KR20200079474A - Apparatus and method for generating a warning - Google Patents

Abstract

Disclosed is an alarm generating device, which warns of the departure of a lane of a vehicle from an intersection entrance having a plurality of sections sequentially divided in accordance with a type of lane or the presence of the lane. The alarm generating device comprises: an intersection entry determination unit determining whether a vehicle enters an intersection based on the type of the lane or a speed of a vehicle around a host vehicle, and determining a section in which the host vehicle is traveling among the plurality of sections; and an alarm generation/cancellation unit determining whether the alarm is generated based on whether the vehicle is steered in a lateral direction, when the vehicle is determined to enter the intersection from the intersection entry determination unit.

Description

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

The present invention relates to an alarm generating apparatus and method for determining an entry into an 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 deviate from the current lane.

Some intersection features consist of a solid line after the dashed line, a stop line at the end of the solid line, a pedestrian crossing after the stop line, and a surveillance camera above the solid line. The solid line section of the 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, drivers are forced to change lanes after entering the solid line at the intersection, and it is highly stressed by penalizing or fines for violating traffic regulations (lane violation).

The above-mentioned background technology 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 one aspect is to determine a vehicle's entry into a solid line intersection using the lane information of the host vehicle and the speed of the surrounding vehicle, and the host vehicle is currently This is to reduce the stress of driver's lane violation by generating an alarm so as not to leave the lane.

The present invention as a technical means for achieving the above object,

In the type of lane or the presence or absence of the lane, the alarm generating device for warning the departure of the lane of the vehicle on the road entering the intersection having a plurality of sections sequentially,

An intersection entry determining unit determining whether a vehicle enters an intersection based on the type of lane or the speed of a vehicle adjacent to the host vehicle, and determining a section in which the host vehicle is running among the plurality of sections; And

An alarm generation/release unit for determining whether an alarm is generated based on whether the vehicle is steered in the lateral direction when it is determined that the intersection entry unit has entered the intersection;

It provides an alarm generating device comprising a.

The intersection entry determining unit may determine that the intersection has entered when the speed of the vehicle in front of the own lane is decreasing.

The intersection entry determining unit may determine that the vehicle has entered the intersection when the speed of the vehicle in front of the left and right lanes of the own lane in which the host vehicle is running decreases.

The intersection entry determination unit may be an intersection when the host vehicle sequentially drives the first section in which the lane is dotted, the second section in which the lane does not exist, the third section in which the lane is dotted, and the fourth section in which the lane is a solid line. You can judge that you have entered.

The intersection entry determining unit sequentially drives the own vehicle, the first section in which the lane is dotted, the second section in which the lane does not exist, the third section in which the lane is dotted, and the fourth section in which the lane is a solid line, and the own vehicle If the speed of the vehicle in front of the lane and the left and right lanes in which it is driving decreases, it may enter the intersection.

The alarm generation/release unit may generate an alarm when the steering direction of the vehicle is changed after the intersection entry determination unit determines that the host vehicle has entered the intersection.

The alarm generation/release unit, after determining that the host vehicle has entered the intersection at the intersection entry determination unit, generates a primary alarm by changing the steering direction of the vehicle, and steering direction in the same direction as the primary alarm If it changes, it may not trigger an alarm.

The alarm generation/release unit, after determining that the host vehicle has entered the intersection at the intersection entrance determination unit, generates a primary alarm by changing the steering direction of the vehicle, and steering direction in the opposite direction to the primary alarm If this is changed, a secondary alarm can be generated.

The alarm generation/release unit may generate an alarm when the steering direction is changed in the same direction as the steering direction that generated the secondary alarm after the secondary alarm.

The alarm device of the present invention further includes an intersection advancement determination unit determining that the host vehicle has entered the final section among the plurality of sections, and when it is determined that the vehicle has entered the final section by the intersection advancement determination unit, The alarm generation/release section may cancel the alarm generation.

The present invention as another technical means for achieving the above object,

In the method of generating an alert to warn of a lane departure of a vehicle at an intersection entrance road having a plurality of sections sequentially divided according to the type of lane or the presence or absence of the lane,

An intersection entry determining step of determining whether a vehicle enters an intersection based on the type of lane or the speed of a vehicle adjacent to the host vehicle, and determining a section in which the host vehicle is running among the plurality of sections; And

An alarm generation/release step of determining whether an alarm is generated based on whether the host vehicle is laterally steered when it is determined that the intersection entry unit has entered the intersection;

It provides a method for generating an alarm comprising a.

In the step of determining the entrance to the intersection, when the speed of the vehicle in front of the own lane in which the host vehicle is running decreases, it may be determined that the intersection has entered.

In the step of determining the entrance to the intersection, when the speed of the vehicle in front of the left and right lanes of the own lane in which the host vehicle is driving decreases, it may be determined that the intersection has entered.

In the step of determining the entrance to the intersection, if the host vehicle sequentially travels through the first section in which the lane is dotted, the second section in which the lane does not exist, the third section in which the lane is dotted, and the fourth section in which the lane is a solid line. You can judge that you have entered.

In the step of determining the entrance to the intersection, the host vehicle sequentially drives the first section in which the lane is dotted, the second section in which the lane is not present, the third section in which the lane is dotted, and the fourth section in which the lane is a solid line, and the When the speed of the vehicle in front of the own lane and the left and right lanes in which the host vehicle is running decreases, it may be determined that the vehicle has entered the intersection.

The alarm generation/release step may generate an alarm when the steering direction of the vehicle is changed after determining that the host vehicle has entered the intersection at the intersection entry determination step.

The alarm generation/release step, after determining that the host vehicle has entered the intersection at the intersection entry determination step, generates a primary alarm by changing the steering direction of the vehicle and steers in the same direction as the primary alarm. If the direction is changed, an alarm may not be generated.

In the alarm generation/release step, after determining that the host vehicle has entered the intersection at the intersection entry determination step, a first alarm is generated by changing the steering direction of the vehicle, and steering is performed in a direction opposite to the first alarm. If the direction is changed, a secondary alarm can be generated.

The alarm generation/release step may generate an alarm when the steering direction is changed in the same direction as the steering direction that generated the secondary alarm after the secondary alarm.

The alarm method of the present invention may further include a step of determining an advancement into an intersection to determine that the host vehicle has entered a final section among the plurality of sections and to cancel an alarm.

Other aspects, features and advantages other 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 a solid line intersection and generate an alert so that the host vehicle does not deviate from the current lane, thereby reducing the driver's lane violation stress.

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 capable of realizing 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 diagram schematically illustrating a detailed configuration of a processor among the alarm generating devices of FIG. 2.
FIG. 4 is a view schematically illustrating a case in which an alarm is generated on the intersection of FIG. 1.
5 and 6 are flowcharts for explaining a method for generating an alarm 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 complete the disclosure of the present invention 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 related known technologies 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 capable of realizing an alarm generating device according to an embodiment of the present invention. Referring to FIG. 1, a road including an intersection 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 an intersection.

The first section 110 may include a dotted lane section through which a vehicle can drive before entering an 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 designated distance (for example, 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 composed of 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 diagram 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 detecting 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 photographed by the image photographing unit 210 may be output to the processor 240. Here, the camera refers to a camera that photographs a subject in a photographing area using, for example, a COMS (complementary metal-oxide semiconductor) module (not shown) or a CCD (charge coupled device) 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, brightness level adjustment, color correction, contrast adjustment, contour 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 sensor 220 may detect the rotational speed of the vehicle wheel or the rotational speed of the output shaft of the transmission connected to the vehicle engine to calculate the current speed 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, the processor 240 uses the signal output from the radar sensor By doing so, one or more of longitudinal information between the vehicle and the object, lateral distance information, relative speed information, relative acceleration information, and 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 been moved in the first direction (for example, 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 is a road composed of the first section 110 to the fifth section 150 including the intersection of the vehicle by receiving the speed signal of the image frame and the speed detection unit 220 photographed by the image photographing unit 210 It may include a program for determining the speed reduction of the vehicle ahead while driving. 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 to determine the speed reduction of the front left and right vehicles in 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 detection unit 220 photographed 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 to fourth instructions are executed. When driving, a program for generating an alarm generation condition may be included. 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 a misrecognition 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 a 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), or 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 and execute the first to fourth instructions to determine the vehicle's intersection entry. The intersection entry determination 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 detecting the vehicle speed in front of the lane and the speed of the host vehicle. In addition, the intersection entry determination unit 231 detects the speed of the front and rear vehicles of the host vehicle and the speed of the host vehicle in a state where 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 lane type 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 determination 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 changes 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 entered.

The alarm generation/release unit 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 is used when the vehicle travels in the first direction again 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 cancel 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 the intersection of 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, if the vehicle travels again in the second direction after the alarm signal is generated, the alarm signal generation may be canceled.

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 advance determination unit 243 may determine the intersection advance and release the alarm signal.

In an exemplary embodiment, the processor 240 may prevent misrecognition of the fourth section 140 by accessing the memory 230 and executing the eighth instruction. If a preceding vehicle exists in front of the currently driving vehicle and the distance between the two vehicles is within a predetermined distance, an error may be generated in which the fourth section 140 is determined as a dotted section rather than a solid line. 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 and then dotted it. 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, parts overlapping with the description of FIGS. 1 to 4 will be omitted.

Referring to FIG. 5, in step S510, the alarm generating device 200 determines a vehicle to enter an intersection by executing a first instruction. 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 apparatus 200 determines whether the speed of the vehicle located in the front left/right of the host vehicle is reduced while determining that the front 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 an 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 warning generating device 200 is a vehicle in which the 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 intersection advancement determination may include a case in which the vehicle enters the fifth section 150.

In step S540, the alarm generating device 200 executes the seventh instruction to release the alarm.

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 a 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 not only machine language codes created by a compiler, but also high-level language codes executable 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 indicating terms may be in both singular and plural. In addition, in the case of describing a range in the present invention, as including the invention to which the individual values belonging to the range are applied (if there is no contrary description), each individual value constituting the range is described 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 description order 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 (20)

In the type of lane or the presence or absence of the lane, the alarm generating device for warning the departure of the lane of the vehicle on the road entering the intersection having a plurality of sections sequentially,
An intersection entry determination unit determining whether a vehicle enters an intersection based on the type of lane or the speed of a vehicle adjacent to the host vehicle, and determining a section in which the host vehicle is running among the plurality of sections; And
When it is determined that the intersection has entered the intersection, an alarm generation/release unit for determining whether an alarm is generated based on whether the vehicle is laterally steered;
Alarm generating device comprising a. The method of claim 1, wherein the intersection entry determination unit,
When the speed of the vehicle in front of the own lane in which the host vehicle is running decreases, an alarm generating device is judged to have entered the intersection. The method of claim 1, wherein the intersection entry determination unit,
When the speed of the vehicle in front of the left and right lanes of the own lane in which the host vehicle is running decreases, an alarm generating device characterized in that it is determined to have entered the intersection. The method of claim 1, wherein the intersection entry determination unit,
It is determined that the host vehicle enters the intersection when the first section in which the lane is dotted, the second section in which the lane does not exist, the third section in which the lane is dotted, and the fourth section in which the lane is a solid line sequentially. Alarm generating device characterized by. The method of claim 1, wherein the intersection entry determination unit,
The host vehicle sequentially drives the first section in which the lane is dotted, the second section in which the lane does not exist, the third section in which the lane is dotted, and the fourth section in which the lane is solid, and When the speed of the vehicle in front of the left and right lanes decreases, an alarm generating device is characterized in that it is determined to have entered the intersection. According to claim 1, wherein the alarm generation / release unit,
After determining that the host vehicle has entered the intersection at the intersection entry determination unit, an alarm generating device is generated when the steering direction of the vehicle is changed. The method of claim 6, wherein the alarm generation / cancellation unit,
After determining that the host vehicle has entered the intersection, the first warning is generated by a change in the steering direction of the vehicle, and an alarm is generated when the steering direction is changed in the same direction as the first warning. Alarm generating device characterized in that it does not. The method of claim 6, wherein the alarm generation / release unit,
After determining that the host vehicle has entered the intersection at the intersection entry determination unit, a first alarm is generated by a change in the steering direction of the vehicle, and a second alarm when the steering direction is changed in a direction opposite to the first warning. Alarm generating device characterized in that it generates. The method of claim 8, wherein the alarm generation / cancellation unit,
After the second alarm, an alarm generating device characterized in that when the steering direction is changed in the same direction as the steering direction that generated the second alarm, an alarm is generated. According to claim 1,
Further comprising an intersection advancement determination unit for determining that the host vehicle has entered the final section among the plurality of sections,
When it is determined that the vehicle has entered the final section by the intersection advancement determination unit, the alarm generation/release unit cancels the alarm generation. In the method of generating an alert to warn of a lane departure of a vehicle at an intersection entrance road having a plurality of sections sequentially divided according to the type of lane or the presence or absence of the lane,
An intersection entry determination step of determining whether a vehicle enters an intersection based on the type of lane or the speed of a vehicle adjacent to the host vehicle, and determining a section in which the host vehicle is running among the plurality of sections; And
An alarm generation/release step of determining whether an alarm is generated based on whether the host vehicle is laterally steered when it is determined that the intersection entry unit has entered the intersection;
Alarm generating method comprising a. 12. The method of claim 11, The step of determining the entrance to the intersection,
When the speed of the vehicle in front of the lane in which the host vehicle is running decreases, an alarm is generated. 12. The method of claim 11, The step of determining the entrance to the intersection,
When the speed of the vehicle in front of the left and right lanes of the own lane in which the host vehicle is running decreases, an alarm is generated. 12. The method of claim 11, The step of determining the entrance to the intersection,
It is determined that the host vehicle enters the intersection when the first section in which the lane is dotted, the second section in which the lane does not exist, the third section in which the lane is dotted, and the fourth section in which the lane is a solid line sequentially. How to generate an alarm characterized by. 12. The method of claim 11, The step of determining the entrance to the intersection,
The host vehicle sequentially drives the first section in which the lane is dotted, the second section in which the lane does not exist, the third section in which the lane is dotted, and the fourth section in which the lane is solid, and When the speed of the vehicle in front of the left and right lanes decreases, an alarm is generated. The method of claim 11, wherein the alert generation / cancellation step,
After determining that the host vehicle has entered the intersection at the intersection entry determination step, an alarm is generated when the steering direction of the vehicle is changed. The method of claim 16, wherein the alert generation / cancellation step,
After determining that the host vehicle has entered the intersection at the intersection entry determination step, a primary alarm is generated by a change in the steering direction of the vehicle, and an alarm is generated when the steering direction is changed in the same direction as the primary warning. The alarm generating method characterized in that it does not. The method of claim 16, wherein the alert generation / cancellation step,
After determining that the host vehicle has entered the intersection at the intersection entry determination step, a primary alarm is generated by a change in the steering direction of the vehicle, and a secondary alarm when the steering direction is changed in a direction opposite to the primary warning. Alarm generating method characterized in that to generate. The method of claim 18, wherein the alert generation / cancellation step,
After the second alarm, an alarm is generated when the steering direction is changed in the same direction as the steering direction in which the second alarm was generated. The method of claim 11,
And determining that the host vehicle has entered the final section among the plurality of sections and further determining an advancement into an intersection to cancel an alarm.

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