KR20200141795A - driver assistance SYSTEM AND CONTROLLING METHOD THEREOF - Google Patents

Abstract

A driver assistance system according to an embodiment of the disclosed invention includes: a camera that is placed in a vehicle to have a field of view of the vehicle and obtains front image data; radar that is placed in the vehicle to have a detection field of view in front of the vehicle and obtains radar data; and a control unit for processing the image data and the radar data. The control unit recognizes a dashed lane based on the image data obtained by the camera, calculates an interval ratio of the dashed lane based on at least one of the recognized starting point or ending point of the dashed lane, and determines the type of a road on which the vehicle drives based on the interval ratio of the dashed lane.

Description

Driver assistance system and control method thereof {driver assistance system and control method thereof}

The disclosed invention relates to a driver assistance system, and more particularly, to a driver assistance system capable of avoiding a collision with surrounding objects in a driving situation, and a control method thereof.

In general, a vehicle refers to a means of transportation or transportation that travels on a road or track using fossil fuel, electricity, or the like as a power source. Vehicles can be moved to multiple locations mainly using one or more wheels installed on the vehicle body. Such vehicles may include a three-wheeled or four-wheeled vehicle, a two-wheeled vehicle such as a motorcycle, a construction machine, a bicycle, and a train running on a rail disposed on a track.

Recently, in order to reduce the burden on the driver and improve convenience, the advanced driver assistance system (ADAS) that actively provides information on the vehicle status, driver status, and surrounding environment has been used for vehicles equipped with the advanced driver assistance system (ADAS). Research is actively underway.

Examples of advanced driver assistance systems mounted on vehicles include Forward Collision Avoidance (FCA), Autonomous Emergency Brake (AEB), and Driver Attention Warning (DAW) systems. Such a system is a system for determining the risk of collision with an object in a driving situation of a vehicle, and providing a collision avoidance and warning through emergency braking in a crash situation.

An aspect provides a driver assistance system and a driver assistance method capable of recognizing information on nearby objects existing in a short distance in a driving situation of a vehicle and avoiding collision with surrounding objects.

As a technical means for achieving the above-described technical problem, a driver assistance system according to an aspect includes: a camera disposed on the vehicle to have a field of view of the vehicle and obtaining front image data; A radar disposed in the vehicle to have a detection field of view in front of the vehicle and obtaining radar data; And a control unit including processing the image data and the radar data; wherein the control unit recognizes a dashed lane based on the image data obtained by the camera, and a starting point of the recognized dotted line lane Alternatively, an interval ratio of the dotted line lane is calculated based on at least one of the end points, and the type of a road on which the vehicle is traveling is determined based on the interval ratio of the dotted line lane.

In addition, the control unit calculates the length of the line section and the blank section of the dotted line based on at least one of the start point or the end point of the dotted line lane, and the dotted line lane based on the calculated length of the line section and the blank section. The spacing ratio of can be calculated.

In addition, the controller may calculate a ratio of the length of the line section to the sum of the lengths of the line section and the blank section of the dotted line as the spacing ratio.

In addition, the controller may calculate a ratio of the length of the blank section to the sum of the lengths of the line section and the blank section of the dotted line as the spacing ratio.

In addition, the control unit may identify adjacent first and second line segments included in the dotted line based on the image data acquired by the camera, and each of the adjacent first and second line segments You can identify the starting point or the ending point.

In addition, the control unit calculates the distance between the start point of the first line section and the end point of the first line section as the length of the first line section, and the end point of the first line section and the second line section The distance between the starting points can be calculated as the length of the blank section.

In addition, a communication module for communicating with an external server; further comprising, the control unit, upon receiving the distance information of the dotted line from the communication module, compares the received distance information with the distance ratio of the dotted line, and the Based on the comparison result, the type of road the vehicle is traveling on may be determined.

In addition, the controller may detect a movement time of a starting point or an ending point of the dotted line based on the image data acquired by the camera, and calculate the vehicle speed based on the detected movement time.

In addition, the control unit may detect a movement time at which the start point or end point of the second line section moves to a position corresponding to the start point or end point of the first line section, based on the image data acquired by the camera. .

In addition, a communication module for communicating with an external server; further comprising, the control unit, upon receiving the distance information of the dotted line from the communication module, the speed of the vehicle based on the received distance information and the moving time Can be calculated.

A method of controlling a driver assistance system according to another aspect includes acquiring front image data of a vehicle; Process the image data; Recognizing a dashed lane based on the image data acquired by the camera; Calculating a spacing ratio of the dotted line lane based on at least one of a start point or an end point of the recognized dotted line lane; And determining a type of a road on which the vehicle is traveling based on a gap ratio of the dotted line.

In addition, calculating the spacing ratio of the dotted line lane may include calculating the length of the line section and the blank section of the dotted line lane based on at least one of a start point or an end point of the dotted line lane; And calculating a spacing ratio of the dotted line lane based on the calculated length of the line section and the blank section.

In addition, calculating the spacing ratio of the dotted line lane may include, as the spacing ratio, calculating a ratio of the length of the line section to the sum of the length of the line section and the blank section of the dotted line lane. .

In addition, calculating the spacing ratio of the dotted line lane may include, as the spacing ratio, calculating a ratio of the length of the blank section to the sum of the length of the line section and the blank section of the dotted line lane. .

In addition, calculating the spacing ratio of the dotted line lane may include: identifying adjacent first line section and second line section included in the dotted line based on image data acquired by the camera; And identifying a starting point or an ending point of each of the adjacent first line section and the second line section.

In addition, calculating the spacing ratio of the dotted lane may include calculating a distance between a starting point of the first line section and an ending point of the first line section as a length of the first line section; And calculating a distance between the end point of the first line section and the start point of the second line section as the length of the blank section.

In addition, communicating with an external server; further comprising, determining the type of road on which the vehicle is traveling, when receiving the distance information of the dotted line, the received distance information and the distance ratio between the dotted line Comparing; And determining the type of road the vehicle is traveling on based on the comparison result.

Also, detecting a movement time of a starting point or an ending point of the dotted line based on the image data obtained by the camera; And calculating the speed of the vehicle based on the detected movement time.

In addition, detecting the moving time of the starting point or the ending point of the dotted line lane may include a starting point or ending point of the second line segment corresponding to the starting point or ending point of the first line segment based on the image data acquired by the camera. It may include; detecting a movement time to move to the location.

In addition, communicating with an external server; further comprising, calculating the speed of the vehicle, upon receiving the distance information of the dotted lane, the speed of the vehicle based on the received distance information and the moving time To calculate; may include.

According to the driver assistance system and the control method thereof according to an aspect, since the type of the driving road or the speed of the vehicle may be detected based on image data, control accuracy for assisting the driver's driving may be improved.

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 is a diagram illustrating an example of a method for determining driving information by a driver assistance system according to an exemplary embodiment.
5 is a diagram for describing another example of a method for determining driving information by a driver assistance system according to an exemplary embodiment.
6 is a flowchart of a method of controlling a driver assistance system according to an exemplary embodiment.
7 is a flowchart of a method of controlling a driver assistance system according to an exemplary embodiment.

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 or content overlapping between the embodiments in the technical field to which the present invention pertains will be omitted. The term'unit, module, member, block' used in the specification may be implemented as 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.

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, the operating principle and embodiments of the present 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. Since the engine 10 includes a cylinder and a piston, it is possible to 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 in response to the driver's will to steer through the steering wheel. 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 assist a driver in manipulating (driving, braking, steering) the vehicle 1. For example, the driver assistance system 100 detects the environment around the vehicle 1 (e.g., other vehicles, pedestrians, cyclists, lanes, road signs, etc.), and responds to the detected environment. (1) Driving and/or braking and/or steering can be controlled.

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 for obtaining image data around the vehicle 1 and a radar module 102 for obtaining object data around the vehicle 1. 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 driver assistance system 100 is not limited to the one illustrated 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 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.

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

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 front camera 110, a front radar 120, and a plurality of corner radars 130, and further includes a communication module 150 for communicating with an external server. can do.

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.

The communication module 150 may receive various information about the driving environment of the vehicle 1 from an external server, and transmit various information related to the vehicle 1 to an external server.

The communication module 150 may receive distance information related to a dotted line spacing of a lane on which the vehicle 1 travels from an external server. In this case, when the lane is a dotted line, the gap information may include the gap of the dotted line, that is, the length of the blank section. Also, when the lane is a dotted line, the interval information may include an interval between adjacent line segments.

In addition, the communication module 150 may receive information related to a lane in which the vehicle 1 travels based on the location of the vehicle 1. At this time, the communication module 150 may determine the location of the vehicle 1 by using a Global Positioning System (GPS) signal, and may request information on a lane corresponding to the location of the vehicle 1 from an external server. .

To this end, the communication module 150 may include one or more components that enable communication with an external device, and may include, for example, at least one of a short-range communication module, a wired communication module, and a wireless communication module.

The short-range communication module is a Bluetooth module, an infrared communication module, a radio frequency identification (RFID) communication module, a wireless local access network (WLAN) communication module, an NFC communication module, and a Zigbee communication module. It may include various short-range communication modules that transmit and receive.

Wired communication modules include various wired communication modules such as Controller Area Network (CAN) communication module, Local Area Network (LAN) module, Wide Area Network (WAN) module, or Value Added Network (VAN) module. In addition to communication modules, various cable communication such as USB (Universal Serial Bus), HDMI (High Definition Multimedia Interface), DVI (Digital Visual Interface), RS-232 (recommended standard232), power line communication, or POTS (plain old telephone service) May contain modules.

In addition to the Wi-Fi module and the WiBro module, the wireless communication module includes Global System for Mobile Communication (GSM), Code Division Multiple Access (CDMA), Wideband Code Division Multiple Access (WCDMA), and universal mobile telecommunications system (UMTS). ), TDMA (Time Division Multiple Access), LTE (Long Term Evolution), etc. may include a wireless communication module supporting various wireless communication methods.

The wireless communication module may include a wireless communication interface including an antenna and a transmitter for transmitting signals. In addition, the wireless communication module may further include a signal conversion module that modulates a digital control signal output from the controller 140 into an analog type wireless signal through a wireless communication interface under control of the controller.

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

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 control unit 140 includes a processor 141 and a memory 142.

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 ( 42) can generate a braking signal and a steering signal for controlling. For example, the processor 141 is an image processor that processes front image data of the front camera 110 and/or a digital signal processor that processes 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 generates.

The processor 141 detects objects in front of the vehicle 1 (eg, other vehicles, pedestrians, cyclists, etc.) based on the front image data of the front camera 110 and the front radar data of the front radar 120 can do.

Specifically, the processor 141 may acquire the positions (distances and directions) and relative speeds of objects in front of the vehicle 1 based on the front radar data of the front radar 120. Processor 141 is based on the front image data of the front camera 110, the position (direction) and type information of the objects in front of the vehicle (1) (for example, whether the object is another vehicle, a pedestrian, or a cyclist) Etc.). In addition, the processor 141 matches the objects detected by the front image data to the objects detected by the front radar data, and acquires type information, position and relative speed of the front objects of the vehicle 1 based on the matching result. can do.

The processor 141 may generate a braking signal and a steering signal based on the type information, position and relative speed of front objects.

For example, the processor 141 calculates a time to collision (TTC) between the vehicle 1 and the front object based on the position (distance) and the relative speed of the front objects, and the time until the collision Based on the comparison between (TTC) and a predetermined reference time, it is possible to warn the driver of a collision or transmit a braking signal to the braking system 32. In response to a time until a collision that is less than a predetermined first reference time, the processor 141 may output a warning through audio and/or a display. In response to a time until collision that is less than the second predetermined reference time, the processor 141 may transmit a pre-braking signal to the braking system 32. In response to a time until collision that is less than the third predetermined reference time, the processor 141 may transmit an emergency braking signal to the braking system 32. In this case, the second reference time is smaller than the first reference time, and the third reference time is smaller than the second reference time.

As another example, the processor 141 calculates a distance to collision (DTC) based on the relative speeds of the objects in front, and provides the driver based on a comparison between the distance to the collision and the distances to the objects in front. A collision can be warned or a braking signal can be transmitted to the braking system 32.

The processor 141 is based on the corner radar data of the plurality of corner radars 130, the position (distance and direction) and relative speed of the lateral (front right, front left, rear right, rear left) objects of the vehicle 1 Can be obtained.

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

For example, if a collision with a front object is determined based on the time to collision or the distance to the collision, the processor 141 may transmit a steering signal to the steering system 42 to avoid collision with the front object. have.

The processor 141 may determine whether to avoid a collision with a front object by changing the driving direction of the vehicle 1 based on the position (distance and direction) and relative speed of the lateral objects of the vehicle 1. For example, if there is no object located on the side of the vehicle 1, the processor 141 may transmit a steering signal to the steering system 42 in order to avoid a collision with a front object. If a collision with a lateral object is not predicted after steering of the vehicle 1 based on the position (distance and direction) of the lateral objects and the relative speed, the processor 141 steers a steering signal to avoid a collision with the front object. To the system 42. If a collision with a side object is predicted after steering of the vehicle 1 based on the position (distance and direction) of the side objects and the relative speed, the processor 141 may not transmit the steering signal to the steering system 42. .

The memory 142 generates a program and/or data for the processor 141 to process image data, a program and/or data for processing radar data, and the processor 141 to generate a braking signal and/or a steering signal. It is possible to store programs and/or data for doing so.

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.

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.

As such, the controller 140 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 controller 140 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 controller 140 may not transmit a steering signal to the steering system 42.

At least one component may be added or deleted corresponding to the performance of the components of the driver assistance system 100 illustrated in FIGS. 1 and 2. In addition, it will be readily understood by those of ordinary skill in the art that the mutual positions of the components may be changed corresponding to the performance or structure of the system.

Meanwhile, each of the components shown in FIGS. 1 and 2 refers to software and/or hardware components such as a Field Programmable Gate Array (FPGA) and an Application Specific Integrated Circuit (ASIC).

4 is a diagram illustrating an example of a method for determining driving information by a driver assistance system according to an exemplary embodiment.

Referring to FIG. 4, the controller 140 of the driver assistance system 100 according to an exemplary embodiment may recognize a dashed lane based on image data obtained by the front camera 110.

In this case, the controller 140 may recognize a dotted line from among two lanes serving as boundaries for distinguishing a road on which the vehicle 1 is driven from a road on which other vehicles are running. If both lanes serving as a boundary for distinguishing the road on which the vehicle 1 is driven from the road on which other vehicles are driving are dotted lines, the controller 140 selects a dotted line in a predetermined direction among the two dotted lanes. I can recognize it.

The controller 140 may identify a line section and a blank section included in a dotted line based on the image data acquired by the front camera 110 and identify two adjacent line sections.

In this case, the line section means a section in which a line of a predetermined length constituting the dotted line exists, and the blank section means a section between line sections, that is, an empty section in which no line is displayed on the road.

The control unit 140 may detect the movement time of the starting point (B1, B2) or the ending point (A1, A2) of the dotted line based on the image data acquired by the front camera 110, and based on the detected movement time. Thus, the speed of the vehicle 1 can be calculated.

Specifically, the controller 140 can identify the first line section L1 and the second line section L2 of the dotted line, and based on the image data acquired by the front camera 110, the second line section It is possible to detect a movement time when the starting point B2 of L2 moves to a position corresponding to the starting point B1 of the first line section L1.

In this case, the control unit 140 determines the moving time of moving the start point B2 of the second line section L2 to the position corresponding to the start point B1 of the first line section L1 on the image data. It can be detected based on the period of.

Alternatively, the control unit 140 determines that the end point A2 of the second line section L2 corresponds to the end point A1 of the first line section L1 based on the image data acquired by the front camera 110. The travel time to move to the location can be detected.

At this time, the control unit 140 determines the moving time of moving the end point A2 of the second line section L2 to the position corresponding to the end point A1 of the first line section L1 on the image data. It can be detected based on the period of.

The controller 140 may calculate the speed of the vehicle 1 based on the distance information of the dotted line and the detected moving time received from the communication module 150.

Specifically, the control unit 140 identifies at least one of the length of the line section or the length of the blank section of the dotted line lane of the road on which the vehicle 1 is traveling based on the distance information of the dotted line lane received from the communication module 150 It is possible to use at least one of the length of the line section or the length of the blank section to identify the distance that the starting point or the ending point of a specific line section has moved.

The control unit 140 identifies the distance between the start point B2 of the second line section L2 and the start point B1 of the first line section L1 or the end point of the second line section L2 based on the interval information. The distance between (A2) and the end point (A1) of the first line section (L1) can be identified. In addition, the control unit 140 identifies the distance between the start point B2 of the second line section L2 and the end point A1 of the first line section L1 based on the spacing information, or the second line section L2. It is also possible to identify the distance between the end point (A2) of and the start point (B1) of the first line section (L1).

The controller 140 may calculate the speed of the vehicle 1 based on the identified distance and the moving time of the starting point or the ending point of the dotted line.

Through this, the controller 140 can calculate the speed of the vehicle 1 based on the interval of the lane without a separate sensor, and since it is possible to calculate the speed of the vehicle 1 more accurately, the driver assistance system 100 Control accuracy can be improved.

5 is a diagram for describing another example of a method for determining driving information by a driver assistance system according to an exemplary embodiment.

Referring to FIG. 5, the driver assistance system 100 according to an exemplary embodiment may determine the type of road the vehicle 1 is traveling on based on image data acquired by the front camera 110.

The control unit 140 calculates a gap ratio of the dotted line lane based on at least one of the starting point or the ending point of the dotted line lane recognized based on the image data acquired by the front camera 110, and based on the gap ratio of the dotted line lane. The type of road the vehicle 1 is traveling on can be determined.

Specifically, the control unit 140 may calculate the length of the line section D1 and the blank section D2 of the dotted line based on at least one of the start points Q2 and Q3 or the end points P2 and P3 of the dotted line. have. The controller 140 may calculate the interval ratio of the dotted lane based on the calculated lengths of the line section D1 and the blank section D2.

In this case, the control unit 140 may calculate a ratio of the length of the line section D1 to the sum of the lengths of the line section D1 and the blank section D2 of the dotted lane as the interval ratio. In this case, if the ratio of the length is expressed as an equation, it is shown in Equation 1.

In this case, R1 means the ratio of the length of the line section to the sum of the lengths of the line section and the blank section of the dotted line, D1 is the length of the line section, D2 is the length of the blank section, and Dt is the line section and the blank section. Means the sum of the lengths of

In addition, the sum of the lengths of the line section (D1) and the blank section (D2) of the dotted lane is the section from the start point (Q2) of the first line section (L1) to the start point (Q3) of the second line section (L2) ( Dt) may mean the length, and may mean the length of the section from the end point P2 of the first line section L1 to the end point P2 of the second line section L2.

Alternatively, the controller 140 may calculate a ratio of the length of the blank section D2 to the sum of the lengths of the line section D1 and the blank section D2 of the dotted lane as the spacing ratio. In this case, if the ratio of the length is expressed as an equation, it is shown in Equation 2.

In this case, R2 means the ratio of the length of the blank section to the sum of the length of the line section and the blank section of the dotted line, D1 is the length of the line section, D2 is the length of the blank section, and Dt is the line section and the blank section. Means the sum of the lengths of

To this end, the control unit 140 can calculate the distance between the start point Q2 of the first line section L1 and the end point P2 of the first line section L1 as the length of the first line section L1. have. In addition, the controller 140 may calculate a distance between the end point P2 of the first line section L1 and the start point Q3 of the second line section L2 as the length of the blank section.

When calculating the gap ratio of the dotted line lane, the control unit 140 may compare the gap information of the dotted line lane received from the communication module 150 with the calculated gap ratio, and based on the comparison result, the road on which the vehicle 1 is traveling You can decide the type of

In this case, the interval information of the dotted line lane received by the communication module 150 from an external server may include at least one of a predetermined interval or an interval ratio of the dotted line lane for each type of road.

The controller 140 may compare the calculated spacing ratio with spacing information of the received dotted lane, and determine the type of road having spacing information corresponding to the calculated spacing ratio as the type of road on which the vehicle 1 is traveling. .

Based on the determined type of road, the controller 140 may control various configurations of the vehicle 1 including at least one of the braking system 32 and the steering system 42.

Through this, since the type of driving road can be determined based on image data acquired by the front camera 110 in addition to information transmitted from an external server, the control accuracy of the driver assistance system 100 can be improved. Accordingly, user convenience can be increased.

6 is a flowchart of a method of controlling a driver assistance system according to an exemplary embodiment.

Referring to FIG. 6, the driver assistance system 100 according to an exemplary embodiment may check whether a dotted line is recognized (311 ). In this case, the driver assistance system 100 may recognize a dotted line from among two lanes serving as boundaries for distinguishing the road on which the vehicle 1 is driven from the road on which other vehicles are running. If both lanes serving as a boundary for distinguishing the road on which the vehicle 1 is driven from the road on which other vehicles are driving are dotted lanes, the driver assistance system 100 is a dotted line in a predetermined direction among the two dotted lanes. The lane can be recognized.

When the dotted line is recognized (YES in 311), the driver assistance system 100 may identify the start point or the end point of the dotted line based on the image data acquired by the front camera 110 (312).

To this end, the driver assistance system 100 can identify a line section and a blank section included in a dotted line based on image data acquired by the front camera 110, and can identify two adjacent line sections. . In this case, the line section means a section in which a line of a predetermined length constituting the dotted line exists, and the blank section means a section between line sections, that is, an empty section in which no line is displayed on the road.

Specifically, the driver assistance system 100 may identify a starting point or an ending point of a line section of a dotted line as a starting point or ending point of the dotted line.

When the starting point or the ending point of the dotted lane is identified, the driver assistance system 100 may detect a movement time of the starting point or the ending point of the dotted lane based on the image data acquired by the front camera 110 (313 ).

Specifically, the driver assistance system 100 may detect a moving time at which the starting point of the second line section moves to a position corresponding to the starting point of the first line section, based on the image data acquired by the front camera 110. have. In this case, the driver assistance system 100 may detect a movement time in which the start point of the second line section moves to a position corresponding to the start point of the first line section on the image data, based on the period of the frame of the image data.

Alternatively, the driver assistance system 100 may detect a movement time at which the end point of the second line section moves to a position corresponding to the end point of the first line section, based on the image data acquired by the front camera 110. have. In this case, the driver assistance system 100 may detect a movement time in which the end point of the second line section moves to a position corresponding to the end point of the first line section on the image data based on the period of the frame of the image data.

When the moving time of the start point or the end point of the dotted line is detected, the driver assistance system 100 may calculate the speed of the vehicle 1 based on the distance information of the dotted line and the detected moving time (314).

In this case, the interval information of the dotted lane means information received from an external server through the communication module 150. When the lane is a dotted line, the gap information may include the gap of the dotted line, that is, the length of the blank section. Also, when the lane is a dotted line, the interval information may include an interval between adjacent line segments.

Specifically, the driver assistance system 100 is at least one of a length of a line section or a length of a blank section of a dotted line of a road on which the vehicle 1 is traveling based on the distance information of the dotted line lane received from the communication module 150. Can be identified, and the distance to which the starting point or the ending point of a specific line section has moved by using at least one of the length of the line section or the length of the blank section can be identified.

The driver assistance system 100 may identify the distance between the start point of the second line section and the start point of the first line section or the distance between the end point of the second line section and the end point of the first line section based on the distance information. I can. In addition, the driver assistance system 100 identifies the distance between the start point of the second line section and the end point of the first line section based on the distance information, or determines the distance between the end point of the second line section and the start point of the first line section. You can also identify.

The driver assistance system 100 may calculate the speed of the vehicle 1 based on the identified distance and the moving time of the start point or end point of the dotted line.

Through this, the driver assistance system 100 can calculate the speed of the vehicle 1 based on the distance between the lanes without a separate sensor, and since it is possible to calculate the speed of the vehicle 1 more accurately, it assists the driving of the driver. The control accuracy for this can be improved.

7 is a flowchart of a method for controlling a driver assistance system according to an exemplary embodiment.

Referring to FIG. 7, the driver assistance system 100 according to an embodiment may check whether a dotted line is recognized (321 ).

When the dotted line is recognized (YES in 321), the driver assistance system 100 may identify the start point and the end point of the dotted line based on image data acquired by the front camera 110 (322).

When the start and end points of the dotted line are identified, the driver assistance system 100 may calculate the length of the line section and the blank section of the dotted line based on the identified start and end points of the dotted line lane (323 ).

Specifically, the driver assistance system 100 may calculate the length of the line section and the blank section of the dotted line based on the start and end points of the dotted line.

To this end, the driver assistance system 100 can identify the line section and the blank section included in the dotted line based on the image data acquired by the front camera 110, and adjacent first line section and first line section. And the second line section can be identified.

The driver assistance system 100 may calculate a distance between the start point of the first line section and the end point of the first line section as the length of the first line section. In addition, the driver assistance system 100 may calculate a distance between the end point of the first line section and the start point of the second line section as the length of the blank section.

When the length of the line section and the blank section of the dotted line lane is calculated, the driver assistance system 100 may calculate the spacing ratio of the dotted line lane based on the length of the line section and the blank section of the dotted line lane (324).

Specifically, the driver assistance system 100 may calculate a ratio of the length of the line section to the sum of the lengths of the line section and the blank section of the dotted line as a spacing ratio. Alternatively, the driver assistance system 100 may calculate a ratio of the length of the blank section to the sum of the lengths of the line section and the blank section of the dotted line as the spacing ratio.

Thereafter, the driver assistance system 100 may determine the type of road on which the vehicle 1 is traveling based on the calculated distance ratio of the dotted lanes (325 ).

Specifically, the driver assistance system 100 may compare the distance information of the dotted line lane received from the communication module 150 with the calculated distance ratio, and determine the type of road the vehicle 1 is traveling on based on the comparison result. I can. In this case, the interval information of the dotted line lane received by the communication module 150 from an external server may include at least one of a predetermined interval or an interval ratio of the dotted line lane for each type of road.

The driver assistance system 100 compares the calculated gap ratio with gap information of the received dotted lane, and determines the type of road having gap information corresponding to the calculated gap ratio as the type of road on which the vehicle 1 is traveling. I can.

The driver assistance system 100 may control various components of the vehicle 1 in order to assist a driver traveling on a corresponding road based on the determined type of road. Specifically, the driver assistance system 100 may assist the driver by controlling various configurations of the vehicle 1 including at least one of the braking system 32 or the steering system 42 based on the determined type of road. .

Through this, since the type of driving road can be determined based on image data acquired by the front camera 110 in addition to information transmitted from an external server, the control accuracy of the driver assistance system 100 can be improved. Accordingly, user convenience can be increased.

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 100: driver assistance system
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
150: communication module

Claims (20)

A camera disposed on the vehicle so as to have a field of view of the vehicle and obtaining front image data;
A radar disposed in the vehicle to have a detection field of view in front of the vehicle and obtaining radar data; And
Including; a control unit including processing the image data and the radar data,
The control unit,
Recognizing a dashed lane based on the image data acquired by the camera, calculating a spacing ratio of the dashed lane based on at least one of a starting point or an ending point of the recognized dashed lane, and calculating the spacing of the dashed lane Driver assistance system for determining the type of road the vehicle is traveling on based on the ratio. The method of claim 1,
The control unit,
Calculating the length of the line section and the blank section of the dotted line based on at least one of the starting point or the ending point of the dotted line lane, and calculating the spacing ratio of the dotted line lane based on the calculated length of the line section and the blank section Driver assistance system. The method of claim 2,
The control unit,
As the distance ratio, a driver assistance system for calculating a ratio of the length of the line section to the sum of the lengths of the line section and the blank section of the dotted line. The method of claim 2,
The control unit,
A driver assistance system for calculating a ratio of the length of the blank section to the sum of the length of the line section and the blank section of the dotted line as the spacing ratio. The method of claim 1,
The control unit,
Identifying the adjacent first line section and the second line section included in the dotted line based on the image data acquired by the camera, and identifying a start point or an end point of each of the adjacent first line section and the second line section Driver assistance system. The method of claim 5,
The control unit,
The distance between the start point of the first line section and the end point of the first line section is calculated as the length of the first line section, and the distance between the end point of the first line section and the start point of the second line section is the Driver assistance system that calculates the length of the blank section The method of claim 1,
A communication module that communicates with an external server; further includes,
The control unit,
When receiving the distance information of the dotted line from the communication module, a driver assistance system that compares the received distance information with the distance ratio of the dotted line, and determines the type of road on which the vehicle is traveling based on the comparison result . The method of claim 5,
The control unit,
A driver assistance system configured to detect a moving time of a starting point or an ending point of the dotted line based on image data acquired by the camera, and calculating a speed of the vehicle based on the detected moving time. The method of claim 8,
The control unit,
A driver assistance system that detects a movement time at which a start point or end point of the second line section moves to a position corresponding to the start point or end point of the first line section, based on the image data acquired by the camera. The method of claim 8,
A communication module that communicates with an external server; further includes,
The control unit,
When receiving the distance information of the dotted line from the communication module, the driver assistance system calculates the speed of the vehicle based on the received distance information and the moving time. Acquiring front image data of the vehicle;
Process the image data;
Recognizing a dashed lane based on the image data acquired by the camera;
Calculating a spacing ratio of the dotted line lane based on at least one of a start point or an end point of the recognized dotted line lane; And
Determining the type of the road on which the vehicle is traveling based on the ratio of the gap between the dotted line lanes. The method of claim 11,
Calculating the spacing ratio of the dotted lanes,
Calculating a length of a line section and a blank section of the dotted line based on at least one of a start point or an end point of the dotted line lane; And
And calculating a distance ratio of the dotted line lanes based on the calculated lengths of the line section and the blank section. The method of claim 12,
Calculating the spacing ratio of the dotted lanes,
And calculating a ratio of the length of the line section to the sum of the lengths of the line section and the blank section of the dotted line as the spacing ratio. The method of claim 12,
Calculating the spacing ratio of the dotted lanes,
And calculating a ratio of the length of the blank section to the sum of the lengths of the line section and the blank section of the dotted line as the spacing ratio. The method of claim 11,
Calculating the spacing ratio of the dotted lanes,
Identifying an adjacent first line section and a second line section included in the dotted line based on the image data acquired by the camera; And
Identifying a starting point or an ending point of each of the adjacent first line section and the second line section. The method of claim 15,
Calculating the spacing ratio of the dotted lanes,
Calculating a distance between a start point of the first line section and an end point of the first line section as the length of the first line section; And
And calculating a distance between the end point of the first line section and the start point of the second line section as the length of the blank section. The method of claim 11,
To communicate with an external server; further includes,
Determining the type of road the vehicle is traveling on,
Upon receiving the interval information of the dotted line lane, comparing the received interval information with the interval ratio of the dotted line lane; And
And determining the type of road on which the vehicle is traveling based on the comparison result. The method of claim 15,
Detecting a movement time of a starting point or an ending point of the dotted line based on the image data acquired by the camera; And
Calculating the speed of the vehicle based on the detected travel time. The method of claim 18,
Detecting the moving time of the start point or the end point of the dotted line lane,
The driver assistance system comprising: detecting a movement time at which the start point or end point of the second line section moves to a position corresponding to the start point or end point of the first line section, based on the image data acquired by the camera. Control method. The method of claim 18,
To communicate with an external server; further includes,
Calculating the speed of the vehicle,
And calculating the vehicle speed based on the received distance information and the moving time upon receiving the distance information of the dotted line lane.

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