overtaking vehicle approaching from a blind spot by providing an alarm to the driver.

It will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the spirit and scope of the present invention as defined by the following claims and their equivalents. Only. It is intended that the present invention covers the modifications and variations of this invention provided they come within the scope of the appended claims and their equivalents. .

100: lane detection alarm system 110:
120: overtaking decision unit 130: forward information sensing unit
140: lane loss determination unit 150: alarm sound output unit
10a: front ultrasonic sensor 10b: rear ultrasonic sensor
20: front camera 30:
40: adjacent vehicle

Claims (12)

A vehicle running detection unit for detecting a vehicle adjacent to the subject vehicle, calculating a distance between the subject vehicle and an adjacent vehicle to generate distance variation data, and detecting the running of the adjacent vehicle based on the generated distance variation data;
An overtaking decision unit for analyzing the distance variation data, generating overtaking possibility data of the adjacent vehicle, and determining the overtaking intention of the adjacent vehicle based on the generated data;
Analyzing the overtaking possibility data and generating window image data by overlapping a plurality of windows on a lane in the case where the adjacent vehicle is likely to pass, and detecting forward information based on the generated data A forward information sensing unit;
A lane departure determining unit for analyzing the window image data to determine a lane lost portion and generating alarm sound output data according to the lost portion;
An alarm sound output unit for outputting an alarm sound in the vehicle based on the alarm sound output data;
The lane detection alarm system of the vehicle. The vehicle driving system according to claim 1,
A rear ultrasonic sensor for detecting a rear side of the child vehicle; And
A front ultrasonic sensor for detecting a side front of the vehicle;
The lane detection alarm system of the vehicle. 3. The method of claim 2,
The rear ultrasonic sensor senses a distance after the adjacent vehicle approaches the vehicle,
The front ultrasound sensor senses that a vehicle approaching and departing from the rear ultrasound sensor is adjacent to the rear ultrasound sensor,
Vehicle lane detection alarm system. The method according to claim 1,
When the proximity vehicle approaches the rear ultrasonic sensor and then approaches the front ultrasonic sensor,
Vehicle lane detection alarm system. The method according to claim 4,
If the adjacent vehicle is detected only by the rear ultrasonic sensor and is not detected by the front ultrasonic sensor,
When the proximity vehicle approaches the rear ultrasonic sensor after the proximity vehicle approaches the front ultrasonic sensor,
Vehicle lane detection alarm system. The information processing apparatus according to claim 1,
And a front camera for photographing a front lane of the child vehicle,
A plurality of windows overlapping a lane of a front image photographed by the front camera to generate image data,
Vehicle lane detection alarm system. 2. The method of claim 1, wherein the lane-loss determining unit re-searches the inside and outside line information of the window area lane at every cycle, searches the inside and outside line information of the searched lane, Comparing the outer line information,
Vehicle lane detection alarm system. The system of claim 8, wherein the lane-
Outputting first alarm sound data when an inner area of a lane included in the first to third windows of the plurality of windows is lost,
And outputting second alarm sound data when an area between the inner side and the outer side of the lane included in the fourth to seventh windows of the plurality of windows is lost,
And outputting third alarm sound data when an outer region of the lane included in the eighth to tenth windows of the plurality of windows is lost,
Vehicle lane detection alarm system. Generating distance variation data by calculating a distance between the subject vehicle and an adjacent vehicle; And
Determining whether an adjacent vehicle should pass over based on the distance change data;
Wherein the lane departure warning system comprises: 10. The method of claim 9,
Determining whether the neighboring vehicle should pass or not and generating window image data by overlapping a plurality of windows on a lane when there is an intention to overtake;
Analyzing the window image data to determine a lane lost portion and generating alarm sound output data according to the lost portion;
A method of driving a lane detection alarm system of a vehicle. 11. The method of claim 10,
Outputting first alarm sound data when an inner area of a lane included in the first to third windows of the plurality of windows is lost,
And outputting second alarm sound data when an area between the inner side and the outer side of the lane included in the fourth to seventh windows of the plurality of windows is lost,
And outputting third alarm sound data when an outer region of the lane included in the eighth to tenth windows of the plurality of windows is lost,
A method of driving a lane detection alarm system of a vehicle. 12. The method of claim 11,
And outputting an alarm sound inside the vehicle based on the alarm sound output data.
A method of driving a lane detection alarm system of a vehicle.

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