KR20190123357A - Vehicle and controlling method thereof - Google Patents

Abstract

According to the present invention, a vehicle comprises: an image acquisition unit configured to photograph an image around the vehicle; and a control unit configured to set a region of interest (ROI) with respect to the acquired image, recognize a traffic lane included in the set ROI or a vehicle wheel of a surrounding vehicle, and estimate a vehicle speed of the vehicle from the recognized traffic lane or a vehicle speed of the surrounding vehicle from the vehicle wheel of the surrounding vehicle.

Description

Vehicle and its control method {VEHICLE AND CONTROLLING METHOD THEREOF}

The present invention relates to a vehicle and a control method thereof, and more particularly, to a vehicle and a control method for accurately measuring the speed of a neighboring vehicle as the speed of a nearby vehicle of the vehicle is secured through image information.

The vehicle means a device capable of carrying a person or object to a destination while driving on a road or a track. The vehicle can be moved to various positions, mainly using one or more wheels installed on the vehicle body. Such a vehicle may be a three- or four-wheeled vehicle, a two-wheeled vehicle such as a motorcycle, a construction machine, a bicycle, and a train traveling on a rail disposed on a track.

In modern society, cars are the most common means of transportation, and the number of people using them is increasing. Due to the development of automobile technology, it is easy to move long distances and make life easier.However, in places with high population densities such as Korea, road traffic conditions are worsened and traffic congestion is serious and lack of parking space. It has the same disadvantages.

Today, a variety of electronic components are provided in a vehicle to protect the driver and provide the driver with convenience and fun. For example, vehicles are provided with high-power electronic components such as driving assistance systems and seat heating.

For example, the vehicle may be equipped with a driving assistance system for ensuring the convenience and safety of the driver or an autonomous driving system for the driving convenience of the vehicle driver. At this time, the operation of the driving assistance system and the autonomous driving system recognizes the surrounding vehicles in the front, side, and rear by using the camera and the radar, and measures the distance and the relative speed with the surrounding vehicles to facilitate the driving operation of the vehicle. Is common.

One aspect is to accurately determine the vehicle speed of the surrounding vehicle of the autonomous vehicle to improve the operation accuracy of the driving assistance system.

Another aspect of the present invention is to minimize the probability of an accident by accurately measuring vehicle speed information of surrounding vehicles when changing lanes of an autonomous vehicle.

In addition, another aspect is to solve the problem that a delay occurs due to the sensor characteristics of the wheel speed sensor can not accurately measure the longitudinal speed of the vehicle.

In one aspect, an image acquisition unit for capturing an image of the surroundings of the vehicle; and a region of interest (ROI) for the acquired image, recognizes a wheel of a lane or a neighboring vehicle included in the set region of interest, And a control unit for estimating the vehicle speed of the vehicle from the recognized lane or estimating the vehicle speed of the peripheral vehicle from the wheels of the surrounding vehicle.

The apparatus may further include a distance detector configured to detect peripheral obstacles of the vehicle, wherein the controller may narrowly set the ROI when the peripheral obstacle detection information is input from the distance detector.

Also, when the lane included in the region of interest is a dotted lane, the edge of the dotted lane may be recognized, and the speed of the vehicle may be estimated from the coordinates of the edge included in at least one time-series image frame.

The apparatus may further include a wheel speed measuring unit configured to measure a wheel speed of the vehicle, and the controller may correct the measured wheel speed based on the estimated speed of the vehicle.

The controller may recognize the edge of the wheel of the surrounding vehicle included in the set ROI, and fit the recognized edge to the secondary curve to determine a point having the smallest change rate as the contact point with the ground.

The controller may estimate the relative speed of the surrounding vehicle by dividing the distance between coordinates of the contact point with the ground included in the at least one time series image frame by the time interval between the at least one time series image frame.

The controller may calculate the absolute speed of the surrounding vehicle based on the relative speed of the surrounding vehicle.

In another aspect, the method may further include: photographing an image of a surrounding vehicle; and setting a region of interest (ROI) with respect to the acquired image; and recognizing wheels of lanes or surrounding vehicles included in the set region of interest. step; And estimating the vehicle speed of the vehicle from the recognized lane or estimating the vehicle speed of the peripheral vehicle from the wheels of the peripheral vehicle.

The method may further include detecting a peripheral obstacle of the vehicle. The setting of the ROI may include narrowing the ROI when the peripheral obstacle detection information is input.

The method may further include estimating a vehicle speed of the vehicle from the recognized lane, including: recognizing an edge of the dotted lane when the lane included in the set ROI is a dotted lane; And estimating the speed of the vehicle from coordinates of an edge included in at least one time series image frame.

The method may further include measuring a wheel speed of the vehicle, and estimating the speed of the vehicle from coordinates of an edge included in at least one time-series image frame. Correcting the inside of the wheel; may further include.

In addition, correcting the wheel speed may include correcting the measured wheel speed based on the estimated speed of the vehicle when the measured wheel speed is smaller than a preset threshold vehicle speed.

The estimating of the vehicle speed of the surrounding vehicle from the wheel of the surrounding vehicle may include recognizing the edge of the wheel of the surrounding vehicle included in the set region of interest, fitting the recognized edge to the secondary curve, and having the smallest change rate. The method may further include determining a point as a contact point with the ground.

The estimating of the vehicle speed of the surrounding vehicle may include: dividing a distance between coordinates of a contact point with a ground included in the at least one time series image frame by a time interval between the at least one time series image frame, The relative speed can be estimated.

The method may further include calculating an absolute speed of the surrounding vehicle based on the relative speed of the surrounding vehicle.

The present invention can accurately determine the vehicle speed of the surrounding vehicle of the autonomous vehicle to improve the operation accuracy of the driving assistance system.

In addition, when the lane of the autonomous vehicle is changed, the probability of an accident may be reduced by accurately measuring vehicle speed information of the surrounding vehicle.

The present invention is to reduce the sensor error by correcting the longitudinal speed of the vehicle by the delay occurs due to the sensor characteristics of the wheel speed sensor.

1 is a diagram illustrating an appearance of a vehicle according to an exemplary embodiment.
2 is a diagram illustrating an interior of a vehicle according to an exemplary embodiment.
3 is an internal block diagram of a vehicle according to an embodiment.
4 is a schematic diagram illustrating a vehicle side image frame.
5 is a schematic diagram illustrating a time series vehicle side image frame.
6 is a schematic diagram illustrating an image including a wheel of a vehicle around the vehicle.
7 is a schematic diagram illustrating a region of interest in an image including wheels of surrounding vehicles of a vehicle.
8 and 9 are flowcharts of a vehicle control method.

Like reference numerals refer to like elements throughout. The present specification does not describe all elements of the embodiments, and overlaps between general contents or embodiments in the technical field to which the present invention belongs. The term 'part' as used herein may be implemented in software or hardware.

Throughout the specification, when a part is said to be "connected" with another part, it includes not only directly connected but also indirectly connected, and indirect connection includes connecting through a wireless communication network. do.

In addition, when a part is said to "include" a certain component, which means that it may further include other components, except to exclude other components unless otherwise stated.

Singular expressions include plural expressions unless the context clearly indicates an exception.

In each step, the identification code is used for convenience of explanation, and the identification code does not describe the order of each step, and each step may be performed differently from the stated order unless the context clearly indicates a specific order. have.

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

1 is a diagram illustrating an exterior of a vehicle provided with an autonomous driving control apparatus according to an embodiment, and FIG. 2 is a diagram illustrating an interior of a vehicle provided with an autonomous driving control apparatus according to an embodiment.

The vehicle 1 includes a body having a built-in and an exterior, and a chassis provided with a mechanical device for driving to the remaining parts except the body.

As illustrated in FIG. 1, the exterior 110 of the vehicle body includes a front panel 111, a bonnet 112, a roof panel 113, a rear panel 114, a trunk 115, front and rear doors 116, front and rear sides. The left and right door 116 includes a window 117 provided to be opened and closed.

The exterior of the vehicle body includes a filler 118 provided at a boundary between the front panel, the bonnet, the roof panel, the rear panel, the trunk, and the windows of the front, rear, left and right doors, and a side mirror 119 that provides the driver with a view behind the vehicle 1. More).

As shown in FIG. 2, the interior of the vehicle body 120 includes a seat 121 on which the occupant sits, a dashboard 122, and a tachometer, a speedometer, a coolant thermometer, a fuel gauge, a turn indicator, which is disposed on the dashboard. Instrument panel (ie cluster, 123) with high light indicator, warning lamp, seat belt warning, odometer, odometer, automatic shift selector indicator, door open warning lamp, engine oil warning lamp and low fuel warning lamp. And a center fascia 124 in which a vent and a throttle are disposed and a radio device and an audio device are disposed.

The cluster 123 may further include a display unit that displays driving information and failure information of the vehicle. The driving information may include fuel economy information, driving distance information, total driving distance information, driving mode, and the failure information may include tire air pressure abnormality information.

The center fascia 124 may be provided with a head unit 125 for controlling a radio device, an audio device, an air conditioning device, a multi terminal 126, and the like.

Here, the multi terminal 126 may be disposed at a position adjacent to the head unit 125, and may include a USB port, an AUX terminal, and further include an SD slot.

The multi terminal 126 may also communicate with a user terminal through a USB port. In this case, the user terminal may be a mobile and communication device, and may include a smart phone, a notebook computer, a tablet, a wearable device, and the like.

The vehicle 1 may further include an input unit 127 for receiving an operation command of various functions.

The input unit 127 may be provided in the head unit 125 and the center fascia 124 and include at least one physical button such as an operation on / off button for various functions, a button for changing a setting value of various functions, and the like. do.

The input unit 127 may include a touch panel provided integrally with the display unit of the vehicle terminal 130. The input unit 127 receives position information of a button displayed on the display unit of the terminal 130.

The input unit 127 may further include a jog dial or a touch pad for inputting a movement command and a selection command of a cursor displayed on the display unit of the vehicle terminal 130.

The jog dial or touch pad may be provided in the center fascia or the like.

The vehicle 1 may further include a display unit 128 provided in the head unit and displaying information about a function being performed in the vehicle and information input by the user.

The display unit 128 may include a plasma display panel, a liquid crystal display (LCD) panel, an electroluminescence (EL) panel, an electrophoretic display (EPD) panel, an electrochromic display ( An electrochromic display (ECD) panel, a light emitting diode (LED) panel, or an organic light emitting diode (OLED) panel may be provided, but is not limited thereto.

The vehicle terminal 130 may display images in the front, rear, left, and right directions, and may also display the map degree and the road guide information in association with the navigation mode.

The vehicle terminal 130 may be installed on a dash board or mounted on a center fascia.

The display unit of the terminal 130 may display information on a function being performed and information input by a user.

The vehicle 1 is provided in the center fascia 124 and receives the operation position, and the operation of the electronic parking brake device (not shown) positioned around the shift lever 140 or on the head unit 125. It further includes a parking button (EPB button) for receiving a command.

Accordingly, the vehicle 1 can grasp the driver's parking intention from the fact that the shift lever is located at the P stage and the electronic parking brake device (not shown) is engaged.

In addition, the vehicle may perform the position of the shift lever, and the braking device 161 may perform an auto hole function. In this case, the auto hold function holds the wheels so that the braking force is maintained even when the pressure applied to the brake pedal is released during a temporary stop (e.g., signal wait) while the shift lever is in the drive stage (D stage). In this case, when the accelerator pedal is pressed, the function is released and a braking force is applied to the wheels to prevent the vehicle from being pushed on the road at a predetermined slope or more.

In addition, the vehicle 1 includes a steering wheel 151 of a steering device for adjusting the driving direction, a brake pedal 152 that is pressed by the user according to the braking intention of the user, and a user according to the acceleration intention of the user. It may include an accelerator pedal 153 that is pressed.

3 is an internal block diagram of a vehicle according to an embodiment of the present disclosure, in which the vehicle 1 communicates with various internal electronic devices or communicates with a plurality of peripheral vehicles outside the vehicle, and position information of the vehicle. And a sensor unit 320 for detecting obstacle information around the vehicle, and according to control signals of the controller 181 and the controller 181 which collectively control the vehicle 1. And a driving unit 185 and a storage unit 182 for driving the vehicle.

In this case, the terminal 130 included in the vehicle 1 may receive information about an audio function, a video function, a DMB function, a radio function, a navigation mode, and an autonomous driving mode. Displays operation information about the mode.

For example, the in-vehicle terminal 130 may display images in the front, rear, left, and right directions detected by the sensor unit 320.

The terminal 130 may include an input unit 127 and a display unit 128. The input unit of the terminal 130 may be a touch panel, and the display unit may be a display panel.

The terminal 130 may be provided as a touch screen in which the touch panel and the display panel are integrated.

In addition, the terminal 130 may include only a display panel which is a display unit. In this case, the terminal 130 may receive operation information and an operation command through the input unit 127 provided in the center fascia of the vehicle. For example, it is also possible to receive an estimated parking time from the user through the input unit 127 of the terminal.

The display unit 128 of the terminal may display the temperature inside the vehicle when the vehicle is parked.

In addition, the terminal 130 may communicate with the control unit 181 for controlling the navigation mode and the autonomous driving mode, and perform a display operation based on a control command of the control unit 181 received through the communication. .

The communicator 300 may include one or more components that enable communication with an external device. For example, the communicator 300 may include at least one of a short range communication module, a wired communication module, and a wireless communication module.

Accordingly, the vehicle 1 may communicate with an external device of the communication unit 300 to secure a precise map around the current location. The surrounding precision map refers to detailed map information such as lane information including a driving lane, a driving path, and a driving direction.

In this case, the short-range communication module uses a wireless communication network in a short distance such as a Bluetooth module, an infrared communication module, a radio frequency identification (RFID) communication module, a wireless local access network (WLAN) communication module, an NFC communication module, a Zigbee communication module, and the like. It may include a variety of short-range communication module for transmitting and receiving a signal.

In addition, the wired communication module may include a controller area network (CAN) communication module, a local area network (LAN) module, a wide area network (WAN) module, or a value added network (VAN) module. In addition to a variety of wired communication modules, a variety of products include Universal Serial Bus (USB), High Definition Multimedia Interface (HDMI), Digital Visual Interface (DVI), standard standard232 (RS-232), power line communication, or plain old telephone service (POTS). It may include a cable communication module.

In addition to the Radio Data System-Traffic Message Channel (RDS-TMC), DMB (Digital Multimedia Broadcasting), Wi-Fi (Wifi), and Wi-Fi (Wireless) broadband modules, Various wireless communication methods such as system for mobile communication (CDMA), code division multiple access (CDMA), wideband code division multiple access (WCDMA), universal mobile telecommunications system (UMTS), time division multiple access (TDMA), and long term evolution (LTE) It may include a wireless communication module to support.

In this case, the wireless communication module may include a wireless communication interface including an antenna for receiving a traffic information signal and a receiver. The wireless communication module may further include a traffic information signal conversion module for demodulating an analog type wireless signal received through a wireless communication interface into a digital control signal.

Meanwhile, the communication unit 300 may further include an internal communication module (not shown) for communication between electronic devices inside the vehicle 1. As an internal communication protocol of the vehicle 1, a controller area network (CAN), a local interconnection network (LIN), a flexray, an Ethernet, or the like may be used.

The location receiver 173 receives a location of the own vehicle.

The location receiving unit 173 may include a GPS (Global Positioning System) receiver that communicates with a plurality of satellites to calculate the location of the vehicle.

The sensor unit 320 may detect an obstacle around a vehicle, and may include a distance detector 321, an image acquirer 322, and a measurement unit 323 in a wheel.

The distance detector 321 detects a distance between other vehicles and obstacles in the vicinity. These distance detectors 321 may be provided in front, rear, left and right of the exterior of the vehicle, respectively.

The distance detector 321 includes a rider sensor.

LiDAR (Light Detection And Ranging) sensor is a non-contact distance detection sensor using the laser radar principle.

The lidar sensor may include a transmitter for transmitting a laser and a receiver for receiving a laser reflected back to a surface of an object existing within a sensor range.

The laser may be a single laser pulse.

The distance detector 321 may include an ultrasonic sensor or a radar sensor.

The ultrasonic sensor generates ultrasonic waves for a predetermined time and detects a signal reflected back to the object.

The ultrasonic sensor may be used to determine the presence or absence of an obstacle such as a pedestrian within a short range.

A radar sensor is a device that detects the position of an object by using a reflected wave generated by radiation of radio waves when transmitting and receiving are performed in the same place.

Such a radar sensor may use a Doppler effect, change the frequency of a transmission wave over time, or output a pulse wave as a transmission wave in order to prevent the transmission and reception waves from overlapping each other.

For reference, since the rider sensor has a higher detection accuracy in the lateral direction than the RaDAR (Radar Detecting And Ranging) sensor, it is possible to increase the accuracy of determining whether a passage exists in the front.

Accordingly, the distance detector 321 may detect an obstacle around the vehicle 1 based on detection signals such as a lidar sensor, an ultrasonic sensor, and a radar sensor.

The image acquisition unit 322 acquires an image of the road and transmits the obtained image to the controller 181. Here, the image of the road may be an image of the road in the forward direction based on the driving direction of the child vehicle.

The image acquisition unit 322 is a camera and may include a CCD or a CMOS image sensor.

The image acquisition unit 322 may be provided in the window glass of the front surface, may be provided in the window glass of the inside of the vehicle, may be provided in the room mirror of the inside of the vehicle, and may be provided to expose the outside of the roof panel 113. It may be.

Accordingly, the image acquisition unit 322 may acquire image information including an obstacle including a surrounding vehicle traveling around the vehicle 1.

The wheel measuring unit 323 measures a wheel speed by mounting a wheel speed sensor on each wheel, and transmits the measured wheel speed to the controller 181.

Next, the controller 181 collectively controls various driving devices and additional devices provided in the vehicle and provided in the vehicle.

In particular, the controller 181 includes a blind spot detection (BSD) of the vehicle 1, and acquires distance information and an image of an obstacle obtained by the distance detector 321 of the sensor 320. The detected information may be provided to the driver based on the image information obtained from the unit 322.

The controller 181 detects the lane or the surrounding vehicle included in the image with respect to the image acquired through the image acquisition unit 322 of the sensor 320, and analyzes the time-series position of the detected lane or the surrounding vehicle. The speed of the vehicle or surrounding vehicles can be calculated.

In addition, when the sensor unit 320 includes a distance detector 321 capable of detecting nearby vehicles other than the image acquirer 322, the positional reliability of the area in the image is determined by the sensor value of the distance detector 321. Since the reliability can be improved, a region of interest (ROI) of the image can be set small. Therefore, when it can be inferred as a vehicle or a vehicle detected by the distance detector 321, the information can be transmitted to the controller 181 so that the image detector 322 can sense the corresponding area.

For example, when the sensor included in the distance detector 321 is a lidar, since the position reliability of the corresponding region is high, it may be set smaller when setting the ROI of the image, and may be less accurate than the lidar. In the case of a radar in which the relative position may be inaccurate, the ROI of the image may be set relatively large.

For example, when the distance detector 321 is not included, the ROI may be set based on the movement of the object included in the image.

Specifically, the vehicle speed correction method of the vehicle will be described in detail based on the image information acquired by the controller 181 through FIGS. 4 to 7.

First, FIG. 4 is a schematic diagram illustrating a vehicle side image frame, and FIG. 5 is a schematic diagram illustrating a time series vehicle side image frame.

For example, as shown in FIG. 4, in the vehicle 100, a camera sensor provided at a side of the vehicle may acquire an image. In detail, the driving vehicle 100 may obtain a dotted line lane L on an image acquired by a camera sensor provided at a side of the vehicle.

In particular, when the dotted line L is obtained as an image, the controller 181 may recognize an edge portion of the obtained dotted line lane.

In detail, edge detection is performed on the image of the side of the vehicle including the lane L of the point island obtained by the image acquisition unit 322 through image per minute (IPM) image conversion. Here, IPM image conversion means how much unit image (video frame) can be output per minute.

Therefore, the controller 181 may detect the 'c'-shaped model Edge when detecting the edge of the point island line of the obtained image frame.

In addition, the controller 181 may detect the longitudinal velocity of the host vehicle 100 based on the positional comparison of the detected edges in the image frame. Specifically, FIG. 5 illustrates a method of detecting the longitudinal velocity of the host vehicle 100 based on edge information of the dotted line L included in the image information of the dotted line L acquired by the side camera. It is a schematic diagram.

First, the first frame f1 to the fourth frame f4 mean an image frame obtained by the image acquisition unit 322, and a corresponding time interval may vary according to IPM.

For example, the dotted line L detected in the first frame f1 to the fourth frame f4 has the edge edge detected with respect to the same dotted line L in the longitudinal direction (X axis) direction of the vehicle. As you move forward, you can see that the coordinates within the image frame move.

Therefore, the controller 181 may detect the longitudinal speed of the vehicle 100 by comparing the detection frame time interval of the image with respect to the coordinates of the edge.

In addition, the controller 181 may calculate the final absolute speed of the vehicle 100 by combining with the vehicle speed obtained by the measurement unit 323 in the wheel of the sensor unit 320. In this case, a method of calculating the final absolute speed may be implemented through various filtering methods, but it is omitted in the present invention.

Therefore, the wheel measuring unit 323 may correct the vehicle speed based on the longitudinal speed obtained based on the detection information of the image in order to solve the problem caused by the late sensing in the low speed driving situation.

As another example, the controller 181 is a schematic diagram illustrating an image including wheels of surrounding vehicles of a vehicle, and FIG. 7 is a schematic diagram illustrating a time series vehicle side image frame.

The controller 181 sets a region of interest ROI on the surrounding vehicle 1000 included in the image acquired by the image acquirer 322. Likewise, when setting the ROI, the controller 181 includes a position detector 321 for detecting a vehicle other than the image acquirer 322 in the sensor unit 320. Since the reliability may be improved through the sensor value of the distance detector 321, the region of interest (ROI) of the image may be set smaller.

In detail, when the sensor included in the distance detector 321 is a lidar, the position reliability of the corresponding region is high, so when setting the ROI of the image, the sensor is set smaller and the radar may be less accurate than the lidar. In one case, the relative position may be inaccurate, so that the ROI of the image may be set relatively large.

In addition, when the distance detector 321 is not included, the ROI may be set based on the movement of the object included in the image.

For example, as illustrated in FIG. 6, the controller 181 may set the ROI of the rectangular area indicated by the dotted line with respect to the surrounding vehicle 1000 included in the image acquired by the image detector 322. . In detail, the controller 181 may set an area including the wheel included in the image as the ROI in order to calculate the detected longitudinal speed of the surrounding vehicle 1000.

In addition, as illustrated in FIG. 7, the controller 181 may detect the edge Edge of the wheel with respect to the wheel included in the ROI. In addition, the controller 181 may configure one set by connecting a plurality of points which are continued among edge edge components of the wheel extracted from the corresponding image.

In addition, the control unit 181 calculates the trajectory by the quadratic function for the set, and calculates the point (point) having the smallest derivative value as the ground plane with the ground for the calculated trajectory.

For example, the controller 181 may determine the first lowest point pt1 extracted from the first set set1 of the first frame f1 and the second frame f2 having a predetermined time interval in the first frame f1. The distance between the second lowest point pt2 extracted from the second set set2 is divided by a predetermined time interval between the first frame f1 and the second frame f2 to determine the relative speed of the surrounding vehicle 1000 of the corresponding wheel. Can be calculated.

In addition, the controller 181 may calculate the absolute speed of the vehicle by assigning a weight to the relative speed of the surrounding vehicle calculated for each frame.

The controller 181 may be a CPU or a MCU, and may be a processor.

The controller 181 may include a memory (not shown) that stores data about an algorithm or a program that reproduces the algorithm for controlling operations of components in the vehicle, and a processor that performs the above-described operation using data stored in the memory ( Not shown). In this case, the memory and the processor may be implemented as separate chips. Alternatively, the memory and the processor may be implemented in a single chip.

The storage unit 182 stores map information, a road name in a map, a road type, a road number of a road, and location information of a road, stores location information of a preset location, and stores image information of a preset location. In addition, the storage unit 182 may sequentially store vector information of nearby vehicles.

The storage unit 182 may be a nonvolatile memory device or RAM, such as a cache, a read only memory (ROM), a programmable ROM (PROM), an erasable programmable ROM (EPROM), an electrically erasable programmable ROM (EEPROM), and a flash memory. It may be implemented as at least one of a volatile memory device such as a random access memory or a storage medium such as a hard disk drive (HDD) or a CD-ROM. The storage unit may be a memory implemented as a separate chip from the processor described above with respect to the controller, or may be implemented as a single chip with the processor.

The driver 185 drives the vehicle according to the control signal of the controller 181, and may operate a rear side warning system (BSD) based on vehicle speed information of the surrounding vehicle.

In the above, each structure of the vehicle containing a rear side warning system was demonstrated. Hereinafter, a vehicle control method for operating the rear side warning system will be described.

Specifically, FIG. 8 is a flowchart illustrating a vehicle speed correction method of the host vehicle.

First, as shown in FIG. 8, the vehicle 100 captures an image around the vehicle (800). In detail, an image of the side of the vehicle may be captured by a camera sensor included in the image acquirer 322.

Next, the vehicle 100 detects the lane L from the surrounding image of the vehicle (810), and detects the longitudinal edge from the detected lane information (820).

Next, the controller 181 compares the edge positions of the dotted lanes L detected in the plurality of image frames (840). For example, the dotted line lane L detected in the first to fourth frames f1 to f4 has the edge edge detected with respect to the same dotted line L in the longitudinal direction (X axis). As you move forward, you can see that the coordinates within the image frame move.

Therefore, the controller 181 detects the longitudinal speed of the vehicle 100 by comparing the detection frame time interval of the image with respect to the coordinates of the edge (840).

That is, the controller 181 may be used to correct the wheel speed detected by the wheel measurement unit 323 based on the own vehicle longitudinal speed obtained based on the position movement information of the lane detected by the image acquisition unit 322 (850). ).

Next, FIG. 9 is a flowchart illustrating a method of calculating a vehicle speed of a nearby vehicle from an image.

First, as shown in FIG. 8, the vehicle 100 detects an adjacent vehicle as the image around the vehicle is photographed (900). In detail, an image of a surrounding vehicle that is a peripheral obstacle may be acquired through the side or rear camera included in the image acquisition unit 322.

Thereafter, the vehicle 100 selects a region of interest with respect to a partial region of the image frame of the acquired image (910). The area of interest may vary depending on whether information about an object is obtained from the distance detector 321 of the sensor unit 320, but the description thereof will be omitted. In detail, the ROI may be an area of an image including wheels of surrounding vehicles.

Accordingly, the vehicle 100 detects wheels of the surrounding vehicle 920 and detects points of the detected wheels. Specifically, the vehicle 100 detects the point of the vehicle detected by detecting the edge Edge of the wheel with respect to the wheel included in the ROI, and the edge Edge of the wheel extracted from the image. Consisting a plurality of points in succession to form a set, calculate the trajectory by the quadratic function for the set, and the ground point with the ground the point (point) with the smallest differential value for the calculated trajectory The method of calculating can be used.

Accordingly, the vehicle 100 calculates the distance between the points in the time series image frame based on the calculated points (940). That is, the controller 181 of the vehicle 100 may, for example, perform a predetermined time interval between the first lowest point pt1 extracted from the first set set1 of the first frame f1 and the first frame f1. The distance between the second lowest point pt2 extracted from the second set (set2) of the second frame (f2) having a predetermined time interval between the first frame (f1) and the second frame (f2) divided by the periphery of the wheel The relative speed of the vehicle 1000 may be calculated (950).

Thereafter, the vehicle 100 calculates an absolute speed of the vehicle by assigning a weight to the relative speed of the surrounding vehicle calculated for each frame (960).

As described above, the disclosed embodiments have been described with reference to the accompanying drawings. Those skilled in the art will understand that the present invention can be implemented in a form different from the disclosed embodiments without changing the technical spirit or essential features of the present invention. The disclosed embodiments are illustrative and should not be construed as limiting.

100: vehicle 321: distance detection unit
322: Image acquisition unit 323: Measurement unit in the wheel
310: location receiving unit 1000: surrounding vehicles

Claims (16)

An image acquisition unit for photographing an image around the vehicle;
Set a region of interest (ROI) on the acquired image, recognize a wheel of a lane or a surrounding vehicle included in the set region of interest, estimate a vehicle speed of the vehicle from the recognized lane, or And a controller configured to estimate a vehicle speed of the surrounding vehicle from wheels of the vehicle.
The method of claim 1,
Further comprising: a distance detector for detecting a peripheral obstacle of the vehicle,
The controller is configured to narrowly set the ROI when the peripheral obstacle detection information is input from the distance detector.
The method of claim 2, wherein the control unit,
And recognizing the edge of the dotted line lane and estimating the speed of the vehicle from the coordinates of the edge included in at least one time-series image frame when the lane included in the region of interest is a dotted line lane.
The method of claim 3, wherein
Further comprising: a wheel inside the measuring unit for measuring the inside of the wheel of the vehicle,
The control unit corrects the measured wheel speed based on the estimated vehicle speed.
The method of claim 4, wherein
And the controller is configured to correct the measured wheel speed based on the estimated speed of the vehicle when the measured wheel speed is smaller than a preset threshold vehicle speed. The method of claim 2, wherein the control unit,
Recognizing the edge of the wheel of the surrounding vehicle included in the set region of interest, and fitting the recognized edge to the secondary curve to determine the point with the smallest change rate as the contact point with the ground.
The method of claim 6, wherein the control unit,
And estimating a relative speed of the surrounding vehicle by dividing a distance between coordinates of a contact point with a ground included in the at least one time series image frame by a time interval between the at least one time series image frame.
The method of claim 7, wherein the control unit,
And calculate an absolute speed of the surrounding vehicle based on the relative speed of the surrounding vehicle. Photographing an image around the vehicle;
Setting a region of interest (ROI) on the acquired image;
Recognizing a wheel of a lane or a surrounding vehicle included in the set ROI; And
Estimating a vehicle speed of the vehicle from the recognized lane or estimating a vehicle speed of the peripheral vehicle from a wheel of the peripheral vehicle.
The method of claim 9,
Detecting peripheral obstacles of the vehicle;
Setting the region of interest;
And when the surrounding obstacle detection information is input, narrowing the ROI.
The method of claim 10,
Estimating a vehicle speed of the vehicle from the recognized lane;
Recognizing an edge of the dotted lane when the lane included in the set ROI is a dotted lane; And
Estimating a speed of the vehicle from coordinates of an edge included in at least one time-series image frame.
The method of claim 11,
Measuring the wheel speed of the vehicle;
Estimating the speed of the vehicle from coordinates of an edge included in at least one time-series image frame;
Correcting the wheel speed measured based on the estimated speed of the vehicle. The method of claim 12,
Correcting in the wheel;
And correcting the measured wheel speed based on the estimated vehicle speed when the measured wheel speed is smaller than a preset threshold vehicle speed.
The method of claim 10,
Estimating a vehicle speed of the surrounding vehicle from the wheel of the surrounding vehicle,
Recognizing the edge of the wheel of the surrounding vehicle included in the set region of interest, fitting the recognized edge to the secondary curve to determine the point with the smallest change rate as the contact point with the ground; .
The method of claim 14,
Estimating the vehicle speed of the surrounding vehicle,
And estimating a relative speed of the surrounding vehicle by dividing a distance between coordinates of a contact point with a ground included in the at least one time series image frame by a time interval between the at least one time series image frame.
The method of claim 15,
Calculating an absolute speed of the surrounding vehicle based on the relative speed of the surrounding vehicle.

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