KR20200128282A - driver assistance apparatus and CONTROL METHOD - Google Patents

Abstract

According to an embodiment of the present invention, a driver assistance system comprises: a steering wheel; a front image sensor installed in a vehicle, having a field of view in front of the vehicle, and obtaining front image data; a front non-image sensor selected from a group consisting of a radar sensor and a lidar sensor, installed in the vehicle, having a detection field of view in front of the vehicle, and obtaining front detection data; a corner non-image sensor selected from the group consisting of the radar sensor and the lidar sensor, installed in the vehicle, having a detection field of view in a side of the vehicle, and obtaining side detection data; a sensor unit provided on the steering wheel, and configured to measure biosignal data of at least one of a driver electrocardiogram, a driver nerve activity, or an EEG measured from a driver peripheral nerve; and a control unit including a processor for processing the front image data, the front detection data, the side detection data, and the biosignal data. The control unit detects a front object positioned in front of the vehicle and a side object positioned at a side of the vehicle in response to processing the biosignal data, the image data, the front detection data, and the side detection data. Moreover, the control unit warns the driver.

Description

Driver assistance system and control method thereof

The present invention relates to a driver assistance system.

Recently, a study on a vehicle equipped with an advanced driver assistance system (ADAS) that actively provides information on the vehicle status, driver status and surrounding environment in order to reduce the burden on the driver and improve convenience. Is actively progressing.

Examples of advanced driver assistance systems mounted on vehicles include Forward Collision Avoidance (FCA), Autonomous Emergency Brake (AEB), and Driver Attention Warning (DAW) systems. Conventionally, the driver assistance system as described above is generally driven based on the detection of the surrounding environment of the vehicle. However, since the driving environment is not necessarily determined only by the surrounding environment, there is a need to drive the driver assistance system by detecting the state of the driver, which is the driving agent of the vehicle.

In view of this problem, a system for detecting the driver's brain activity has been developed. Conventional driver's brain activity is directly detected through microcurrent signals that can be detected by the driver's head by installing an EEG sensor (Electroencephalogram, EEG sensor) on the skin around the driver's head, or detecting eye movement in front of the driver A sensor (Electrooculogram, EOG sensor) was installed to detect the driver's brain activity based on the driver's eye movement.

In addition, in order to prevent drowsy driving, a method of detecting a change in the driver's face condition was also used, but the accuracy of the change in the driver's condition is low, and the approach to the changing face is well known because the characteristics of the face condition change are different for each person. Not. Despite these driver condition detection technologies, fatal traffic accidents caused by drowsy driving accounted for 15-20% of all traffic accidents.

The conventional system for detecting the driver's brain activity as described above or the method for detecting the change in the driver's face condition is a method that detects the driver's bio-signals by separately connecting electrodes to the driver's skin. There is a problem with falling.

Accordingly, there is a need to develop a technology capable of assisting the driver's driving by accurately detecting the driver's state without attaching a separate electrode or device to the driver.

In order to solve the above problems, an aspect of the disclosed invention is a driver assistance system for measuring the driver's brain waves based on the driver's peripheral nerve signal based on the driver's peripheral nerve signal and detecting the driver's state, and its control Provides a way.

The disclosed driver assistance system and/or control method comprises a steering wheel; A front image sensor installed in a vehicle, having a front view of the vehicle, and obtaining front image data; A front non-image sensor selected from a group consisting of a radar sensor and a lidar sensor, installed on the vehicle, and having a detection field of the vehicle in front of the vehicle, and obtaining forward detection data; A corner non-image sensor selected from a group consisting of a radar sensor and a lidar sensor, installed in the vehicle, and having a side sensing field of the vehicle and obtaining side sensing data; A sensor unit provided on the steering wheel and configured to measure biosignal data of at least one of a driver's electrocardiogram, a driver's nerve activity, or an EEG measured from a driver's peripheral nerves; And a control unit including a processor for processing the front image data, the front detection data, the side detection data, and the biosignal data, wherein the control unit comprises: based on the brain waves included in the biosignal data, the Determine the driver's sleepiness.

The control unit of the disclosed driver assistance system and/or control method may calculate a threshold value based on a frequency band in which the amplitude of the brain wave rapidly changes in the biosignal data.

The controller of the disclosed driver assistance system and/or control method may compare the amplitude of the brain wave measured from the bio-signal data with the calculated threshold.

The disclosed driver assistance system and/or control method may further include a warning unit that outputs sound or vibration, and the control unit may control the warning unit based on the determination result.

The controller of the disclosed driver assistance system and/or control method determines whether the driver is drowsy, and then determines whether a collision with a front object and a side object is based on at least one of front image data, front detection data, and side detection data, and , It is possible to control the steering device based on the result of determining whether the collision exists.

The disclosed driver assistance system and/or control method includes: acquiring front image data of the vehicle by means of a camera installed in a vehicle and having a front view of the vehicle; Acquiring front radar data of the vehicle by means of a front radar installed in the vehicle and having a forward detection field of view of the vehicle; Acquiring lateral radar data of the vehicle by means of a corner radar installed in the vehicle and having a lateral detection field of view of the vehicle; Detecting a front object positioned in front of the vehicle and a side object positioned at a side of the vehicle in response to processing the front image data, the front radar data, and the side radar data; Measuring at least one biosignal data from among a driver's heart rate, a driver's nerve activity, or an EEG measured from a driver's peripheral nerves through a sensor unit provided in the steering wheel; The driver's sleepiness is determined based on the brain waves included in the biosignal data.

In the disclosed driver assistance system and/or control method, the determining may include calculating a threshold value based on a frequency band in which the amplitude of the brain wave rapidly changes in the biosignal data.

The disclosed driver assistance system and/or control method may include comparing the amplitude of the brain wave measured from the bio-signal data with the calculated threshold.

The disclosed driver assistance system and/or control method may further include outputting a sound or vibration by a warning unit, and controlling the warning unit based on the determination result.

The disclosed driver assistance system and/or control method determines whether the driver is drowsy, and then determines whether a collision with a front object and a side object is based on at least one of the front image data, the front radar data, and the side radar data. And, it may be to control the steering device based on the determination result of the collision.

According to an aspect of the disclosed invention, a driver assistance system provided on a steering wheel and including a sensor unit for measuring a biological signal from a peripheral nerve of a driver and a control unit for determining whether a driver is drowsy based on a signal measured by the sensor unit As a result, it is possible to measure brain waves through peripheral nerve signals, detect a driver's state through this, and warn the driver to promote safe driving.

According to another aspect of the disclosed invention, the present invention detects the driver's state, detects the surrounding environment of the vehicle, and warns the driver based on the detected driver's state and the detected surrounding environment information, or a steering device and/or a brake Can be controlled.

1 shows a configuration of a vehicle according to an embodiment.
2 shows a configuration of a driver assistance system according to an embodiment.
3 illustrates a camera and a radar included in a driver assistance system according to an embodiment.
4 shows the interior of a vehicle in which the present invention is installed according to an embodiment.
FIG. 5 is a control block diagram illustrating a case where a control unit of the present invention controls a braking device and/or a steering device according to an exemplary embodiment and a case where the warning unit warns by an alarm sound or a method of vibrating a steering wheel.
6 is a diagram illustrating an EEG spectrum classification diagram of a driver when the driver is in a sleepy state.
7 is a comparison diagram of an EEG spectrum according to a driver's state.

The same reference numerals refer to the same elements throughout the specification. This specification does not describe all elements of the embodiments, and general content in the technical field to which the disclosed invention belongs or content overlapping between the embodiments will be omitted. The term'unit, module, member, block' used in the specification may be implemented in software or hardware, and according to embodiments, a plurality of'units, modules, members, blocks' may be implemented as one component, It is also possible for one'unit, module, member, block' to include a plurality of components.

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

In addition, when a part "includes" a certain component, it means that other components may be further included rather than excluding other components unless specifically stated to the contrary.

Throughout the specification, when a member is said to be positioned "on" another member, this includes not only the case where a member is in contact with another member, but also the case where another member exists between the two members.

Terms such as first and second are used to distinguish one component from other components, and the component is not limited by the above-described terms.

Singular expressions include plural expressions, unless the context clearly has exceptions.

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 implemented differently from the specified order unless a specific sequence is clearly stated in the context. have.

Hereinafter, an operating principle and embodiments of the disclosed invention will be described with reference to the accompanying drawings.

1 shows a configuration of a vehicle according to an embodiment.

As shown in FIG. 1, the vehicle 1 includes an engine 10, a transmission 20, a braking device 30, and a steering device 40. The engine 10 includes a cylinder and a piston, and may generate power for the vehicle 1 to travel. The transmission 20 includes a plurality of gears, and may transmit power generated by the engine 10 to a wheel. The braking device 30 can decelerate the vehicle 1 or stop the vehicle 1 through friction with a wheel. The steering device 40 may change the driving direction of the vehicle 1.

The vehicle 1 may include a plurality of electric components. For example, the vehicle 1 includes an engine management system (EMS) 11, a transmission control unit (TCU) 21, and an electronic brake control module ( 31), an Electronic Power Steering (EPS) 41, a Body Control Module (BCM), and a Driver Assistance System (DAS).

The engine management system 11 may control the engine 10 in response to a driver's willingness to accelerate through an accelerator pedal or a request from the driver assistance system 100. For example, the engine management system 11 may control the torque of the engine 10.

The transmission control unit 21 may control the transmission 20 in response to the driver's shift command through the shift lever and/or the driving speed of the vehicle 1. For example, the transmission control unit 21 may adjust a shift ratio from the engine 10 to a wheel.

The electronic braking control module 31 may control the braking device 30 in response to a braking will of a driver through a braking pedal and/or slip of wheels. For example, the electronic braking control module 31 may temporarily release the braking of a wheel in response to a slip of a wheel detected when the vehicle 1 is braking (Anti-lock Braking Systems, ABS). The electronic brake control module 31 may selectively release the brake of the wheel in response to oversteering and/or understeering detected when the vehicle 1 is steered (Electronic stability control, ESC). ). In addition, the electronic brake control module 31 may temporarily brake a wheel in response to a slip of the wheel detected when the vehicle 1 is driven (Traction Control System, TCS).

The electronic steering device 41 may assist the operation of the steering device 40 so that the driver can easily manipulate the steering wheel 50 in response to the driver's will to steer through the steering wheel 50. For example, the electronic steering device 41 may assist the operation of the steering device 40 so as to decrease the steering force when driving at a low speed or park, and increase the steering force when driving at a high speed.

The body control module 51 may control the operation of electronic components that provide convenience to the driver or ensure safety of the driver. For example, the body control module 51 may control a head lamp, a wiper, a cluster, a multi-function switch, and a direction indicator lamp.

The driver assistance system 100 may detect a driver's state through the sensor unit 103 and assist the driver in operating (driving, braking, steering) the vehicle 1. For example, the driver assistance system 100 detects the environment around the vehicle 1 (for example, other vehicles, pedestrians, cyclists, lanes, road signs, etc.), and detects the driver's condition. Driving and/or braking and/or steering of the vehicle 1 can be controlled in response to the detected environment and the detected driver's condition.

The driver assistance system 100 may provide various functions to a driver. For example, the driver assistance system 100 includes a Lane Departure Warning (LDW), a Lane Keeping Assist (LKA), a High Beam Assist (HBA), and an automatic emergency braking ( Autonomous Emergency Braking (AEB), Traffic Sign Recognition (TSR), Smart Cruise Control (SCC), and blind spot detection (BSD) can be provided.

The driver assistance system 100 includes a camera module 101 that acquires image data around the vehicle 1, a radar module 102 that acquires object data around the vehicle 1, and a sensor unit that detects the driver's state. It includes (103).

The camera module 101 includes a camera 101a and a controller (Electronic Control Unit, ECU) 101b, and can photograph the front of the vehicle 1 and recognize other vehicles, pedestrians, cyclists, lanes, road signs, etc. I can.

The radar module 102 includes a radar 102a and a controller 102b, and can obtain a relative position, a relative speed, etc. of objects (eg, other vehicles, pedestrians, cyclists, etc.) around the vehicle 1. have.

The sensor unit 103 measures neural activity due to the interaction of the driver's sympathetic and parasympathetic nerves with the first sensor 103a that specifies the driver's brain waves, the second sensor 103b that measures the driver's electrocardiogram. It may include a third sensor 103c.

Meanwhile, the driver assistance system 100 is not limited to that shown in FIG. 1, and may further include a lidar that scans around the vehicle 1 and detects an object.

The above electronic components may communicate with each other through a vehicle communication network (NT). For example, electronic components transmit data through Ethernet, MOST (Media Oriented Systems Transport), Flexray, CAN (Controller Area Network), and LIN (Local Interconnect Network). You can give and take. For example, the driver assistance system 100 provides a drive control signal, a braking signal, and a steering signal to the engine management system 11, the electronic brake control module 31, and the electronic steering device 41 through a vehicle communication network NT, respectively. Can transmit signals.

2 shows a detailed configuration of a driver assistance system according to an embodiment.

As shown in FIG. 2, the vehicle 1 may include a braking system 32, a steering system 42, a driver assistance system 100 and a warning unit 52.

The braking system 32 includes an electronic braking control module 31 (see FIG. 1) and a braking device 30 (see FIG. 1) described with reference to FIG. 1, and the steering system 42 includes an electronic steering device 41, FIG. 1) and a steering device 40 (see FIG. 1).

The driver assistance system 100 may include a sensor unit 103, a front camera 110, a front radar 120, a plurality of corner radars 130 and a control unit 140.

The first sensor 103a of the sensor unit 103 detects a peripheral nerve signal of the driver's hand, and measures brain waves of the driver based on this. Since the driver's peripheral nerve signal detected by the first sensor 103a is an electrical signal, the first sensor 103a may be made of a conductive polymer or graphene.

As an example of the disclosed first sensor 103a, the first sensor 103a may use a dry electrode rather than a wet electrode. When a wet electrode is used as the electrode of the first sensor 103a, a gel-type liquid must be applied to the driver's scalp and the electrode must be attached, which is inconvenient for the driver to drive. However, when a dry electrode is used as the electrode of the first sensor 103a, there is no need to apply a gel-type liquid to the skin, and the driver's peripheral nerve signal detected by the hand rather than the driver's scalp can be detected. It is convenient for the driver to drive.

The second sensor 103b of the sensor unit 103 may measure the driver's electrocardiogram. Since the driver's electrocardiogram detected by the second sensor 103b is also an electrical signal such as the driver's peripheral nerve signal, the second sensor 103b may be made of a conductive polymer or graphene.

The third sensor 103c of the sensor unit 103 detects a driver's peripheral nerve signal, and detects a change in the driver's parasympathetic activity and sympathetic activity based on the driver's peripheral nerve signal. Since the driver's neural activity signal detected by the third sensor 103c is also an electrical signal, the third sensor 103c may be made of a conductive polymer or graphene.

The control unit 140 includes a processor 141 and a memory 142. The controller 140 is a controller 101b (see FIG. 1) of the camera module 101 (see FIG. 1) and/or a controller 102b (see FIG. 1) of the radar module 102 (see FIG. 1) and/or separate integration It may include a controller.

The processor 141 collects the driver's biological signal measured by the sensor unit 103 and generates an EEG spectrum database based on the collected biological signal.

In addition, the processor 141 processes the front image data of the front camera 110, the front radar data of the front radar 120, and the corner radar data of the plurality of corner radars 130, and the braking system 32 and the steering system It is possible to generate a braking signal and a steering signal for controlling 42.

The processor 141 generates an image processor for processing front image data of the front camera 110 and/or a digital signal processor for processing radar data of the radars 120 and 130 and/or a braking signal and a steering signal, It may include a micro control unit (Micro Control Unit, MCU) that processes the driver's biological signal.

The processor 141 may transmit a braking signal to the braking system 32 based on whether a collision with a front object is predicted. If the side object does not exist or the collision with the side object is not predicted, the processor 141 may transmit a steering signal to the steering system 42 in order to avoid a collision with the front object. If a collision with a side object is predicted after steering, the processor 141 may not transmit a steering signal to the steering system 42.

The processor 141 may transmit a steering signal to the steering system 42 based on the driver's bio-signal, the position (distance and direction) and relative speed of lateral objects of the vehicle 1.

The processor 141 calculates a distance to collision (DTC) based on the driver's biosignal and the relative speeds of the objects in front, and based on a comparison between the distance to the collision and the distances to the objects in front. The driver can be warned of a collision or a braking signal can be transmitted to the braking system 32.

The processor 141 determines whether to avoid a collision with a front object by changing the driving direction of the vehicle 1 based on the driver's bio-signal, the position (distance and direction) of the lateral objects of the vehicle 1 and the relative speed. I can judge. For example, if it is determined that the driver's brainwave is a sleepy brainwave and there is no object located on the side of the vehicle 1, the controller 140 transmits a steering signal to the steering system 42 to avoid a collision with the front object. ).

A detailed description of the operation of the processor 141 will be described later through other drawings below.

The memory 142 includes a program and/or data for the processor 141 to process the driver's biosignal data, a program and/or data for processing image data, and a program and/or data for processing radar data. Wow, the processor 141 may store programs and/or data for generating a braking signal and/or a steering signal.

The memory 142 temporarily stores image data received from the front camera 110 and/or radar data received from the radars 120 and 130, and processes the image data and/or radar data of the processor 141 You can temporarily remember the results.

The memory 142 includes not only volatile memories such as S-RAM and D-RAM, but also flash memory, Read Only Memory (ROM), and Erasable Programmable Read Only Memory (EPROM). It may include non-volatile memory.

Meanwhile, the control chip constituting the control unit 140 includes a dot matrix display and an on-chip debugging emulator, and may be a'Renesas promotion board' supporting an analog function. In addition, since the measured EEG spectrum may be different for each vehicle driver, a user definition may be included in the software driving the controller 140. The software may be software developed in C++ language.

The warning unit 52 generates sound or vibration to a user who is determined to be drowsy.

Specifically, the warning unit 52 may output sound by controlling a speaker or a navigation device provided in the vehicle 1. The warning unit 52 may output a specific alarm signal to the user.

The warning unit 52 may control a vibration device provided on the steering wheel 50. The warning unit 52 may transmit vibration to the driver through the vibration device.

The driver assistance system 100 is not limited to that shown in FIG. 2, and may further include a lidar that scans around the vehicle 1 and detects an object.

3 illustrates a camera and a radar included in a driver assistance system according to an embodiment.

The front camera 110 may have a field of view 110a facing the front of the vehicle 1 as shown in FIG. 3. The front camera 110 may be installed, for example, on the front windshield of the vehicle 1.

The front camera 110 may photograph the front of the vehicle 1 and acquire image data in front of the vehicle 1. The image data in front of the vehicle 1 may include a position with respect to another vehicle or pedestrian or cyclist or lane located in front of the vehicle 1.

The front camera 110 may include a plurality of lenses and an image sensor. The image sensor may include a plurality of photodiodes that convert light into electrical signals, and the plurality of photodiodes may be arranged in a two-dimensional matrix.

The front camera 110 may be electrically connected to the controller 140. For example, the front camera 110 is connected to the control unit 140 through a vehicle communication network (NT), or connected to the control unit 140 through a hard wire, or a printed circuit board (Printed Circuit Board). PCB) through the control unit 140 may be connected.

The front camera 110 may transmit image data in front of the vehicle 1 to the controller 140.

The front radar 120 may have a field of sensing 120a facing the front of the vehicle 1 as shown in FIG. 3. The front radar 120 may be installed, for example, on a grill or bumper of the vehicle 1.

The front radar 120 may include a transmission antenna (or a transmission antenna array) that radiates a transmission wave toward the front of the vehicle 1, and a reception antenna (or a reception antenna array) that receives the reflected wave reflected from the object. have. The front radar 120 may obtain front radar data from a transmitted radio wave transmitted by a transmitting antenna and a reflected radio wave received by a receiving antenna. The front radar data may include distance information and speed levels of other vehicles or pedestrians or cyclists located in front of the vehicle 1. The front radar 120 calculates the state distance to the object based on the phase difference (or time difference) between the transmitted and reflected waves, and calculates the relative speed of the object based on the frequency difference between the transmitted and reflected waves. can do.

The front radar 120 may be connected to the control unit 140 through, for example, a vehicle communication network (NT) or a hard wire or a printed circuit board. The front radar 120 may transmit front radar data to the controller 140.

The plurality of corner radars 130 include a first corner radar 131 installed on the front right side of the vehicle 1, a second corner radar 132 installed on the front left side of the vehicle 1, and the vehicle 1 ), and a third corner radar 133 installed on the rear right side of the vehicle 1 and a fourth corner radar 134 installed on the rear left side of the vehicle 1.

The first corner radar 131 may have a detection field 131a facing the front right side of the vehicle 1 as shown in FIG. 3. The front radar 120 may be installed on the right side of the front bumper of the vehicle 1, for example. The second corner radar 132 may have a detection field 132a facing the front left of the vehicle 1, and may be installed, for example, on the left side of the front bumper of the vehicle 1. The third corner radar 133 may have a detection field 133a facing the rear right side of the vehicle 1, and may be installed, for example, on the right side of the rear bumper of the vehicle 1. The fourth corner radar 134 may have a detection field 134a facing the rear left of the vehicle 1, and may be installed, for example, on the left side of the rear bumper of the vehicle 1.

Each of the first, second, third, and fourth corner radars 131, 132, 133, and 134 may include a transmit antenna and a receive antenna. The first, second, third, and fourth corner radars 131, 132, 133, 134 acquire first corner radar data, second corner radar data, third corner radar data, and fourth corner radar data, respectively. can do. The first corner radar data may include distance information and speed levels of other vehicles, pedestrians, or cyclists (hereinafter referred to as "objects") positioned to the right in front of the vehicle 1. The second corner radar data may include distance information and a speed degree of an object positioned on the left in front of the vehicle 1. The third and fourth corner radar data may include distance information and relative speeds of objects located at the rear right of the vehicle 1 and the rear left of the vehicle 1.

Each of the first, second, third and fourth corner radars 131, 132, 133, 134 may be connected to the control unit 140 through, for example, a vehicle communication network (NT) or a hard wire or a printed circuit board. have. The first, second, third, and fourth corner radars 131, 132, 133, and 134 may transmit first, second, third, and fourth corner radar data to the controller 140, respectively.

4 is a view showing the interior of a vehicle according to an embodiment. As shown in Fig. 4, the vehicle 1 includes a steering wheel 50 and a sensor unit 103.

The sensor unit 103 includes a first sensor 103a that measures a user's brain waves, a second sensor 103b that measures a user's electrocardiogram, and a third sensor that measures nerve activity of the user's sympathetic or parasympathetic nerves. (103c) may be included.

Here, the sensor unit 103 may be located on the steering wheel 50, and is not necessarily limited to the position shown in FIG. 4. In addition, the first sensor 103a, the second sensor 103b, and the third sensor 103c do not necessarily exist at the same position, but may be provided at different positions.

5 shows an example of a warning system of a driver assistance system according to an embodiment and an emergency steering and/or emergency braking method of the driver assistance system according to an embodiment. However, this is only a preferred embodiment for achieving the object of the present invention, and some steps may be added or deleted as necessary.

The sensor unit 103 measures the driver's biological signal (211).

As described above, the biosignal may include at least one of EEG, electrocardiogram, sympathetic or parasympathetic nerve activity measured from the peripheral nerve of the driver.

The controller 140 builds a database of the driver's biometric information in real time based on the measured driver's biosignal (212).

Here, the database includes all bio-signals according to the measured driver.

Specifically, the built database may include brainwave information of the driver. Since the driver's EEG is measured as an electrical signal, EEG information can form a waveform based on a frequency band, and an EEG spectrum database can be built based on the formed waveform.

The controller 140 classifies the driver's EEG spectrum and calculates a threshold value of the EEG amplitude corresponding to the sleepy state (213).

Specifically, the control unit 140 quantitatively classifies the driver's sleepy EEG in the generated EEG spectrum database. For this quantitative measurement, a Fast Fourier Transform (FFT) method may be applied. Since the driver's brainwave shows a waveform in which the amplitude of the driver's brainwave increases rapidly in a sleepy state, the controller 140 may calculate a specific frequency band in which the driver's brainwave amplitude increases as a threshold.

After the threshold is calculated, the controller 140 compares the biosignal measured at the next time point with an assumed threshold (214).

If the measured biosignal is less than the threshold, the control unit measures the biosignal again (No)

If the measured signal is greater than the threshold value, the controller 140 generates a command value to the warning unit 52 (215) and controls the braking device and/or the steering device (225).

That is, the controller 140 may transmit a signal to the warning unit 52 when it is determined that the driver's brainwave is a sleepy brainwave as a result of analyzing the driver's brainwave database. In addition, when it is determined that the driver is in a sleepy state, the controller 140 may induce shoulder parking of the vehicle by controlling a steering device and/or a braking device. On the other hand, the warning unit 52 warns the driver. It can be a way to sound an alarm to the person. A method of warning by the warning unit 52 may be a method of vibrating the steering wheel 50. However, the warning method of the disclosed invention is not limited thereto, and other warning methods may be included.

In another example of the disclosed invention, if the driver's brain wave is determined as a sleepy brain wave, and a collision with a front object is determined based on the time to the collision or the distance to the collision, the controller 140 performs a collision with the front object. To avoid, a steering signal can be transmitted to the steering system 42.

6 is an EEG diagram of a driver generated by the controller 140 based on a bio-signal measured by the sensor unit 103 of the present invention according to an exemplary embodiment. However, this is only an embodiment of the driver of the present invention, and it goes without saying that the EEG may be different depending on the driver.

The X-axis of FIG. 6 represents the frequency band of the driver's EEG, and the Y-axis is the amplitude of the driver's EEG that has undergone a Fast Fourier Transform (FFT) process.

As shown in FIG. 6, since the driver's brainwave tends to activate the amplitude of a specific frequency band in a drowsy state, the controller 140 provides a database for bio signals that can be measured in various forms as shown in FIG. Can be built, and various thresholds can be set in the built database.

7 is a diagram illustrating a comparison of brain waves between a driver in a normal state and an abnormal state such as drowsiness.

The X-axis of FIG. 7 shows the period of the driver's EEG per 5 seconds, and the Y-axis shows the amplitude of the EEG according to the frequency band of the driver's EEG.

When the driver is in an abnormal state such as drowsiness, the period and amplitude of the driver's EEG tends to be longer or shorter than the period and amplitude of the normal EEG. Therefore, when the change in the period and amplitude of the brain wave as shown in FIG. 7 is detected in the established database, the controller 140 determines that the current driver is in an abnormal state and warns the user, or the steering device and the braking device Can be controlled.

The system and method disclosed through this are provided in the steering wheel 50 and determine whether the driver is drowsy based on the signal measured by the sensor unit 103 and the sensor unit 103 measuring signals from the driver's peripheral nerves. As a driver assistance system including a control unit 140 that measures brain waves through peripheral nerve signals, it is possible to sense a driver's state through this.

Meanwhile, the disclosed embodiments may be implemented in the form of a recording medium storing instructions executable by a computer. The instruction may be stored in the form of a program code, and when executed by a processor, a program module may be generated to perform the operation of the disclosed embodiments. The recording medium may be implemented as a computer-readable recording medium.

Computer-readable recording media include all kinds of recording media in which instructions that can be read by a computer are stored. For example, there may be read only memory (ROM), random access memory (RAM), magnetic tape, magnetic disk, flash memory, optical data storage device, and the like.

As described above, the disclosed embodiments have been described with reference to the accompanying drawings. Those of ordinary skill in the art to which the present invention pertains will understand that the present invention may be practiced 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.

1: vehicle 50: steering wheel
100: driver assistance system 103: sensor unit
110: front camera 120: front radar
130: multiple corner radars 131: first corner radar
132: second corner radar 133: third corner radar
134: fourth corner radar 140: control unit

Claims (10)

Steering wheel;
A front image sensor installed in a vehicle, having a front view of the vehicle, and obtaining front image data;
A front non-image sensor selected from the group consisting of a radar sensor and a lidar sensor, installed on the vehicle, and having a detection field of the vehicle in front of the vehicle, and obtaining forward detection data;
A corner non-image sensor selected from the group consisting of a radar sensor and a lidar sensor, installed in the vehicle, and having a side sensing field of the vehicle and obtaining side sensing data;
A sensor unit provided on the steering wheel and configured to measure at least one biosignal data of a driver's electrocardiogram, a driver's nerve activity, or an EEG measured from a driver's peripheral nerves; And
A control unit including a processor for processing the front image data, the front detection data, the side detection data and the biosignal data; and
The control unit,
A driver assistance system that determines the driver's sleepiness based on the brain waves included in the biometric signal data. The method of claim 1,
The control unit,
A driver assistance system for calculating a threshold value based on a frequency band in which the amplitude of the brain wave changes rapidly from the biosignal data. The method of claim 2,
The control unit,
Driver assistance system for comparing the amplitude of the brain wave measured from the bio-signal data with the calculated threshold. The method of claim 1,
A warning unit for outputting sound or vibration; further includes,
The control unit,
Driver assistance system for controlling the warning unit based on the determination result. The method of claim 1,
The control unit,
After determining whether the driver is drowsy, determining whether or not there is a collision with the front object and the side object based on at least one of the front image data, the front detection data, and the side detection data,
A driver assistance system that controls a steering device based on a result of determining whether or not there is a collision. Acquiring front image data of the vehicle by means of a camera installed on the vehicle and having a front view of the vehicle;
Acquiring front radar data of the vehicle by means of a front radar installed in the vehicle and having a front detection field of view of the vehicle;
Acquiring lateral radar data of the vehicle by means of a corner radar installed in the vehicle and having a lateral detection field of view of the vehicle;
Detecting a front object positioned in front of the vehicle and a side object positioned at a side of the vehicle in response to processing the front image data, the front radar data, and the side radar data;
Measuring at least one biosignal data from among a driver's heart rate, a driver's nerve activity, or an EEG measured from a driver's peripheral nerves through a sensor unit provided in the steering wheel; And
Determining the driver's sleepy state based on the brain waves included in the biosignal data. The method of claim 6,
To determine the above,
And calculating a threshold value based on a frequency band in which the amplitude of the brain wave changes rapidly from the biosignal data. The method of claim 7,
A control method of a driver assistance system for comparing the amplitude of the brain wave measured from the bio-signal data with the calculated threshold. The method of claim 6,
Further comprising outputting sound or vibration by the warning unit,
A control method of a driver assistance system for controlling the warning unit based on the determination result. The method of claim 6,
After determining whether the driver is drowsy, determining whether a collision with a front object and a side object is determined based on at least one of the front image data, the front radar data, and the side radar data,
A method of controlling a driver assistance system for controlling a steering device based on a result of determining whether or not there is a collision.

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