KR20200045088A - Apparatus and method for generating a warning - Google Patents

Abstract

The present invention relates to an apparatus and a method for generating a warning which uses lane information of a user vehicle and the speeds of surrounding vehicles to determine entry into a Chinese solid line intersection of the user vehicle and generates a warning to prevent the user vehicle from drifting from its current lane. According to an embodiment of the present invention, the apparatus for generating a warning comprises a memory to store one or more instructions, and a processor to execute the instructions to generate a warning signal or cancel a warning signal. The instructions include: a first instruction to determine speed decreases of front vehicles in a user vehicle′s lane while a vehicle drives on a road consisting of a first section to a fifth section including a Chinese intersection; a second instruction to determine speed decreases of left and right front vehicles in the user vehicle′s lane; a third instruction to determine a change from the third section displayed in a broken line to the fourth section displayed in a solid line by determination of a lane type; and a fourth instruction to determine entry into an intersection if the type of the lane is changed from the third section to the fourth section, and the speeds of the left and right front vehicles and the user vehicle′s lane are decreased.

Description

Apparatus and method for generating an alarm {APPARATUS AND METHOD FOR GENERATING A WARNING}

The present invention relates to an apparatus and method for generating an alarm for determining an entry into a solid line intersection of a host vehicle using the lane information of the host vehicle and the speed of the surrounding vehicle and generating an alarm so that the host vehicle does not leave the current lane.

The intersection characteristics of China consist of a solid line after the dotted line, a stop line at the end of the solid line, a pedestrian crossing after the stop line, and a surveillance camera on the upper line. The solid line section of the Chinese intersection is 30m-70m, which is shorter than the solid line section in the tunnel or the solid line section of the general road. Therefore, Chinese drivers are forced to change the lane after entering the solid line at the intersection, and it is highly stressed by being fined or fined for violating traffic laws (lane violation).

The above-mentioned background art is technical information acquired by the inventor for the derivation of the present invention or acquired in the derivation process of the present invention, and is not necessarily a known technology disclosed to the general public prior to the filing of the present invention.

Domestic registered patent publication No. 10-1685900

The present invention has been devised to solve the above-mentioned problems and / or limitations, and an object of the present invention according to an aspect is to determine the entry of a host vehicle into a solid line intersection in China by using the lane information of the host vehicle and the speed of the surrounding vehicle. It is aimed at reducing the stress of lane violations by Chinese drivers by warning them not to leave the lane.

An alarm generating apparatus according to an embodiment of the present invention includes a memory for storing one or more instructions; And a processor that executes the instruction to generate an alarm signal or to cancel the alarm signal, wherein the instruction includes a vehicle in front of a lane during a road consisting of sections 1 to 5 including a Chinese intersection. A first instruction for determining the speed reduction of the vehicle, a second instruction for determining the speed reduction of the front and rear vehicles of the own lane, and a change from the third section indicated by a dotted line to the fourth section indicated by a solid line by determining the lane type And a third instruction to determine that the lane type is changed from the third section to the fourth section, and when the speed of the own lane and the left and right front vehicles is reduced, a fourth instruction is determined to enter the intersection. You can.

The processor may execute the first instruction to the fourth instruction simultaneously.

The instruction is configured to generate an alert when the vehicle in the fourth section travels in one of the first direction, the second direction, and the second direction after the first driving from the current driving lane. It may further include 5 instructions.

The instruction may further include a sixth instruction that releases an alarm when the vehicle starts entering the fifth section.

The instruction, after executing the fifth instruction, when the vehicle travels in the first direction from the current driving lane and then travels again in the first direction, or the vehicle travels in the second direction from the current driving lane Thereafter, when driving in the second direction again, a seventh instruction for canceling an alarm may be further included.

An alarm generating method according to an embodiment of the present invention includes the steps of: generating, by a processor, one or more instructions to generate an alarm signal or canceling the alarm signal, wherein the instruction includes a vehicle at a Chinese intersection A first instruction for determining a speed reduction of a vehicle in front of a lane during driving on a road composed of first to fifth sections, a second instruction for determining a speed reduction of vehicles in the left and right lanes of the own lane, and determination of a lane type A third instruction for determining a change from a third section indicated by a dotted line to a fourth section indicated by a solid line, and the type of the lane is changed from the third section to the fourth section, and the own lane and the left and right front vehicles When the speed of is decreased, it may include a fourth instruction that determines that the intersection has been entered.

The processor may execute the first instruction to the fourth instruction simultaneously.

The processor is configured to generate an alert when the vehicle in the fourth section travels in a first direction from a current driving lane, a second direction, or a second direction after the first direction. 5 Instructions can be executed.

The processor may execute a sixth instruction that releases an alarm when the vehicle starts entering the fifth section.

The processor, after executing the fourth instruction, when the vehicle travels in the first direction after driving in the first direction from the current driving lane or when the vehicle travels in the second direction from the current driving lane Thereafter, when driving in the second direction again, a seventh instruction for canceling an alarm may be executed.

In addition to this, other methods for implementing the present invention, other systems, and computer programs for executing the methods may be further provided.

Other aspects, features, and advantages than those described above will become apparent from the following drawings, claims, and detailed description of the invention.

According to embodiments, the lane information of the host vehicle and the speed of the surrounding vehicle may be used to determine the entry of the host vehicle into the solid line intersection in China and generate an alert so that the host vehicle does not deviate from the current lane, thereby reducing the stress of lane violation of the Chinese driver. .

The effects of the present invention are not limited to those mentioned above, and other effects not mentioned will be clearly understood by those skilled in the art from the following description.

1 is a view schematically illustrating characteristics of a road including an intersection in China that can realize an alarm generating device according to an embodiment of the present invention.
2 is a view schematically illustrating an alarm generating device according to an embodiment of the present invention.
FIG. 3 is a view for schematically explaining a detailed configuration of a processor among the alarm generating devices of FIG.
FIG. 4 is a view schematically illustrating a case in which an alarm is generated on a Chinese intersection in FIG. 1.
5 and 6 are flowcharts for explaining an alarm generating method according to an embodiment of the present invention.

Advantages and features of the present invention, and methods for achieving them will be clarified with reference to embodiments described in detail with reference to the accompanying drawings. However, the present invention is not limited to the embodiments presented below, but may be implemented in various different forms, and should be understood to include all transformations, equivalents, and substitutes included in the spirit and scope of the present invention. . The embodiments presented below are provided to make the disclosure of the present invention complete, and to fully inform the scope of the invention to those skilled in the art to which the present invention pertains. In the description of the present invention, when it is determined that a detailed description of known technologies related to the present invention may obscure the subject matter of the present invention, the detailed description will be omitted.

Terms used in the present application are only used to describe specific embodiments, and are not intended to limit the present invention. Singular expressions include plural expressions unless the context clearly indicates otherwise. In this application, the terms "include" or "have" are intended to indicate the presence of features, numbers, steps, actions, components, parts or combinations thereof described herein, one or more other features. It should be understood that the existence or addition possibilities of fields or numbers, steps, operations, components, parts or combinations thereof are not excluded in advance. Terms such as first and second may be used to describe various components, but the components should not be limited by the terms. The terms are used only for the purpose of distinguishing one component from other components.

Hereinafter, embodiments according to the present invention will be described in detail with reference to the accompanying drawings, and in describing with reference to the accompanying drawings, the same or corresponding components are assigned the same reference numbers, and redundant description thereof is omitted. I will do it.

1 is a view schematically illustrating characteristics of a road including an intersection in China that can realize an alarm generating device according to an embodiment of the present invention. Referring to FIG. 1, a road including an intersection in China may include a first section 110 to a fifth section 150 and a surveillance camera 160. Here, the third section 130 to the fifth section 150 and the surveillance camera 160 may correspond to a Chinese intersection.

The first section 110 may include a dotted lane section in which a vehicle can drive before entering the intersection, and in an embodiment, the first section 110 in FIG. 1 may include three lanes.

The second section 120 may include a blanking section in which a vehicle may drive before entering the intersection, but no lane exists, and may exist as much as a designated distance (eg, a first distance).

The third section 130 may include a dotted lane section in which the vehicle can travel after entering the intersection, and may exist as much as a specified distance (eg, a second distance). The third section 130 may include a section composed of more lanes than the first section 110. For example, the third section 120 in FIG. 1 may include four lanes. Therefore, the lane width of the third section 120 may be narrower than the lane width of the first section 110.

The fourth section 140 may include a solid line lane section in which the vehicle can travel after entering the intersection, and may be configured with the same number of lanes as the third section 130. The lane width of the fourth section 140 may be the same as the lane width of the third section 130. Here, the surveillance camera 160 is provided in the fourth section 140, so that it is possible to determine that the traffic law has been violated when the vehicle leaves the lane in the fourth section 140 and photograph the license plate of the vehicle. The end of the fourth section 140 may further include a stop line 141 that the vehicle must stop accordingly when a red light is turned on at a traffic light (not shown) located in front.

The fifth section 150 may include a crosswalk section after the stop line 141.

FIG. 2 is a view schematically illustrating an alarm generating device according to an embodiment of the present invention, and FIG. 3 is a diagram schematically illustrating a detailed configuration of a processor among the alarm generating devices of FIG. 2. 2 and 3, the alarm generating device 200 may include an image capturing unit 210, a speed sensing unit 220, a memory 230, a processor 240, and an alarm output unit 250. have. In this embodiment, the processor 240 may include an intersection entry determination unit 241, an alarm generation / release unit 242, and an intersection entry determination unit 243, and the alarm output unit 250 may include an audio output unit ( 251), a display unit 252 and a steering wheel 253.

The image photographing unit 210 may include a camera provided in the vehicle and capable of photographing an image frame around the vehicle. The image frame captured by the image capturing unit 210 may be output to the processor 240. Here, the camera means, for example, a camera that photographs a subject in a photographing area using a complementary metal-oxide semiconductor (COMS) module (not shown) or a charge coupled device (CCD) module (not shown), and the like. The frame is provided as a COMS module or a CCD module through a lens (not shown), and the COMS module or CCD module converts and outputs an optical signal of an object passing through the lens into an electrical signal. An image signal processing unit (not shown) is provided inside the camera to reduce noise in the captured image frame, gamma correction, color filter array interpolation, and color matrix. Image signal processing for image quality improvement such as matrix, color correction, and color enhancement may be performed. In addition, the image signal processing unit may perform color processing, blur processing, edge enhancement processing, image analysis processing, image recognition processing, image effect processing, and the like functionally. Face recognition, scene recognition processing, and the like can be performed by the image recognition processing. For example, luminance level adjustment, color correction, contrast adjustment, outline enhancement adjustment, screen division processing, character image generation, and image synthesis processing may be performed.

The speed sensor 220 may detect the current speed of the vehicle. The speed sensing unit 220 may calculate the current speed of the vehicle by detecting the rotational speed of the wheel of the vehicle or by detecting the rotational speed of the output shaft of the transmission connected to the engine of the vehicle. Furthermore, the speed sensor 220 may detect the speed of an object (eg, a surrounding vehicle) around the vehicle. To this end, the speed sensor 220 may further include a radar sensor (not shown). The radar sensor is provided in the vehicle to oscillate the radar, receive a signal reflected from an object (for example, a surrounding vehicle), and output it to the processor 240. By doing so, one or more of the longitudinal distance information between the vehicle and the object, the lateral distance information, the relative speed information, the relative acceleration information, and the motion information of the object may be calculated.

The memory 230 may store various data and programs for controlling the alarm generator 200. For example, if the steering angle value is greater than 0 with respect to 0, information indicating that the steering wheel 253 has moved in the first direction (eg, left), and if the steering angle value with respect to 0 is less than 0, steering is performed. Information indicating that the wheel 253 has moved in the second direction (eg, right) may be stored.

Also, the program stored in the memory 230 may include one or more instructions. In this embodiment, programs (one or more instructions) stored in the memory 230 may be accessed and executed by the processor 240. Here, the instruction may include a first instruction to an eighth instruction.

The first instruction receives the speed signal of the image frame and the speed sensor 220 photographed by the video photographing unit 210, and the vehicle is composed of the first section 110 to the fifth section 150 including the Chinese intersection. It may include a program for determining the speed reduction of the vehicle ahead while driving on the road. This is usually due to a decrease in speed for vehicles entering an intersection.

The second instruction may include a program that receives the image frame and the speed signal of the speed sensor 220 photographed by the image photographing unit 210 and determines the speed reduction of the vehicle in front of the left and right of the lane. This is usually due to a decrease in speed for vehicles entering an intersection.

The third instruction is a program that receives an image frame photographed by the image capturing unit 210 and determines a change from the third section 130 indicated by a dotted line to the fourth section 140 indicated by a solid line by determining the lane type. It may include.

The fourth instruction receives the image frame and the speed signal of the speed sensor 220 taken by the image capturing unit 210, the lane type is changed from the third section 130 to the fourth section 140, and the own lane And a program for determining that the vehicle has entered the intersection when the speed of the front left and right vehicles is reduced.

Here, the first instruction to the fourth instruction may be performed simultaneously in parallel.

The fifth instruction is one of the vehicle traveling in the first direction from the current driving lane in the first direction, driving in the second direction, and driving in the second direction after the first direction after the first instruction to the fourth instruction are executed. When driving, it may include a program that generates an alarm condition. When the alarm generation condition is satisfied by executing the fifth instruction, an alarm generation signal may be transmitted to the alarm output unit 250 to output an alarm.

The sixth instruction may include a program that generates an alarm release condition when the vehicle starts entering the fifth section 150. With the execution of the sixth instruction, the vehicle may advance from the intersection and may no longer output an alert for exiting the intersection lane.

The seventh instruction generates an alarm when the vehicle travels in the first direction after driving in the first direction from the current driving lane or when the vehicle travels in the second direction again after driving in the second direction from the current driving lane. It may include a program for generating a release condition. Here, when the vehicle travels in the same direction twice in the current lane, one alarm signal is generated, and when the vehicle travels in the first direction in the current lane and then travels in the second direction, two alarm signals may be generated. . Subsequently, it is determined that the change in the driving direction of the vehicle is the will of the driver and may no longer generate an alarm.

In order to prevent erroneous recognition of the fourth section 140, the eighth instruction enters the fourth section 140 based on the previous driving situation of the current vehicle if a preceding vehicle exists in front of the current vehicle and the distance between the two vehicles is within a certain distance. It may include a program for accurately determining the. Here, if a preceding vehicle exists in front of the current vehicle and the distance between the two vehicles is within a certain distance, an error may be generated in which the fourth section 140 is determined as a dotted section rather than a solid line. Accordingly, if a preceding vehicle exists in front of the current vehicle and the distance between the two vehicles is within a certain distance, the previous driving situation of the current vehicle is determined to determine the occurrence of the dotted line section after driving the first section 110 to the third section 130. At this time, the dotted line section may be determined as the solid line of the fourth section 140.

The memory 230 may include internal memory and / or external memory, volatile memory such as DRAM, SRAM, or SDRAM, one time programmable ROM (OTPROM), PROM, EPROM, EEPROM, mask ROM, flash ROM, Non-volatile memory, SSD, such as NAND flash memory, or NOR flash memory. It may include a compact flash (CF) card, an SD card, a Micro-SD card, a Mini-SD card, an Xd card, a flash drive such as a memory stick, or a storage device such as an HDD.

The processor 240 may control the overall operation state of the alarm generating device 200. The processor 240 is a kind of central processing unit, and may provide various functions by driving control software mounted in an internal memory (not shown). Here, the 'processor (processor, 240)', for example, may mean a data processing device embedded in hardware having physically structured circuits to perform functions represented by codes or instructions included in a program. . As an example of such a data processing device embedded in hardware, a microprocessor, a central processing unit (CPU), a processor core, a multiprocessor, and an application-specific integrated ASIC circuit), a field programmable gate array (FPGA), and the like, but the scope of the present invention is not limited thereto.

In this embodiment, the processor 240 may include an intersection entry determination unit 241, an alarm generation / release unit 242, and an intersection entry determination unit 243. Here, the processor 240 accesses the memory 230 and executes the first instruction to the sixth instruction, and the intersection entry determination unit 241, the alarm generation / release unit 242, and the intersection entry determination unit 243 It can operate organically to generate an alarm generation signal or an alarm release signal.

The intersection entry determining unit 231 may access the memory 230 to execute the first instruction to the fourth instruction to determine the vehicle's intersection entry. The intersection entrance determining unit 231 may detect whether the vehicle has entered the intersection by detecting whether the vehicle speed in front of the lane has decreased by sensing the vehicle speed in front of the lane and the speed of the host vehicle. In addition, the intersection entry determining unit 231 detects the speed of the vehicle in the front left and right of the host vehicle and the speed of the host vehicle in a state in which the vehicle speed in front of the lane decreases, and determines whether the vehicle speed in the front left and right of the host vehicle has decreased and the host vehicle enters the intersection. You can judge if you did. The intersection entrance determining unit 231 may determine whether the type of lane is a dotted line or a solid line in real time using an image frame while driving the first section 110 to the fifth section 150. The intersection entry determining unit 231 has entered the third section 130 as a dotted line section and the fourth section 140 as a solid line section through the first section 110 and the second section 120 using an image frame. By judging, it is possible to determine whether the host vehicle has entered the intersection. When the type of lane is changed from the third section 130 to the fourth section 140 and the speed of the own lane and the front left and right vehicles is decreased, the intersection entry determination unit 231 may determine that the intersection has finally been entered.

The alarm generation / release section 242 may generate an alarm signal by accessing the memory 230 and executing the fifth instruction after the execution of the first to fourth instructions. The alarm generation / release unit 242 may generate one alarm signal when the vehicle is traveling in the first direction from the current driving lane. In addition, the alarm generation / release unit 242 may generate one alarm signal when the vehicle is traveling in the second direction from the current driving lane. In addition, the alarm generation / release unit 242 may generate two alarm signals when driving in the first direction and then driving in the second direction. Here, the alarm generation / release unit 242 accesses the memory 230 and determines that the steering wheel 253 has moved in the first direction (for example, the left side) when the steering angle value is greater than 0 based on 0, If the steering angle value is less than 0 around 0, it may be determined that the steering wheel 253 has moved in the second direction (eg, right).

In addition, the alarm generation / release unit 242 may cancel the generation of the alarm signal by executing the sixth instruction described later. That is, the alarm generation / release unit 242 may release the generation of the alarm signal when the vehicle enters the fifth section 150.

Also, the alarm generation / release unit 242 may cancel the generation of the alarm signal by executing the seventh instruction after the fifth instruction is executed. That is, the alarm generation / release unit 242 may be used again when the vehicle travels in the first direction after driving in the first direction from the current driving lane or the second direction again after the vehicle travels in the second direction from the current driving lane. In the case of driving by, the alarm signal generation can be canceled. Furthermore, the alarm generation / release unit 242 may release the generation of the alarm signal even when the vehicle travels in the first direction from the current driving lane and then travels in the second direction.

FIG. 4 is a view schematically illustrating a case in which an alarm is generated on a Chinese intersection in FIG. 1. Referring to FIG. 4, FIG. 4A may generate one alarm signal when the vehicle starts to enter the first section from the current driving lane after starting the entry from the third section 130 to the fourth section 140. . However, when the vehicle travels again in the first direction after the alarm signal is generated, the alarm signal generation may be canceled.

4B may generate an alarm signal once when the vehicle starts to enter the second section from the current driving lane after starting the entry from the third section 130 to the fourth section 140. However, when the vehicle travels again in the second direction after the alarm signal is generated, it is possible to cancel the alarm signal generation.

4C may generate two warning signals when the vehicle starts to enter the first direction from the current driving lane after starting the entry from the third section 130 to the fourth section 140 and then drives in the second direction. . However, when the vehicle travels again in the first direction after the alarm signal is generated, the alarm signal generation may be canceled.

The intersection advance determination unit 243 may access the memory 230 and execute the sixth instruction to determine the intersection of the vehicle. That is, when the vehicle starts entering the fifth section 150, the intersection advancement determination unit 243 may determine the intersection advancement and release an alarm signal.

In an exemplary embodiment, the processor 240 may prevent the misrecognition of the fourth section 140 by accessing the memory 230 and executing the eighth instruction. If there is a preceding vehicle in front of the vehicle currently being driven and the distance between the two vehicles is within a certain distance, an error may occur in determining the fourth section 140 as a dotted section, not as a solid line section. Therefore, if the preceding vehicle exists in front of the current vehicle and the distance between the two vehicles is within a certain distance, the processor 240 determines the previous driving situation of the current vehicle and then runs the first section 110 to the third section 130 to dotted the line. When determining that a section has occurred, the dotted line section may be determined as a solid line of the fourth section 140.

The alarm output unit 250 may output an alarm by receiving an alarm generation signal or an alarm release signal transmitted from the processor 240. The sound output unit 251 may output an alarm signal as an acoustic signal so that the driver can hear it, and the display unit 252 may output an alarm signal as a display signal for the driver to see, and the steering wheel 253 Can output an alarm signal as a vibration signal so that the driver can feel it as a touch.

5 and 6 are flowcharts for explaining an alarm generating method according to an embodiment of the present invention. In the following description, portions overlapping with the descriptions of FIGS. 1 to 4 will be omitted.

Referring to FIG. 5, in step S510, the alarm generating device 200 executes the first instruction to determine the vehicle's intersection. 6 is a flowchart illustrating a method for determining a vehicle's entry into an intersection.

Referring to FIG. 6, in step S511, the alarm generating device 200 determines the vehicle speed of the surrounding vehicle. The alarm generating device 200 may calculate the speed of the host vehicle, calculate the vehicle speed of the surrounding vehicle using a radar sensor, and determine whether the speed of the surrounding vehicle is reduced or increased based on the speed of the host vehicle. I can judge.

In step S512, the alarm generating device 200 determines whether the vehicle speed in the front of the same lane as the host vehicle is reduced.

In step S513, the alarm generating device 200 determines whether the speed of the vehicle located in the left / right front of the host vehicle is reduced while determining that the vehicle speed in the same lane as the host vehicle is decreasing.

In step S514, the alarm generating device 200 determines the front lane type using the image frame while driving the first section 110 to the fifth section 150.

In step S515, the alarm generating device 200 determines whether the front lane type is a dotted line using the image frame.

In step S516, the alarm generating device 200 determines whether the front lane type is changed from a dotted line to a solid line after the front lane type is a dotted line. Here, when the front lane type is changed from a dotted line to a solid line, the alarm generating device 200 may determine the dotted line section as the third section 130 and determine the solid line section as the fourth section 140.

In step S517, the alarm generating device 200 is a vehicle whose front lane type is changed from a dotted line (third section 130) to a solid line (fourth section 140), and located in one or more of the front / left / right of the host vehicle. Judges whether the speed has decreased.

In step S518, the alarm generating device 200 is a vehicle whose front lane type is changed from a dotted line (third section 130) to a solid line (fourth section 140), and is located in one or more of the front / left / right of the host vehicle. If the speed of is decreased, it is judged that the vehicle has entered the intersection.

Returning to FIG. 5, in step S520, the alarm generating device 200 executes the fifth instruction to generate an alarm when the alarm generating condition is satisfied.

In step S530, the alarm generating device 200 determines whether the intersection has been executed by executing the sixth instruction. Here, the decision to advance to the intersection may include a case where the vehicle enters the fifth section 150.

In step S540, the alarm generating device 200 releases the alarm by executing the seventh instruction.

The embodiment according to the present invention described above may be implemented in the form of a computer program that can be executed through various components on a computer, and such a computer program can be recorded on a computer-readable medium. At this time, the medium includes a hard disk, a magnetic medium such as a floppy disk and magnetic tape, an optical recording medium such as CD-ROM and DVD, a magneto-optical medium such as a floptical disk, and a ROM. , Hardware devices specially configured to store and execute program instructions, such as RAM, flash memory, and the like.

Meanwhile, the computer program may be specially designed and configured for the present invention or may be known and available to those skilled in the computer software field. Examples of computer programs may include machine language codes such as those produced by a compiler, as well as high-level language codes that can be executed by a computer using an interpreter or the like.

In the specification (particularly in the claims) of the present invention, the use of the term " above " and similar indication terms may be in both singular and plural. In addition, in the case where a range is described in the present invention, it includes the invention to which the individual values belonging to the range are applied (if there is no contrary description), and describes the individual values constituting the range in the detailed description of the invention. Same as

Unless explicitly stated or contrary to the steps constituting the method according to the invention, the steps can be done in a suitable order. The present invention is not necessarily limited to the order of description of the above steps. The use of all examples or exemplary terms (eg, etc.) in the present invention is merely for describing the present invention in detail, and the scope of the present invention is limited due to the examples or exemplary terms, unless it is defined by the claims. It does not work. In addition, those skilled in the art can recognize that various modifications, combinations, and changes can be configured according to design conditions and factors within the scope of the appended claims or equivalents thereof.

Accordingly, the spirit of the present invention is not limited to the above-described embodiment, and should not be determined, and the scope of the spirit of the present invention as well as the claims to be described later, as well as all ranges that are equivalent to or equivalently changed from the claims Would belong to

200: alarm generating device
210: video recording unit
220: speed sensor
230: memory
240: processor
250: alarm output

Claims (11)

A memory that stores one or more instructions; And
Includes a processor for executing the instruction to generate an alarm signal or cancel the alarm signal;
The instruction,
A first instruction for determining a speed reduction of a vehicle in front of a lane while driving a road composed of first to fifth sections including a Chinese intersection, and a second instruction for determining a speed reduction of vehicles in the left and right of the lane , A third instruction for determining a change from a third section indicated by a dotted line to a fourth section indicated by a solid line by determining the lane type, and the type of the lane is changed from the third section to the fourth section and the ruler When the speed of the lane and the front left and right vehicle is reduced, including a fourth instruction that determines that the intersection has entered, the alarm generating device. The method of claim 1, wherein the processor,
An alarm generating device that executes the first instruction to the fourth instruction simultaneously. The method of claim 1, wherein the instruction,
In the fourth section, a fifth instruction is generated to generate an alert when the vehicle travels in the first direction from the current driving lane, in the second direction, or in the second direction after the first direction. Included, an alarm device. The method of claim 1, wherein the instruction,
And a sixth instruction that releases an alarm when the vehicle starts entering the fifth section. The method of claim 3, wherein the instruction,
After the fifth instruction is executed, the vehicle travels in the first direction after driving in the first direction from the current driving lane, or when the vehicle travels in the second direction from the current driving lane and then again An alarm generating device further comprising a seventh instruction for canceling an alarm when traveling in two directions. Includes, by the processor, executing one or more instructions to generate an alarm signal or cancel the alarm signal;
The instruction,
A first instruction for determining a speed reduction of a vehicle in front of a lane while driving a road composed of a first to fifth section including a Chinese intersection, and a second instruction for determining a speed reduction of vehicles in the left and right of the lane , A third instruction for determining a change from a third section indicated by a dotted line to a fourth section indicated by a solid line by determining the lane type, and the type of the lane is changed from the third section to the fourth section and the ruler And a fourth instruction that determines that a vehicle has entered an intersection when the speed of the lane and the front and rear vehicles is reduced. The method of claim 6,
The processor executes the first instruction to the fourth instruction at the same time. The method of claim 6,
The processor is configured to generate an alert when the vehicle in the fourth section travels in a first direction from a current driving lane, a second direction, or a second direction after the first direction. 5 How to generate an alarm by executing an instruction. The method of claim 6,
The processor, when the vehicle starts entering the fifth section, executes a sixth instruction that cancels the occurrence of an alarm. The method of claim 8
The processor, after executing the fourth instruction, when the vehicle travels in the first direction after driving in the first direction from the current driving lane or when the vehicle travels in the second direction from the current driving lane After that, when driving in the second direction again, a seventh instruction for canceling the alarm generation is executed. A computer program stored in a computer-readable recording medium to execute the method of any one of claims 6 to 11 using a computer.

Images