KR20210088117A - Driver assistance system and method therof - Google Patents

Abstract

The present invention relates to a driver assistance system which is able to store various data related to accidents in a situation with a high probability of occurrence of an accident, comprising: a first sensor installed in a vehicle to have a front vision of the vehicle, and acquire a front image data; a second sensor selected from a group made of a radar sensor and a LIDAR sensor and installed in the vehicle to have a detection vision on a front side of the vehicle, and acquire a front detection data; a third sensor selected from a group made of a radar sensor and a LIDAR sensor and installed in the vehicle to have a side detection vision of the vehicle, and acquire a side detection data; and a control unit which includes a processor which processes the front image data, the front detection data, and the side detection data. The control unit is able to respond to the processing of the front image data, the front detection data, and the side detection data, detect the environment of the road on which the vehicle is driving, front obstacles placed in front of the vehicle, and side obstacles placed on the sides of the vehicle, determine whether a specific event related to the environment of the road on which the vehicle is driving, the front obstacles, and the side obstacles has occurred or not, and selectively store the front image data, the front detection data, and the side detection data based on whether the specific event has occurred or not.

Description

DRIVER ASSISTANCE SYSTEM AND METHOD THEROF

To a driver assistance system and a method therefor, and more particularly, to a technology for storing various data related to an accident in a situation with a high probability of an accident.

A vehicle refers to a device capable of transporting people or goods to a destination while traveling on a road or track. The vehicle may be moved to various positions mainly by using one or more wheels installed on the vehicle body. Such a vehicle 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 rails disposed on a track.

Recently, more and more vehicles are installing blind spot checking devices on the front and rear of the vehicle so that drivers can conveniently check the blind spots while driving. A general method is to allow the driver to view the captured image through the monitor of the A/V system inside the vehicle.

For example, recently, in order to identify the cause of a traffic accident, a vehicle video recording device (DVR) that is installed in a vehicle to record an image outside the vehicle has been developed and commercialized. A black box is being used.

A car black box has the advantage of recording the video of the accident situation so that the accident can be accurately identified. However, since the black box currently being developed is a recording device for recording an image, there is a problem in that it is difficult to utilize it in an accident situation where it is difficult to analyze only the image.

In order to solve the above problems, an aspect of the disclosed invention is to provide a driver assistance system and a driver assistance method capable of acquiring not only image data but also data on the own vehicle and surrounding vehicles in an accident situation of the own vehicle.

According to an exemplary embodiment, a driver assistance system includes: a first sensor installed in a vehicle, having a front view of the vehicle, and acquiring front image data; a second sensor selected from the 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 acquiring forward detection data; a third sensor selected from the group consisting of a radar sensor and a lidar sensor, installed in the vehicle, having a side detection field of the vehicle, and acquiring side detection data; and a control unit including a processor for processing the front image data, the forward sensing data, and the side sensing data, wherein the control unit is configured to process the front image data, the forward sensing data, and the side sensing data In response, detecting an environment of a road on which the vehicle is traveling, a front object located in front of the vehicle, and a lateral object located on the side of the vehicle, the environment of the road on which the vehicle is traveling, the front object and the It is possible to determine whether a specific event related to the lateral object has occurred, and selectively store the front image data, the forward sensed data, and the lateral sensed data based on whether the specific event has occurred.

Also, when it is determined that the specific event has occurred, the control unit may store all of the front image data, the front detection data, and the side detection data.

Also, when it is determined that the specific event has not occurred, the controller may store only the front image data among the front image data, the front sensed data, and the side sensed data.

In addition, the controller may determine that the specific event has occurred when the vehicle departs from a driving lane.

In addition, the controller may determine that the specific event has occurred when the vehicle is expected to collide with at least one of the front object or the side object.

Also, the controller may determine that the specific event has occurred when at least one of the front object and the side object intervenes into a lane in which the vehicle is traveling.

Also, the controller may determine that the specific event has occurred when the vehicle enters the intersection.

A driver assistance system according to another embodiment for achieving the above object is a driver assistance system provided in a vehicle in which a black box for storing various data is installed, installed in the vehicle, has a front view of the vehicle, and a first sensor for acquiring image data; a second sensor selected from the 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 acquiring forward detection data; a third sensor selected from the group consisting of a radar sensor and a lidar sensor, installed in the vehicle, having a side detection field of the vehicle, and acquiring side detection data; and a control unit including a processor for processing the front image data, the forward sensing data, and the side sensing data, wherein the control unit is configured to process the front image data, the forward sensing data, and the side sensing data In response, detecting an environment of a road on which the vehicle is traveling, a front object located in front of the vehicle, and a lateral object located on the side of the vehicle, the environment of the road on which the vehicle is traveling, the front object and the It is possible to determine whether a specific event related to a lateral object occurs, and selectively transmit the front image data, the forward sensed data, and the lateral sensed data to the black box based on whether the specific event has occurred.

Also, when it is determined that the specific event has occurred, the controller may transmit all of the front image data, the front sensed data, and the side sensed data to the black box.

Also, the controller may transmit the front image data, the front sense data, and the side sense data to the black box only when the specific event occurs.

A driver assistance method according to an embodiment for achieving the above object includes: acquiring front image data of a vehicle; acquire forward sensing data of the vehicle;

acquiring lateral sensing data of the vehicle; process the front image data, the front sense data, and the side sense data; In response to processing the front image data, the forward detection data, and the side detection data, an environment of a road on which the vehicle is traveling, a front object located in front of the vehicle, and a side object located on the side of the vehicle to detect; determining whether a specific event related to the environment of the road on which the vehicle is traveling, the front object, and the side object occurs; and selectively storing the front image data, the front detection data, and the side detection data based on whether the specific event occurs.

In addition, selectively storing the front image data, the forward sensing data, and the side sensing data based on whether or not the specific event occurs may include, when it is determined that the specific event has occurred, the front image data and the forward sensing data and storing all of the side sensing data.

In addition, selectively storing the front image data, the forward sensing data, and the side sensing data based on whether the specific event has occurred, if it is determined that the specific event does not occur, the front image data, the front It may include; storing only the front image data among the sensing data and the side sensing data.

In addition, determining whether a specific event related to the environment of the road on which the vehicle is traveling, the front object, and the side object occurs is determining that the specific event has occurred when the vehicle leaves the driving lane; may include

In addition, determining whether a specific event related to the environment of the road on which the vehicle is traveling, the front object, and the side object occurs is to determine whether a collision of the vehicle with at least one of the front object or the side object is expected. Determining that an event has occurred; may include.

In addition, determining whether a specific event related to the environment of the road on which the vehicle is traveling, the front object, and the side object occurs is, when at least one of the front object or the side object intervenes into the lane on which the vehicle is driving and determining that the specific event has occurred.

In addition, determining whether a specific event related to the environment of the road on which the vehicle is traveling, the front object, and the side object occurs may include determining that the specific event has occurred when the vehicle enters an intersection; can

The obtaining of the front image data of the vehicle may include: acquiring first front image data by an image sensor installed in the vehicle and having a front view of the vehicle; and obtaining, by a black box installed in the vehicle, second front image data, wherein the processing of the front image data, the front sense data, and the side sense data includes: the first front image data and the front The sensing data and the side sensing data may be processed.

In addition, selectively storing the front image data, the front sensing data, and the side sensing data based on whether the specific event has occurred may include, when it is determined that the specific event has occurred, the first front image data, the second 2, storing all of the front image data, the front detection data, and the side detection data; may include.

In addition, selectively storing the front image data, the forward sensing data, and the side sensing data based on whether the specific event has occurred may include: if it is determined that the specific event does not occur, the first front image data; and storing only the second front image data among the second front image data, the front sensed data, and the side sensed data.

According to an aspect of the disclosed invention, unnecessary power consumption and storage space consumption can be prevented by determining the data storage time of the black box.

In addition, according to an aspect of the disclosed invention, it is possible to provide objective data capable of accurately analyzing an accident in an accident situation of a vehicle.

In addition, according to an aspect of the disclosed invention, additional costs may not be incurred by utilizing the existing black box and driver assistance system without an additional hardware system.

1 shows a configuration of a vehicle according to an embodiment.
2 illustrates a configuration of a driver assistance system according to an exemplary embodiment.
3 illustrates a black box included in a vehicle and a camera and radar included in a driver assistance system according to an exemplary embodiment.
4 is a flowchart of a driver assistance method according to an exemplary embodiment.
5 to 8 are diagrams illustrating an example of a time point at which image data and radar data are stored.

Like reference numerals refer to like elements throughout. This specification does not describe all elements of the embodiments, and general content in the technical field to which the present invention pertains or content that overlaps among the embodiments is omitted. The term 'part, module, member, block' used in the specification may be implemented in software or hardware, and according to embodiments, a plurality of 'part, module, member, block' may be implemented as one component, It is also possible for one 'part, module, member, block' to include a plurality of components.

Throughout the specification, when a part is "connected" with another part, it includes not only direct connection but also indirect connection, and indirect connection includes connection through a wireless communication network. do.

In addition, when a part "includes" a certain component, this means that other components may be further included rather than excluding other components unless otherwise stated.

Terms such as 1st, 2nd, etc. are used to distinguish one component from another component, and the component is not limited by the above-mentioned terms.

The singular expression includes the plural expression unless the context clearly dictates otherwise.

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

In addition, 'front object' and 'lateral object' in this specification refer to all objects that may collide with a vehicle, and include moving objects such as other vehicles, pedestrians, cyclists, etc., as well as trees, street lights, etc. may include a stationary object of

Hereinafter, the working 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 , a 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 driving the vehicle 1 . The transmission 20 includes a plurality of gears, and may transmit power generated by the engine 10 to the wheels. The braking device 30 may decelerate the vehicle 1 or stop the vehicle 1 through friction with the wheels. The steering device 40 may change the driving direction of the vehicle 1 .

The vehicle 1 may include a plurality of electrical 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), a driver assistance system 100 (Driver Assistance System, DAS), and a vehicle black box ( 200) may be further included.

The engine management system 11 may control the engine 10 in response to a driver's will 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 a 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 the wheel.

The electronic brake control module 31 may control the brake device 30 in response to the driver's will to brake through the brake pedal and/or slip of the wheels. For example, the electronic brake control module 31 may temporarily release the brake of the wheel in response to the slip of the wheel detected when the vehicle 1 is braked (Anti-lock Braking Systems, ABS). The electronic brake control module 31 may selectively release braking 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 the wheel in response to the 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 to decrease the steering force during low-speed driving or parking and increase the steering force for high-speed driving.

The body control module 51 may control the operation of electronic components that provide convenience to the driver or ensure the driver's safety. 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 black box 200 may acquire an image around the vehicle 1 by receiving power through a power source provided in the vehicle 1 . The black box 200 for this purpose may include a camera 210 independently of the driver assistance system 100 and may include a storage unit 220 for storing image data obtained from the camera 210 . have. In addition, the black box 200 may store various data other than image data. For example, the black box 200 may store image data and radar data received from the driver assistance system 100 as well as image data acquired by the camera 210 included in the black box 200 .

The driver assistance system 100 may assist a driver to operate (drive, brake, and steer) the vehicle 1 . For example, the driver assistance system 100 detects the environment of the road on which the vehicle 1 is traveling (eg, other vehicles, pedestrians, cyclists, lanes, road signs, etc.) and responds to the detected environment. In response, it is possible to control driving and/or braking and/or steering of the vehicle 1 .

The driver assistance system 100 may provide various functions to the driver. For example, the driver assistance system 100 includes a lane departure warning (LDW), a lane keeping assist (LKA), a high beam assist (HBA), an automatic emergency braking ( Autonomous Emergency Braking (AEB), Traffic Sign Recognition (TSR), Smart Cruise Control (SCC), and Blind Spot Detection (BSD) may be provided.

The driver assistance system 100 includes a camera module 101 that acquires image data around the vehicle 1 and a radar module 102 that acquires object data around the vehicle 1 . The camera module 101 includes a camera 101a and a controller (Electronic Control Unit, ECU) 101b, photographing the front of the vehicle 1 and recognizing other vehicles, pedestrians, cyclists, lanes, road signs, etc. can The radar module 102 includes a radar 102a and a controller 102b, and can acquire the relative position, relative speed, etc. of objects (eg, other vehicles, pedestrians, cyclists, etc.) around the vehicle 1 . have.

That is, the driver assistance system 100 processes the image data acquired from the camera module 101 and the detection data (radar data) acquired from the radar module 102, and in response to processing the image data and the radar data, the vehicle It is possible to detect the environment of the driving road, a front object located in front of the vehicle, and a side object located at the side of the vehicle.

The driver assistance system 100 is not limited to that 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 the 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). can give and receive For example, the driver assistance system 100 provides the engine management system 11 , the electronic brake control module 31 , and the electronic steering device 41 through the vehicle communication network NT, respectively, for a drive control signal, a brake signal, and a steering signal can be transmitted.

As another example, the driver assistance system 100 may transmit data acquired from the camera module 101 and/or data acquired from the radar module 102 to the black box 200 through the vehicle communication network NT. .

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

2 , the vehicle 1 may include a braking system 32 , a steering system 42 , a black box 200 , and a driver assistance system 100 .

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

As described above with reference to FIG. 1 , the black box 200 may include a camera 210 and a storage unit 220 for storing image data obtained from the camera 210 . The black box 200 may include a camera 210 having a field of view facing the front of the vehicle as shown in FIG. 3 . Although not shown in FIG. 3 , a plurality of black boxes 200 may be installed in the vehicle 1 , and the plurality of black boxes 200 each have a camera having a field of view facing the rear of the vehicle and a field of view facing to the side of the vehicle. It may further include at least one of the cameras having a.

Also, the black box 200 may store image data and radar data received from the driver assistance system 100 in the storage unit 220 .

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

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 a front windshield of the vehicle 1 .

The front camera 110 may photograph the front of the vehicle 1 and obtain image data of the front of the vehicle 1 . The image data in front of the vehicle 1 may include a position regarding other vehicles or pedestrians or cyclists or lanes 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 an electrical signal, 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 the vehicle communication network (NT), connected to the control unit 140 through a hard wire (hard wire), or a printed circuit board (Printed Circuit Board, PCB) may be connected to the controller 140 .

The front camera 110 may transmit image data of the 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 grille or a 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 by an object. have. The front radar 120 may acquire front radar data from the transmitted radio wave transmitted by the transmitting antenna and the reflected wave received by the receiving antenna. The forward radar data may include distance information and speed degrees about other vehicles or pedestrians or cyclists located in front of the vehicle 1 . The forward radar 120 calculates the state distance to the object based on the phase difference (or time difference) between the transmitted wave and the reflected wave, and calculates the relative speed of the object based on the frequency difference between the transmitted wave and the reflected wave can do.

The front radar 120 may be connected to the controller 140 through, for example, a vehicle communication network (NT) or a hard wire or a printed circuit board. The forward radar 120 may transmit forward 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 a front left side of the vehicle 1 , and the vehicle 1 . ) includes a third corner radar 133 installed on the rear right side of the vehicle, 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 of view 131a facing to the front right of the vehicle 1 as shown in FIG. 3 . The front radar 120 may be installed, for example, on the right side of the front bumper of the vehicle 1 . The second corner radar 132 may have a detection field of view 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 of view 133a facing the rear right 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 of view 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 and 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 degree about another vehicle or pedestrian or cyclist (hereinafter referred to as an “object”) located on the right front side of the vehicle 1 . The second corner radar data may include distance information and speed degree of an object located on the front left side of the vehicle 1 . The third and fourth corner radar data may include distance information and relative speeds of objects located on the rear right side of the vehicle 1 and the rear left side 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 controller 140 is a controller 101b (refer to FIG. 1) of the camera module 101 (refer to FIG. 1) and/or a controller 102b (refer to FIG. 1) of the radar module 102 (refer to FIG. 1) and/or a separate integration It may include a controller.

The controller 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 the For example, the processor 141 may include 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. may include a micro control unit (MCU) or a domain control unit (DCU) that generates the .

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 velocities of objects in front of the vehicle 1 based on the forward radar data acquired by the forward radar 120 . The processor 141 determines the position (direction) and type information (eg, whether the object is another vehicle, a pedestrian, or a cyclist) of the objects in front of the vehicle 1 based on the front image data of the front camera 110 . etc) can be obtained. 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, positions, and relative speeds of objects in front 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 type information, positions, and relative velocities 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 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 to collision that is less than a predetermined first reference time, the processor 141 may cause an audio and/or display to output a warning. In response to the time to collision less than the second predetermined reference time, the processor 141 may transmit a pre-braking signal to the braking system 32 . In response to the time to collision 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 velocities of the front objects, and tells the driver based on the comparison between the distance to the collision and the distance to the front objects. It may warn of a collision or transmit a braking signal to the braking system 32 .

The processor 141 calculates the position (distance and direction) and relative velocity of objects on the side (front right, front left, rear right, rear left) of the vehicle 1 based on the corner radar data of the plurality of corner radars 130 . 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 the collision with the front object is determined based on the time until the collision or the distance to the collision, the processor 141 may transmit a steering signal to the steering system 42 to avoid the collision with the front object. have.

The processor 141 may determine whether to avoid collision with a front object by changing the driving direction of the vehicle 1 based on the relative speed and the position (distance and direction) of the side 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 side object is not predicted after steering of the vehicle 1 based on the position (distance and direction) and relative speed of the side objects, the processor 141 steers the steering signal to avoid collision with the front object. can be sent to system 42 . If a collision with a lateral object is predicted after steering of the vehicle 1 based on the position (distance and direction) and relative speed of the lateral objects, the processor 141 may not transmit a steering signal to the steering system 42 . .

In addition, as will be described later, the processor 141 determines whether a specific event related to the environment of the road on which the vehicle 1 is traveling, the front object, and the side object occurs, and based on whether the specific event occurs, the front camera The forward image data acquired by 110 , forward detection data acquired by the front radar 120 , and side detection data acquired by the plurality of corner radars 130 may be selectively stored in the memory 142 .

In addition, in the case of the vehicle 1 in which the black box 200 is installed, the processor 141 determines the front image data obtained by the front camera 110 and the front image data obtained by the front radar 120 based on whether a specific event has occurred. The detection data and the side detection data acquired by the plurality of corner radars 130 may be transmitted to the black box 200 .

In the memory 142 , the processor 141 generates a program and/or data for processing image data, a program and/or data for processing the radar data, and the processor 141 generates a braking signal and/or a steering signal may store programs and/or data for

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 the processor 141 processes the image data and/or radar data The results can be temporarily remembered.

In addition, the memory 142 may permanently or semi-permanently store image data received from the front camera 110 and/or radar data received from the radars 120 and 130 according to a signal from the processor 141 . have.

The memory 142 for this purpose 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). ) may include non-volatile memory such as

That is, the memory 142 may temporarily store image data and/or radar data in a volatile memory when a specific event does not occur, and when a specific event occurs, according to a control signal of the processor 141 . The image data and/or radar data may be permanently stored in a non-volatile memory or semi-permanently stored in a volatile memory or a 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.

In this way, the controller 140 may transmit a braking signal to the braking system 32 based on whether a collision with a forward object is predicted. If the lateral object does not exist or a collision with the lateral object is not predicted, the controller 140 may transmit a steering signal to the steering system 42 to avoid the collision with the forward object. When a collision with a side object is predicted after steering, the controller 140 may not transmit a steering signal to the steering system 42 .

In addition, the controller 140 permanently stores the image data received from the front camera 110 and/or the radar data received from the radars 120 and 130 in the memory 142 based on whether a specific event occurs or not. , it can be transmitted to the black box 200 .

In this case, the specific event may include a case in which the controller 140 transmits a braking signal to the braking system 32 , and may include a case in which the controller 140 transmits a steering signal to the steering system 42 . can A specific event will be described later in detail with reference to FIGS. 4 to 8 .

4 is a flowchart of a driver assistance method according to an exemplary embodiment, and FIGS. 5 to 8 are diagrams illustrating an example of an image data and radar data storage time.

Referring to FIG. 4 , the front camera 110 and the radars 120 and 130 included in the driver assistance system 100 according to an embodiment may acquire front image data and radar data, respectively ( 1000 ).

The controller 140 may process the front image data and radar data obtained from the front camera 110 and the radars 120 and 130, and the road on which the vehicle is traveling in response to processing the front image data and the radar data It is possible to detect the environment of , a front object located in front of the vehicle, and a side object located at the side of the vehicle ( 1100 ).

Thereafter, the controller 140 may determine whether a specific event related to the environment of the road on which the vehicle is driving, the front object, and the side object occurs ( 1200 ).

In general, the controller 140 determines that a specific event has occurred when a braking signal is transmitted to the braking system 32 or a steering signal is transmitted to the steering system 42 because the risk of collision with another object is expected. can do.

That is, when the risk of collision between the vehicle 1 and another object is expected, the controller 140 may determine that a specific event has occurred.

Also, even if the risk of collision with another object is not expected, the controller 140 may determine that a specific event has occurred even when the vehicle leaves the driving lane and transmits the steering signal to the steering system 42 .

Referring to FIG. 5 , the vehicle 1 is leaving the driving lane, and the controller 140 may transmit a steering signal to the steering system 42 to prevent the vehicle 1 from departing from the lane. At the same time, the controller 140 may determine that a specific event related to the environment of the road on which the vehicle is traveling has occurred (Yes of 1200 ).

This is because, when the vehicle 1 deviates from the lane, the probability of occurrence of an accident increases compared to a general situation.

Referring to FIG. 6 , the front object 2 is approaching the vehicle 1 by invading the center line. At this time, the controller 140 determines the risk of collision with the front object 2 , and generates a braking signal and a steering signal for avoiding the front object 2 when a collision is expected. At the same time, the controller 140 may determine that a specific event related to the front object has occurred (Yes of 1200 ).

This is because, if a collision with a front object or a side object is expected, the probability of an accident is high.

Referring to FIG. 7 , a side object 2 is intervening into a lane in which the vehicle 1 is traveling. At this time, the controller 140 may detect the object 2 intervening in the front, and in some cases may generate a braking signal for securing an inter-vehicle distance with the object 2 intervening in the front. When the controller 140 detects the object 2 intervening in the front or generates a braking signal for securing an inter-vehicle distance with the object 2 intervening in the front, a specific event related to the side object or the front object occurs It can be determined that (example of 1200).

This is because, when another vehicle driving in the side lane intervenes into the driving lane of the vehicle, the probability of an accident occurring is increased compared to the normal situation.

Referring to FIG. 8 , a vehicle 1 is entering an intersection. At this time, the controller 140 may detect that the vehicle 1 is entering the intersection, and when the vehicle 1 enters the intersection, it is determined that a specific event related to the environment of the road on which the vehicle 1 is traveling has occurred. can be judged (example of 1200).

The vehicle 1 entering the intersection may mean that the distance between the vehicle 1 and the intersection is within a predetermined distance.

In addition, the controller 140 may determine whether the vehicle 1 is entering the intersection by processing the image data obtained from the front camera 110 and/or the radar data obtained by the radars 120 and 130 . However, it may be determined whether the vehicle 1 is entering the intersection based on the vehicle location information and road data.

When the vehicle 1 enters the intersection, the reason for determining that a specific event related to the environment of the road on which the vehicle 1 is traveling has occurred is that, when the vehicle 1 enters the intersection, the probability of an accident occurring increases compared to a general situation because it does

That is, although only the vehicle 1 entering the intersection is exemplified, it can be determined that a specific event has occurred even when the vehicle 1 enters the accident-prone section.

As described with reference to FIGS. 5 to 8 , the control unit 140 includes a Forward Collision Avoidance (FCA), an Autonomous Emergency Brake (AEB), and a Driver Attention Warning (DAW). ), when the driver assistance system 100 such as a lane keeping assist system (LKAS) operates, it may be determined that a specific event has occurred. Also, even when the driver assistance system 100 does not operate, it may be determined that a specific event has occurred if the probability of an accident occurring is higher than a general situation.

When the vehicle 1 is not provided with a separate black box 200 and only the driver assistance system 100 is provided, if it is determined that a specific event has not occurred (No in 1200), the controller 140 controls the front camera Only the front image data acquired from the front camera 110 among the information acquired from the 110 and the radars 120 and 130 may be permanently/semi-permanently stored ( 1210 ).

That is, when a specific event does not occur, the storage space of the memory 142 may be secured by not storing the radar data.

However, if it is determined that a specific event has not occurred when the black box 200 is provided in the vehicle 1 separately from the driver assistance system 100 (No in 1200), the controller 140 controls the front image data, The forward detection data and the side detection data may not be separately stored. That is, since the black box 200 already stores image data obtained from the camera 210 , there is no need to separately store image data or radar data.

When it is determined that a specific event has occurred (YES in 1200) when a separate black box 200 is not provided in the vehicle 1 and only the driver assistance system 100 is provided, the controller 140 controls the front camera 110 ) and all information obtained from the radars 120 and 130 may be permanently/semi-permanently stored ( 1220 ).

As described above, the controller 140 according to an exemplary embodiment stores both the image data and the radar data only when the probability of occurrence of an accident is high, so that the storage space of the memory 142 can be optimally used.

However, if a separate black box 200 is provided in the vehicle 1 and it is determined that a specific event has occurred (Yes in 1200), the control unit 140 obtains information obtained from the front camera 110 and the radars 120 and 130 . All of the information may be transmitted to the black box 200 .

That is, if a separate black box 200 is provided in the vehicle 1, all information obtained from the front camera 110 and the radars 120 and 130 is transmitted to the black box 200 only when a specific event occurs. The storage space of the black box 200 can be optimized.

As described above, the controller 140 determines whether a specific event related to the environment of the road on which the vehicle 1 is driving, the front object, and the side object occurs, and based on whether the specific event occurs, front image data, forward detection data and side sensing data may be selectively stored.

According to the driver assistance system 100 and the method according to an embodiment of the disclosed invention, when a specific event such as a high risk of collision or an operation of the driver assistance system 100 occurs, radar data along with image data are stored. By storing it, it is possible to obtain accurate data about the accident situation.

In addition, by storing the radar data only when a specific event occurs, power consumption and storage space consumption due to unnecessary data storage can be minimized.

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

The computer-readable recording medium includes any type of recording medium in which instructions readable by the computer are stored. For example, there may be a read only memory (ROM), a random access memory (RAM), a magnetic tape, a magnetic disk, a flash memory, an optical data storage device, and the like.

The disclosed embodiments have been described with reference to the accompanying drawings as described above. Those of ordinary skill in the art to which the present invention pertains will understand that the present invention may be practiced in other forms than 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: plurality of corner radars 131: first corner radar
132: second corner radar 133: third corner radar
134: fourth corner radar 140: control unit
200: black box

Claims (20)

a first sensor installed in a vehicle, having a front view of the vehicle, and acquiring front image data;
a second sensor selected from the 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 acquiring forward detection data;
a third sensor selected from the group consisting of a radar sensor and a lidar sensor, installed in the vehicle, having a side detection field of the vehicle, and acquiring side detection data; and
A control unit including a processor for processing the front image data, the front detection data, and the side detection data; includes,
The control unit, in response to processing the front image data, the front detection data, and the side detection data, the environment of the road on which the vehicle is traveling, a front object located in front of the vehicle, and the side of the vehicle Detect the lateral object located,
Determining whether a specific event related to the environment of the road on which the vehicle is driving, the front object and the side object occurs,
The driver assistance system selectively stores the front image data, the forward detection data, and the side detection data based on whether the specific event occurs. According to claim 1,
The control unit is
When it is determined that the specific event has occurred, the driver assistance system stores all of the front image data, the forward detection data, and the side detection data. According to claim 1,
The control unit is
When it is determined that the specific event does not occur, the driver assistance system stores only the front image data among the front image data, the forward detection data, and the side detection data. According to claim 1,
The control unit is
A driver assistance system that determines that the specific event has occurred when the vehicle leaves the driving lane. According to claim 1,
The control unit is
When a collision of the vehicle with at least one of the front object or the side object is expected, the driver assistance system determines that the specific event has occurred. According to claim 1,
The control unit is
The driver assistance system determines that the specific event has occurred when at least one of the front object and the side object intervenes into a lane in which the vehicle is traveling. According to claim 1,
The control unit is
A driver assistance system that determines that the specific event has occurred when the vehicle enters an intersection. In the driver assistance system provided in a vehicle in which a black box for storing various data is installed,
a first sensor installed in the vehicle, having a front view of the vehicle, and acquiring front image data;
a second sensor selected from the 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 acquiring forward detection data;
a third sensor selected from the group consisting of a radar sensor and a lidar sensor, installed in the vehicle, having a side detection field of the vehicle, and acquiring side detection data; and
A control unit including a processor for processing the front image data, the front detection data, and the side detection data; includes,
The control unit, in response to processing the front image data, the front detection data, and the side detection data, the environment of the road on which the vehicle is traveling, a front object located in front of the vehicle, and the side of the vehicle Detect the lateral object located,
Determining whether a specific event related to the environment of the road on which the vehicle is driving, the front object and the side object occurs,
The driver assistance system selectively transmits the front image data, the forward detection data, and the side detection data to the black box based on whether the specific event occurs. 9. The method of claim 8,
The control unit is
When it is determined that the specific event has occurred, the driver assistance system transmits all of the front image data, the forward detection data, and the side detection data to the black box. 9. The method of claim 8,
The control unit is
A driver assistance system that transmits the front image data, the forward detection data, and the side detection data to the black box only when the specific event occurs. acquire front image data of the vehicle;
acquire forward sensing data of the vehicle;
acquiring lateral sensing data of the vehicle;
process the front image data, the front sense data, and the side sense data;
In response to processing the front image data, the forward detection data, and the side detection data, the environment of the road on which the vehicle is traveling, a front object located in front of the vehicle, and a side object located on the side of the vehicle to detect;
determining whether a specific event related to the environment of the road on which the vehicle is traveling, the front object, and the side object occurs;
and selectively storing the front image data, the forward detection data, and the side detection data based on whether the specific event occurs. 12. The method of claim 11,
Selectively storing the front image data, the front detection data, and the side detection data based on whether the specific event occurs,
and storing all of the front image data, the front detection data, and the side detection data when it is determined that the specific event has occurred. 12. The method of claim 11,
Selectively storing the front image data, the front detection data, and the side detection data based on whether the specific event occurs,
and storing only the front image data among the front image data, the forward sensing data, and the side sensing data when it is determined that the specific event has not occurred. 12. The method of claim 11,
Determining whether a specific event related to the environment of the road on which the vehicle is driving, the front object and the side object occurs,
and determining that the specific event has occurred when the vehicle leaves the driving lane. 12. The method of claim 11,
Determining whether a specific event related to the environment of the road on which the vehicle is driving, the front object and the side object occurs,
and determining that the specific event has occurred when a collision of the vehicle with at least one of the front object or the side object is expected. 12. The method of claim 11,
Determining whether a specific event related to the environment of the road on which the vehicle is driving, the front object and the side object occurs,
and determining that the specific event has occurred when at least one of the front object and the side object cuts into a lane in which the vehicle is traveling. 12. The method of claim 11,
Determining whether a specific event related to the environment of the road on which the vehicle is driving, the front object and the side object occurs,
and determining that the specific event has occurred when the vehicle enters the intersection. 12. The method of claim 11,
Acquiring the front image data of the vehicle,
an image sensor installed in the vehicle and having a front view of the vehicle to acquire first front image data; and
Including; acquiring the second front image data by the black box installed in the vehicle;
Processing the front image data, the front sense data, and the side sense data,
The driver assistance method of processing the first forward image data, the forward detection data, and the side detection data. 19. The method of claim 18,
Selectively storing the front image data, the front detection data, and the side detection data based on whether the specific event occurs,
and storing all of the first front image data, the second front image data, the front detection data, and the side detection data when it is determined that the specific event has occurred. 19. The method of claim 18,
Selectively storing the front image data, the front detection data, and the side detection data based on whether the specific event occurs,
When it is determined that the specific event does not occur, storing only the second front image data from among the first front image data, the second front image data, the forward detection data, and the side detection data; auxiliary method.

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