KR20230106768A - Advanced Driver Assistance System, and Vehicle having the same - Google Patents

Abstract

The present invention relates to a driver assistance system and a vehicle having the same.
A driver assistance system of the present invention includes an image acquisition unit; and recognizing the own lane object, lane object, and obstacle object based on the image information acquired by the image acquisition unit, and acquiring, converting, and converting 3D vehicle detection image information based on the depth information of the recognized obstacle object. Recognizing a target vehicle object for the target vehicle based on the vehicle detection image information, determining whether a part of the target vehicle object overlaps the lane object based on the recognized location information of the target vehicle object and the location information of the lane object; If it is determined that a part of the target vehicle object overlaps with the lane object, it is determined whether the target vehicle is cut out or not based on the area information of the region located on the object of the vehicle among the regions of the target vehicle object, and determines whether the target vehicle is cut out or not. and a processor for generating a deceleration signal or an acceleration signal based on the

Description

Driver assistance system and vehicle having the same {Advanced Driver Assistance System, and Vehicle having the same}

The present invention relates to a driver assistance system for preventing collision with an obstacle while driving and a vehicle having the same.

Recently, various advanced driver assistance systems (ADAS) are being developed to deliver driving information of a vehicle to a driver in order to prevent an accident caused by a driver's negligence, and also to enable autonomous driving for the driver's convenience.

As an example, there is a technology in which a distance sensor is mounted on a vehicle to detect an obstacle around the vehicle and alerts the driver.

As another example, there is a cruise control technology for driving while constantly adjusting the driving speed. Recently, with the development of technology, a cruise control technology is being developed that not only automatically controls driving speed, but also controls a distance from another vehicle, stopping and slowing.

As another example, there is an autonomous driving technology that autonomously travels to a destination based on road information and current location information, detects an obstacle, and autonomously travels to the destination while avoiding the detected obstacle.

These cruise control technologies and autonomous driving technologies use obstacle sensors to recognize the situation ahead of the vehicle, and operate the engine or brakes according to the recognized situation ahead to adjust the driving speed and distance between vehicles without driver intervention.

That is, when predicting a driving situation, conventional cruise control technology and autonomous driving technology recognize a target vehicle driving in front of the vehicle through an obstacle sensor, and then follow the target vehicle and adjust the distance between vehicles and driving speed.

Such cruise control technology and autonomous driving technology control acceleration in response to a sudden cut-out of the target vehicle, and as a result, there is a problem of colliding with another target vehicle traveling in front of the target vehicle.

One aspect provides a driver assistance system for determining a cut-out state of a surrounding target vehicle based on image information and adjusting a driving speed in response to the cut-out state of a surrounding target vehicle, and a vehicle having the same.

A driver assistance system according to one aspect includes an image acquisition unit; and recognizing the own lane object, lane object, and obstacle object based on the image information acquired by the image acquisition unit, and acquiring, converting, and converting 3D vehicle detection image information based on the depth information of the recognized obstacle object. Recognizing a target vehicle object for the target vehicle based on the vehicle detection image information, determining whether a part of the target vehicle object overlaps the lane object based on the recognized location information of the target vehicle object and the location information of the lane object; If it is determined that a part of the target vehicle object overlaps with the lane object, it is determined whether the target vehicle is cut out or not based on the area information of the region located on the object of the vehicle among the regions of the target vehicle object, and determines whether the target vehicle is cut out or not. and a processor for generating a deceleration signal or an acceleration signal based on the

The processor of the driver assistance system according to one aspect recognizes a rear panel object of the target vehicle based on the 3D vehicle detection image, and lateral location information and longitudinal location information of the target vehicle based on the 3D vehicle detection image. Obtain distance information between the lane object and the rear panel object of the target vehicle based on the acquired lateral position information and longitudinal position information of the target vehicle, and determine whether the target vehicle is cut out based on the distance information do.

A driver assistance system according to an aspect includes a communication unit receiving driving information of a vehicle; and an obstacle detection unit configured to detect surrounding obstacles and output obstacle information about the detected obstacles, wherein the processor obtains lateral speed information of the target vehicle based on vehicle driving information and obstacle information, and obtains the obtained lateral speed information. Based on the direction speed information and the distance information, whether or not the target vehicle is cut out is additionally determined.

If the processor of the driver assistance system according to an aspect determines that the target vehicle is in a cut-out state by additionally determining whether or not the target vehicle is cut-out, the processor creates another target vehicle object for another target vehicle based on 3D vehicle detection image information. and acquires relative distance information and relative speed information of another target vehicle to another target object recognized based on the obstacle information detected by the obstacle detection unit, and based on the relative distance information and relative speed information of the other target vehicle Generate an acceleration signal or deceleration signal.

When the processor of the driver assistance system according to one aspect recognizes the risk of collision with the target vehicle based on the area information, the obtained lateral speed information, and the distance information, and determines that the risk of collision with the target vehicle exceeds the reference risk of collision Relative distance information and relative speed information of the target vehicle are obtained based on the obstacle information detected by the obstacle detection unit and the driving information of the vehicle, and an acceleration signal or deceleration signal is obtained based on the acquired relative distance information and relative speed information of the target vehicle. generate

The processor of the driver assistance system according to one aspect may, when it is determined that the risk of collision with the target vehicle is less than or equal to the standard collision risk, the obtained relative distance information and relative speed information of the target vehicle and relative distance information and relative speed information of another target vehicle. Based on this, an acceleration signal or deceleration signal is generated.

The processor of the driver assistance system according to one aspect may obtain length information of the target vehicle, width information of the target vehicle, and heading angle information of the target vehicle based on the 3D vehicle detection image information, and obtain the length information of the target vehicle and the target vehicle's heading angle information. Area information of the region is obtained based on the width information and the heading angle information of the target vehicle.

A driver assistance system according to an aspect further includes a communication unit configured to communicate with a vehicle processor provided in a vehicle, and the processor transmits a deceleration signal or an acceleration signal to the vehicle processor through the communication unit.

A vehicle according to another aspect includes a driving information detection unit configured to detect driving information; an obstacle detection unit that detects nearby obstacles and outputs obstacle information about the detected obstacles; An image acquisition unit for acquiring images of the front and left and right side roads; and recognizing the own lane object, lane object, and obstacle object based on the image information acquired by the image acquisition unit, and acquiring, converting, and converting 3D vehicle detection image information based on the depth information of the recognized obstacle object. Recognizing a target vehicle object for the target vehicle based on the vehicle detection image information, determining whether a part of the target vehicle object overlaps the lane object based on the recognized location information of the target vehicle object and the location information of the lane object; If it is determined that a part of the target vehicle object overlaps the lane object, it is determined whether the target vehicle is cut out based on area information of the region located on the object of the vehicle among the regions of the target vehicle object, whether the target vehicle is cut out, and a processor generating a deceleration signal or an acceleration signal based on driving information and obstacle information.

A vehicle according to another aspect includes a braking system that performs deceleration based on a generated deceleration signal; and an engine system that performs acceleration based on the generated acceleration signal.

A processor of a vehicle according to another aspect recognizes a rear panel object of a target vehicle based on a 3D vehicle detection image, obtains lateral location information and longitudinal location information of the target vehicle based on the 3D vehicle detection image, , Distance information between a lane object and a rear panel object of the target vehicle is obtained based on the acquired lateral location information and longitudinal location information of the target vehicle, and based on the distance information, it is determined whether the target vehicle is cut out.

The processor of the vehicle according to another aspect obtains lateral speed information of the target vehicle based on driving information and obstacle information, and further determines whether the target vehicle is cut out based on the obtained lateral speed information and distance information. .

According to another aspect, the processor of the vehicle recognizes another target vehicle object for another target vehicle based on the 3D vehicle detection image information when it is determined that the target vehicle is in a cutout state by additionally determining whether or not the target vehicle is cutout. Obtaining relative distance information and relative speed information of another target vehicle to another target object recognized based on the obstacle information detected by the obstacle detection unit, and an acceleration signal based on the relative distance information and relative speed information of the other target vehicle. Or generate a deceleration signal.

The processor of the vehicle according to another aspect recognizes the risk of collision with the target vehicle based on the area information, the obtained lateral speed information, and the distance information, and when it is determined that the risk of collision with the target vehicle exceeds the reference risk of collision, the obstacle detection unit Obtain relative distance information and relative speed information of the target vehicle based on the obstacle information detected by the obstacle information and driving information of the vehicle, and generate an acceleration signal or deceleration signal based on the obtained relative distance information and relative speed information of the target vehicle. do.

According to another aspect, the processor of the vehicle may determine that the risk of collision with the target vehicle is less than or equal to the standard collision risk based on the acquired relative distance information and relative speed information of the target vehicle and relative distance information and relative speed information of another target vehicle. Generate an acceleration signal or deceleration signal.

According to another aspect, the vehicle processor may obtain length information of the target vehicle, width information of the target vehicle, and heading angle information of the target vehicle based on the 3D vehicle detection image information, and obtain the length information of the target vehicle and the width information of the target vehicle. , Area information of the region is obtained based on the heading angle information of the target vehicle.

A vehicle according to another aspect includes a display unit displaying collision notification information with a target vehicle; and a sound output unit configured to output collision notification information with the target vehicle.

According to the present invention, based on image information, it is possible to quickly recognize a cut-out state in which a target vehicle driving near the host vehicle changes its driving path, and if it is determined that the target vehicle is in a cut-out state, the driving speed of the host vehicle is controlled. By doing so, the performance of cruise control mode or autonomous driving mode can be improved.

In addition, the present invention can give a driver a sense of psychological stability through rapid driving speed control, and not only other nearby vehicles (ie, the first target vehicle), but also another vehicle (ie, the second target vehicle) traveling in front of the other vehicle. ) can also be prevented.

The present invention can determine the cut-out state of a surrounding target vehicle without adding a hardware configuration, thereby preventing an increase in vehicle cost, improving vehicle stability, and improving the utilization of driver assistance systems. .

As described above, the present invention can improve the quality and marketability of a driver assistance system and a vehicle having a driver assistance system, further increase user satisfaction, and secure product competitiveness.

1 is a configuration diagram of a vehicle according to an embodiment.
2 is a configuration diagram of a driver assistance system provided in a vehicle according to an embodiment.
3 is an exemplary view of a detection area of a camera and a radar included in a driver assistance system of a vehicle according to an embodiment.
4 is a control configuration diagram of a driver assistance system performing a cruise control mode among driver assistance systems provided in a vehicle according to an embodiment.
5A, 5B, and 5C are exemplary diagrams for determining a cut-out state of a target vehicle in a driver assistance system provided in a vehicle according to an embodiment.
6 is a detailed configuration diagram of a second processor in a driver assistance system provided in a vehicle according to an embodiment.
eh 7 is a control flowchart of a vehicle according to an embodiment.

Like reference numbers designate like elements throughout the specification. This specification does not describe all elements of the embodiments, and general content or overlapping content between the embodiments in the technical field to which the disclosed invention belongs is omitted.

The term 'unit, module, member, or block' used in the specification may be implemented as software or hardware, and according to embodiments, a plurality of 'units, modules, members, or blocks' may be implemented as one component or may be implemented as one component. It is also possible that the 'part, module, member, block' of includes a plurality of components.

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

In addition, when a certain component is said to "include", this means that it may further include other components, not excluding other components unless otherwise stated.

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

Terms such as first and second are used to distinguish one component from another, and the components are not limited by the aforementioned terms.

Singular expressions include plural expressions unless the context clearly dictates otherwise.

In each step, the identification code is used for convenience of description, and the identification code does not explain the order of each step, and each step may be performed in a different order from the specified order unless a specific order is clearly described in context. there is.

Hereinafter, working principles and embodiments of the disclosed invention will be described with reference to the accompanying drawings.

1 is a configuration diagram of a vehicle according to an embodiment.

A vehicle according to an embodiment may be a vehicle that performs a manual driving mode in which the vehicle drives in response to the driver's driving intention and a cruise control mode in which the vehicle travels at a set speed while maintaining a certain distance from other vehicles.

A vehicle according to an embodiment may be a vehicle that performs an autonomous driving mode that autonomously travels to a destination based on current location information and destination information of the vehicle.

The cruise control mode is a mode that allows the vehicle to continue driving while maintaining a constant speed, and has the advantage of being able to take one's foot off the accelerator pedal during long-distance driving.

Cruise control includes active cruise control (ACC: Active Cruise Control, adaptive cruise control), smart cruise control (SCC: Smart Cruise Control), advanced smart cruise control (Advanced Smart Cruise Control), dynamic radar cruise control ( Also known as DRCC

A vehicle according to an embodiment may be an internal combustion engine vehicle or an eco-friendly vehicle.

In this embodiment, a vehicle performing a cruise control mode among vehicles with an internal combustion engine will be described as an example.

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 can generate power for the vehicle 1 to travel.

The transmission 20 includes a plurality of gears and can transmit power generated by the engine 10 to wheels.

The braking device 30 may decelerate the vehicle 1 or stop the vehicle 1 through friction with wheels.

The steering device 40 can 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 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 torque of the engine 10 .

The transmission control unit 21 may control the transmission 20 in response to a driver's shift command through a shift lever (also referred to as a gear lever, shift lever, or gear shift) and/or a driving speed of the vehicle 1. there is. For example, the transmission control unit 21 can adjust the transmission ratio from the engine 10 to the wheels.

The electronic brake control module 31 may control the brake device 30 in response to a driver's will to brake through a brake pedal and/or slip of wheels. For example, the electronic brake control module 31 may temporarily release braking of a wheel in response to wheel slip detected during braking of the vehicle 1 (Anti-lock Braking Systems, ABS).

The electronic brake control module 31 may selectively release brakes on wheels in response to oversteering and/or understeering detected during steering of the vehicle 1 (Electronic Stability Control, ESC). ).

In addition, the electronic brake control module 31 may temporarily brake a wheel in response to wheel slip detected while driving the vehicle 1 (Traction Control System, TCS).

The electronic steering control device 41 may assist the operation of the steering device 40 so that the driver can easily operate the steering wheel in response to the driver's steering intention through the steering wheel. For example, the electronic steering control device (41) may assist the operation of the steering device 40 to reduce the steering force during low-speed driving or parking and to increase the steering force during high-speed driving.

The body control module 51 may control the operation of electrical 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 driver assistance system 100 may assist the driver in manipulating (driving, braking, and steering) the vehicle 1 . For example, the driver assistance system 100 detects an environment around the vehicle 1 (eg, other vehicles, pedestrians, cyclists, lanes, road signs, etc.) and responds to the detected environment to the vehicle. The driving and/or braking and/or steering of (1) can be controlled.

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

The driver assistance system 100 is an autonomous driving control device that automatically drives to a destination by recognizing the road environment, determining obstacles and driving conditions, and controlling the driving of the vehicle according to a planned driving path while avoiding obstacles. can include

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 obstacle 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 surroundings of the vehicle 1 and recognize 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 obstacles around the vehicle 1 (eg, other vehicles, pedestrians, cyclists, etc.) there is.

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), LIN (Local Interconnect Network), etc. Can transmit and receive.

The driver assistance system 100 transmits a driving control signal, a braking control signal, and a steering control signal to the engine management system 11, the electronic braking control module 31, and the electronic steering control device 41 through the vehicle communication network NT, respectively. can transmit.

2 is a configuration diagram of a driver assistance system provided in a vehicle according to an embodiment, and FIG. 3 is an exemplary view of a detection area of a camera and a radar included in the driver assistance system of a vehicle according to an embodiment.

As shown in FIG. 2 , vehicle 1 may include a braking system 32 , an engine system 12 , a steering system 42 , and a driver assistance system 100 .

The engine system 12 includes the engine management system 11 and the engine 10 described in conjunction with FIG. 1, and the braking system 32 includes the electronic brake control module 31 (see FIG. 1) described in conjunction with FIG. and a braking device 30 (see FIG. 1), and the steering system 42 may include an electronic steering device 41 (see FIG. 1) and a steering device 40 (see FIG. 1).

The driver assistance system 100 of this embodiment may include a front camera 110 as a camera of the camera module 101, and a front radar 120 and a plurality of corner radars 130 as radars of the radar module 102: 131, 132, 133, 134) may be included.

As shown in FIG. 3, the driver assistance system 100 includes a front camera 110 for securing a field of view 110a toward the front of the vehicle 1, a front radar 120, A plurality of corner radars 130 may be included.

The front camera 110 may be installed 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 of the front of the vehicle 1 may include location information about at least one of other vehicles, pedestrians, cyclists, lanes, curbs, guardrails, street trees, and streetlights 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 the vehicle communication network NT, connected to the control unit 140 through a hard wire, or printed circuit board (Printed Circuit Board, It may be connected to the control unit 140 through a PCB).

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 . The front radar 120 may be installed on a grill or bumper of the vehicle 1, for example.

The front radar 120 may include a transmission antenna (or transmission antenna array) for radiating transmission radio waves toward the front of the vehicle 1 and a reception antenna (or reception antenna array) for receiving reflected radio waves reflected by obstacles. there is.

The front radar 120 may obtain front radar data from a transmission wave transmitted by a transmission antenna and a reflected wave received by a reception antenna.

The front radar data may include location information and speed of other vehicles or pedestrians or cyclists located in front of the vehicle 1 .

The front radar 120 calculates the relative distance to the obstacle based on the phase difference (or time difference) between the transmitted radio wave and the reflected radio wave, and calculates the relative speed of the obstacle based on the frequency difference between the transmitted radio wave and the reflected radio wave. can do.

The forward 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 forward radar 120 may transmit forward radar data to the control unit 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 a vehicle 1 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 are included.

The first corner radar 131 may have a detection field of view 131a facing the front right side of the vehicle 1 . The first corner radar 131 may be installed 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 side of the vehicle 1 and may be installed 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 side of the vehicle 1 and may be installed 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 toward the rear left side of the vehicle 1 and may be installed on the left side of the rear bumper (rear panel) 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 obtain 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 about another vehicle, pedestrian, or cyclist (hereinafter referred to as “obstacle”) located on the right front side of the vehicle 1.

The second corner radar data may include distance information and speed of an obstacle located on the left front side of the vehicle 1 .

The third and fourth corner radar data may include distance information and speed information of obstacles 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, and 134 may be connected to the controller 140 through a vehicle communication network NT or a hard wire or a printed circuit board. The first, second, third, and fourth corner radars 131, 132, 133, and 134 may transfer first, second, third, and fourth corner radar data to the controller 140, respectively.

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. A controller may be included.

The controller 140 includes a first processor 141 and a second memory 142 .

The first 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 engine system 12, braking Acceleration signals, braking signals, and steering signals for controlling the system 32 and the steering system 42 may be generated.

For example, the first processor 141 may include an image signal processor processing front image data of the front camera 110 and/or a digital signal processor processing radar data of the radars 120 and 130 and/or a braking signal. and a micro control unit (MCU) that generates a steering signal.

The first processor 141 detects obstacles (eg, other vehicles, pedestrians, cyclists, curbs) in front of the vehicle 1 based on the front image data of the front camera 110 and the front radar data of the front radar 120. , guardrails, street trees, streetlights, etc.) can be detected.

Specifically, the first processor 141 may obtain location information (distance and direction) and speed information (relative speed) of obstacles in front of the vehicle 1 based on front radar data of the front radar 120. Based on the front image data of the front camera 110, the processor 141 performs location information (direction) and type information (for example, whether the obstacle is another vehicle or a pedestrian, or whether it is a cyclist, or a curb, or a guardrail, or a street tree, or a streetlight, etc.).

In addition, the first processor 141 matches the obstacles detected by the front image data with the obstacles detected by the front radar data, and based on the matching result, the type information, location information, and speed of the obstacles in front of the vehicle 1 information can be obtained.

The first processor 141 may generate an acceleration signal, a braking signal, and a steering signal based on type information, location information, and speed information of forward obstacles.

For example, the first processor 141 calculates the time to collision (TTC) between the vehicle 1 and the front obstacle based on position information (relative distance) and speed information (relative speed) of the front obstacles. Calculate , and based on the comparison result between the time until the collision and the predetermined reference time, the driver may be alerted to a collision, a braking signal may be transmitted to the braking system 32, or a steering signal may be transmitted to the steering system 42. .

The first processor 141 may transmit a steering signal to the steering system 42 based on direction information among position information of front obstacles.

As another example, the first processor 141 calculates a distance to collision (DTC) based on speed information (ie, relative speed) of front obstacles, and between the distance to collision and the distance to front obstacles. Based on the comparison result, the driver may be alerted to a collision or a braking signal may be transmitted to the braking system 32 .

The first processor 141 provides positional information (distance and direction) of obstacles on the sides (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. and speed information (relative speed).

The first memory 142 includes a program and/or data for the first processor 141 to process image data, a program and/or data for processing radar data, and a braking signal and/or data for the processor 141 to process. A program and/or data for generating a steering signal may be stored.

The first memory 142 temporarily stores image data received from the front camera 110 and/or radar data received from the radars 120 and 130, and image data and/or radar data of the processor 141. The result of processing can be temporarily stored.

The first 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). ).

4 is a control configuration diagram of a driver assistance system provided in a vehicle according to an embodiment, and is a control configuration diagram of a driver assistance system performing a cruise control mode.

The control configuration of the driver assistance system may be designed as shown in FIG. 2 , but may also be designed as shown in FIG. 4 . In this embodiment, the control configuration of FIG. 4 will be described as an example.

That is, the driver assistance system 200 may include a communication unit 200a, a second processor 200b, and a second memory 200c, and communicate with various devices provided in the vehicle through the communication unit 200ㅁ. can

In order to distinguish between the processor provided in the driver assistance system 200 according to the present embodiment and the processor provided in the vehicle 1, the processor provided in the driver assistance system 200 according to the present embodiment is described as a 'second processor' and the vehicle The processor provided in (1) is described as a 'third processor'.

The communication unit 200a may communicate with various electronic devices in the driver assistance system 200 and may also communicate with various electronic devices in the vehicle 1 .

The communication unit 200a may include one or more components enabling communication with an external device, and may include, for example, at least one of a short-distance communication module, a wired communication module, and a wireless communication module.

The short-range communication module uses a wireless communication network such as 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 to transmit signals at a short distance. 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 modules, Local Area Network (LAN) modules, Wide Area Network (WAN) modules, or Value Added Network (VAN) modules. In addition to communication modules, various cable communications such as USB (Universal Serial Bus), HDMI (High Definition Multimedia Interface), DVI (Digital Visual Interface), RS-232 (recommended standard 232), power line communication, or POTS (plain old telephone service) modules may be included.

In addition to the WiFi module and the WiBro module, wireless communication modules include global system for mobile communication (GSM), code division multiple access (CDMA), wideband code division multiple access (WCDMA), and universal mobile telecommunications system (UMTS). ), a wireless communication module supporting various wireless communication schemes such as Time Division Multiple Access (TDMA) and Long Term Evolution (LTE).

Such a communication unit 200a may also be provided in a vehicle other than a driver assistance system. In this case, the communication unit provided in the vehicle may perform communication with the second processor of the driver assistance system.

The communication unit 200a may be provided in the driver assistance system and the vehicle 1, respectively, and the communication unit of the driver assistance system and the communication unit provided in the vehicle 1 may communicate with each other.

The second processor 200b may transmit and receive information or signals with the third processor through the communication unit.

The second processor 200b wakes up when a wake-up command is received from the third processor 250 and then performs a cruise control mode, and ends the cruise control mode when a sleep command is received from the third processor 250. and switch to sleep mode.

When performing the cruise control mode, the second processor 200b may receive image information, driving information, and obstacle information transmitted from the third processor through the communication unit 200a, and may receive at least one of an acceleration signal, a deceleration signal, and a steering signal. One may be transmitted to the third processor through the communication unit 200a.

The second processor 200b controls the vehicle to drive at the target driving speed when performing the cruise control mode and generates an acceleration signal or deceleration signal based on the obstacle information detected by the obstacle detection unit 220 to avoid obstacles. Acceleration or deceleration of (1) can be performed.

The second processor 200b can also generate a steering signal for avoiding an obstacle and control the output of collision risk information. Here, the collision risk information may or may not be output depending on whether the collision risk notification mode is selected by the user.

When it is determined that there is no obstacle ahead based on the obstacle information detected by the obstacle detection unit 220 while the cruise control mode is being performed, the second processor 200b determines the vehicle ( 1) can be controlled to travel at the target travel speed.

When the second processor 200b determines that there is an obstacle in front based on the obstacle information detected by the obstacle detection unit 220 during the cruise control mode, the second processor 200b transmits the position information of the obstacle, the speed information of the obstacle, and the speed detection unit 231. Based on the travel speed information detected by the controller, the vehicle may be controlled to travel while adjusting the travel speed.

That is, while performing the cruise control mode, the second processor 200b may control acceleration or deceleration based on driving information of one or two or more other vehicles traveling in front within the driving route of the vehicle 1 . Here, one or two or more other vehicles may be a target vehicle for collision prevention during execution of the cruise control mode.

The second processor 200b transmits driving information of the first target vehicle 2 and driving information of the second target vehicle 3 in front based on the obstacle information detected by the obstacle detection unit 220 during the cruise control mode. A deceleration signal or an acceleration signal may be generated based on the acquired driving information of the first target vehicle 2 and the driving information of the second target vehicle 3 in front. Here, driving information of the first and second target vehicles in front may include relative speed information and relative distance information.

More specifically, the second processor 200b obtains relative distance information and relative speed information with the first target vehicle 2 based on the obstacle information detected by the obstacle detection unit 220 while performing the cruise control mode, , An acceleration signal or a deceleration signal is generated based on the obtained relative distance information and relative speed information with the first target vehicle 2, and when the first target vehicle is in a cut-out state, the relative distance of the second target vehicle 3 is generated. An acceleration signal or deceleration signal may be generated based on the distance information and the relative speed information.

The second processor 200b decelerates and brakes based on information about obstacles such as falling rocks, pedestrians, bicycles, and barriers existing on the driving path of the vehicle 1 among the information received by the communication unit 200a. It is also possible to control.

The second processor 200b may control release of the cruise control mode based on pressure information detected by the pressure detector 234 . In this case, the third processor may control braking of the vehicle based on pressure information detected by the pressure detector 234 .

The second processor 200b may determine whether the first target vehicle driving in the front is in a cut-out state based on the received image information of the front road and the side road of the front camera 120 of the image acquisition unit 240. there is. This will be described with reference to FIGS. 5A, 5B and 5C.

As shown in FIG. 5A , while the vehicle 1 is driving, as shown in FIG. 5B , the second processor 200b based on the image information acquired by the image acquisition unit 240 is the front of the vehicle. and an image M of a side road may be acquired.

The second processor 200b may generate a 3D vehicle detection (3DVD) image for the obtained image.

More specifically, the second processor 200b recognizes obstacles that can move on the road, such as other vehicles, pedestrians, bicycles, and scooters, and recognizes lanes, and the type and condition of the road surface, angle, height, and type of each lane. It recognizes, distinguishes the boundaries for drivable roads such as curves and guardrails, and recognizes whether traffic lights and signs on or around the road, movement of pedestrians, or whether lamps of other vehicles are turned on.

The second processor 200b recognizes the 3D depth (Geometry) of the image in pixel units through the appearance, perspective or movement of vehicles and objects, and the 2D image acquired by the image acquisition unit based on the recognition information. (2D) image is converted into a three-dimensional (3D) image.

That is, the second processor 200b searches for obstacles based on 2D image information, boxes them, checks their appearance, and then learns them through a neural network. Based on the learning information, 3D depth (geometry) information may be recognized.

The second processor 200b may perform artificial intelligence neural network learning by injecting image information into obstacle information detected by the obstacle detection unit.

The second processor 200b may obtain 3D image information by distinguishing the shape, depth, angle, height, etc. of the road by utilizing a pre-stored high-definition map (HD map).

As shown in FIG. 5B, the second processor 200b recognizes lane objects L1, L2, L3, L4, and L5 in the image M based on the 3D image information, and recognizes lane objects L1, L2, L3, L4, and L5. Based on the location information, an object R1 is recognized in the own lane on which the vehicle 1 is traveling (that is, also referred to as a first lane), an obstacle object is recognized based on the image information, and the recognized obstacle objects 2M, 3M, 4M), it is possible to recognize the first target vehicle object 2M for the first target vehicle 2 driving in its own lane but in front of the vehicle.

The second processor 200b checks the first lane object L1 and the second lane object L2, which are both lanes constituting the own lane, and determines the location information of the first lane object L1 and the second lane object L2. ) and the location information of the first target vehicle object 2M, it is determined whether the first target vehicle 2 is in a cut-out state.

Here, the cut-out state of the first target vehicle includes the case where the location information of part of the first target vehicle 2 and the location information of the first lane are the same. That is, the cut-out state of the first target vehicle 2 may be a state in which a part of the first target vehicle 2 is located on the first lane L1.

In addition, the cut-out state of the first target vehicle 2 includes the case where the location information of part of the first target vehicle 2 and the location information of the second lane L2 are the same. That is, the cut-out state of the first target vehicle 2 may be a state in which a part of the first target vehicle 2 is located on the second lane L2.

When the first target vehicle 2 is in a cut-out state, the second processor 200b obtains a lane object L1 overlapped with the first target vehicle object M2, and based on the acquired lane object L1 The area of the first target vehicle object 2M is divided into a first area A1 located in the object R1 of the own vehicle and a second area A2 located in the object R2 by another vehicle, and the first area ( Area information of A1) may be obtained, and a risk of collision with the first target vehicle 2 may be determined based on the obtained area information of the first area A1 .

The second processor 200b generates longitudinal position information, lateral position information, length information, and width information of the first target vehicle based on the 3D vehicle detection image information. , heading angle information may be obtained, and the area of the first region may be obtained based on the obtained information.

The heading angle may be an angle at which the front panel of the first target vehicle is rotated based on the lane.

This 3D vehicle detection image information may be acquired by an image acquisition unit or acquired by a third processor. In this case, the second processor 200b may receive 3D vehicle detection image information from the image acquisition unit or the third processor.

The second processor 200b may obtain distance information D to the rear panel of the first target vehicle based on the longitudinal location information and the lateral location information.

In addition, the second processor 200b may determine whether or not the intention to change the lane to another lane of the first target vehicle 2 exists.

As shown in FIG. 5B , if the second processor 200b determines that the acquired area of the first area A1 is less than or equal to the reference area based on the acquired area information of the first area A1, the collision risk is determined as the reference area. A second target corresponding to the second target vehicle object 2M recognized based on the image information and the obstacle information detected by the obstacle detection unit is determined to be less than or equal to the risk level and the second target vehicle object 3M is recognized in the image. Driving information of the vehicle 2 may be obtained, and an acceleration signal or deceleration signal may be generated based on the acquired driving information of the second target vehicle 2 .

As shown in FIG. 5C , the second processor 200b determines that the area of the first area A1 exceeds the reference area based on the obtained area information of the first area A1 , the first target The vehicle 2 is in a cut-out state, but it is determined that the risk of collision with the first target vehicle 2 exceeds the standard risk, and the relative distance information and relative speed information of the first target vehicle 2 and the second target vehicle 3 ), an acceleration signal or a deceleration signal may be generated based on the relative distance information and relative speed information.

Here, the reference area may be different according to the type of the first target vehicle.

The second processor 200b first determines whether the first target vehicle 2 is in a cutout state based on the area of the first area A1 among the areas of the first target vehicle object 2M, and then determines whether the first target vehicle 2 is in a cutout state. A rear panel object is acquired from the vehicle object 2M, the acquired location information of the rear panel object and the overlapped location information of the lane object are obtained, and the acquired location information of the rear panel object and the overlapped location information of the lane object are obtained. Based on the obtained distance information D between the rear panel object and the overlapping lane object, and based on the obtained distance information and the lateral relative speed information of the first target vehicle 2 detected by the obstacle detection unit, the first It is possible to secondarily determine whether the target vehicle 2 is in a cut-out state.

The second processor 200b may obtain distance information D to the rear panel of the first target vehicle based on the longitudinal location information and the lateral location information.

The second processor 200b determines the ratio (A1/A1+A2) of the area of the first area A1 to the area of the total area A1+A2 when the first target vehicle 2 is in the cut-out state. It is also possible to obtain and determine the risk of collision with the first target vehicle 2 based on the obtained ratio.

More specifically, when the obtained ratio is determined to be less than or equal to the reference ratio, the second processor 200b determines that the risk of collision with the first target vehicle 2 is less than or equal to the reference risk, and determines that the second target vehicle object (3M) is displayed in the image. ) is recognized, and driving information of the second target vehicle 3 corresponding to the recognized second target vehicle object 3M is obtained based on the image information and the obstacle information detected by the obstacle detection unit 220, and the acquisition An acceleration signal or deceleration signal may be generated based on driving information of one second target vehicle 3 .

When it is determined that the obtained ratio exceeds the reference ratio, the second processor 200b determines that the first target vehicle 2 is in a cut-out state, but the risk of collision with the first target vehicle 2 exceeds the reference risk, and An acceleration signal or a deceleration signal may be generated based on the driving information of the first target vehicle 2 and the driving information of the second target vehicle 3 .

Here, the reference ratio may be different according to the type of the first target vehicle.

The second processor 200b recognizes both lane objects of the own lane in the image and determines that one of the recognized lane objects overlaps with the third target vehicle object 4M for the third target vehicle 4. If determined, the area of the area of the third target vehicle object 4M located in the object R1 of the third target vehicle object 4M among the areas of the third target vehicle object 4M is obtained, and the cut-in state of the third target vehicle is obtained based on the obtained area. It is also possible to judge

When the second processor 200b determines that the first target vehicle 2 has a willingness to change lanes, the second processor 200b based on the obstacle information detected by the obstacle detection unit 220 and the image information obtained by the image acquisition unit 240 The third target vehicle 3 may be obtained, and an acceleration signal or deceleration signal may be generated based on the acquired relative distance information and relative speed distance information with the third target vehicle 3 .

The second processor 200b acquires a target acceleration or a target deceleration based on the acquired relative distance information and relative speed distance information with the third target vehicle 3 and accelerates corresponding to the obtained target acceleration or target deceleration. signal or deceleration signal can be generated.

The second processor 200b provides time information or relative distance information with the first target vehicle 2 or the second target vehicle 3 until colliding with the first target vehicle 2 or the second target vehicle 3. Based on this, the operation of at least one of the engine system 12, the braking system 32, and the steering system may be controlled.

The second processor 200b may also be implemented as a single processor.

As shown in FIG. 6 , the second processor 200b may be implemented with a plurality of processors.

The second processor 200b includes a preprocessor b1 for signal processing the image information acquired by the image acquisition unit 240 to remove noise and recognizing and classifying objects, and a first target vehicle 2 among objects in the image. A first target object recognition processor (b2) for recognizing a first target vehicle object for ) and a first analysis processor (b3) for primarily analyzing and determining whether the first target vehicle (2) is in a cut-out state; , an area acquisition processor (b4) for obtaining area information of a first area among areas divided into areas formed by the first target vehicle object, and a first target vehicle based on the area information of the first area ( 2) a second analysis processor (b5) that secondarily analyzes and determines whether the vehicle is in a cut-out state, and a second analysis processor (b5) for the second target vehicle (2) among objects recognized based on the analysis result in the second analysis processor A second target object recognizing processor b6 recognizing two target vehicle objects may be included.

The second analysis processor b5 recognizes a rear panel object for the rear panel of the first target vehicle 2 from the first target vehicle object, and calculates the distance between the recognized rear panel object RP and the lane object L1. Acquiring information, secondarily analyzing whether the first target vehicle 2 is in a cut-out state based on the acquired distance information, area information of the first area, and lateral speed information of the first target vehicle 2, and It is also possible to judge.

The second analysis processor b5 determines the relative speed information and relative distance information of the first target vehicle 2 detected by the obstacle detection unit 220 and the lateral direction of the own vehicle obtained by the driving information detection unit 230. Based on the speed information, lateral speed information of the first target vehicle 2 may be obtained.

Objects may be object images of lanes, other vehicles including first and second target vehicles, pedestrians, streetlights, street trees, and obstacles such as median barriers.

The second processor 200b may further include a memory (not shown) for storing data for an algorithm or a program reproducing the algorithm for controlling the operation of components in the driver assistance system 200, and stored in the memory. The above-described operation may be performed using the data.

For example, a memory (not shown) includes a program and/or data for processing image data by the second processor 200b, a program and/or data for processing radar data, and a program and/or data for processing radar data by the second processor 200b. Programs and/or data for generating acceleration signals, braking signals and/or steering signals may be stored.

The memory (not shown) temporarily stores image data received from the front camera 110 and/or radar data received from the radars 120 and 130, and image data and/or radar data from the second processor 200b. Data processing results can be temporarily stored.

The memory (not shown) and the second processor 200b may be implemented as separate chips. Alternatively, the memory (not shown) and the second processor 200b may be implemented as a single chip.

The second memory 200c may store information about the target driving speed. Here, the target travel speed is a preset travel speed, which may be a travel speed set during vehicle manufacturing or a travel speed set by a user.

The second memory 200c may store reference area information for determining the cut-out state of the first target vehicle, and may also store reference ratio information.

The second memory 200c may also store reference area information for each type of the first target vehicle.

The type of the first target vehicle may include a large vehicle, a medium vehicle, and a small vehicle.

The type of the first target vehicle may be obtained based on model information of the other vehicle and body size information of the other vehicle.

The second memory 200c may store information about the type and size of sound corresponding to the warning of the risk of collision.

The second memory 200c is a nonvolatile memory device such as a cache, a read only memory (ROM), a programmable ROM (PROM), an erasable programmable ROM (EPROM), an electrically erasable programmable ROM (EEPROM), and a flash memory; or It may be implemented as at least one of a volatile memory device such as RAM (Random Access Memory) or a storage medium such as a Hard Disk Drive (HDD) and a CD-ROM, but is not limited thereto.

The second memory 200c and the second processor 200b may be implemented as separate chips. Alternatively, the second memory 200c and the second processor 200b may be implemented as a single chip.

The vehicle 1 includes a user interface 210, an obstacle detection unit 220, a driving information detection unit 230, an image acquisition unit 240, and a third processor 250, an engine system 12, a braking system ( 32) and a steering system 42 may be further included.

In the following description, the vehicle will be described as the first target vehicle and the second target vehicle, respectively.

The user interface 210 may include an input unit 211 for receiving a user input and a display unit 212 for displaying operation information.

The user interface 210 may be an AVN that performs at least one of a radio function, an audio function, a video function, a map display function, a navigation function, a DMB function, a content playback function, and an Internet search function.

The input unit 211 may receive an on command and an off command of the autonomous driving mode and the cruise control mode and transmit a signal corresponding to the received command to the third processor 250 .

The input unit 211 may receive an operation command for any one function among functions that can be performed in the vehicle 1 . For example, the input unit 211 may receive an operation command of at least one of a radio function, an audio function, a video function, a map display function, a navigation function, a DMB function, a content playback function, and an Internet search function.

The input unit 211 may also receive a target driving speed for performing the autonomous driving mode and the cruise control mode.

The input unit 211 may receive an on/off command of a collision risk notification mode indicating a possibility of collision with an obstacle.

The input unit 211 may be provided in a head unit or center fascia in the vehicle 1, or may be provided in a vehicle terminal. The input unit 211 may be provided as a button, key, switch, operation lever, jog dial, or the like, or may be provided as a touch pad.

The display unit 212 displays operation information about the function being performed. For example, the display unit 212 can display information related to a phone call, display content information output through a terminal (not shown), or display information related to music playback, and can display external broadcasting information. display

The display unit 212 may display map information in a navigation mode, map information matching a route to a destination, and road guidance information.

The display unit 212 may display on/off information of the collision risk notification mode.

The display unit 212 may display an image of a road or display location information of a pedestrian and location information of other vehicles.

The display unit 212 may display collision risk information indicating a collision with an obstacle as an image.

The display unit 212 may also display acceleration information, deceleration information, and steering information for obstacle avoidance as images.

The display unit 212 may also display driving information about a target driving speed and an actual driving speed in an autonomous driving mode or a cruise control mode.

The display unit 212 may be a lamp such as an LED or a flat panel display device such as an LCD.

When the input unit 211 is formed of a touch panel, the display unit 212 may be provided as a flat or curved touch screen integrally provided with the touch panel.

The user interface 210 may further include a cluster 213 .

Cluster 213 includes a tachometer, speedometer, coolant temperature gauge, fuel gauge, turn indicator lamp, high beam indicator lamp, warning lamp, seat belt warning lamp, odometer, odometer, shift lever indicator, door open warning lamp, engine oil warning lamp, low fuel Warning lights may be included.

The cluster 213 may include lamps and displays indicating collision risk information. The cluster 213 can turn on or off lamps of the cluster in response to a control command of the third processor 250 and display an image on the display.

For example, the cluster 213 may display an image for collision risk information.

The cluster 213 can also display driving speed information in an autonomous driving mode or a cruise control mode.

The cluster 213 may display acceleration request information, deceleration request information, and steering request information.

The user interface may further include a sound output unit 214 .

The sound output unit 214 outputs sound in response to the control command of the third processor 250, and outputs the sound at a level corresponding to the control command of the third processor 250.

The sound output unit 214 may output warning information as a sound so as to notify the danger of collision with an obstacle. The sound output unit 214 may be one or two or more speakers.

The sound output unit 214 outputs a sound for notification of a risk of collision between the first target vehicle 2 and the second target vehicle 3 in front, but it is also possible to output sounds of different sounds.

The sound output unit 214 may output acceleration request information, deceleration request information, and steering request information as different sounds.

The obstacle detector 220 detects obstacles in the front and left and right sides of the vehicle 1 and transmits obstacle information about the detected obstacles to the third processor 250 . Here, the obstacle information may include position information of the obstacle, and the position information of the obstacle may include distance information and direction information of the obstacle. The distance information about the distance to the obstacle may be distance information about the relative distance to the obstacle.

The obstacle detector 220 may include a front radar 120, first and second corner radars 131 and 132, and may further include a front camera.

In addition, the obstacle detection unit 220 may also include a lidar sensor. A LiDAR (Light Detection And Ranging) sensor is a non-contact distance detection sensor using the principle of a laser radar. The LiDAR sensor may include a transmitter that transmits a laser beam and a receiver that receives the laser beam that is reflected and returned to the surface of an object existing within the range of the sensor.

The obstacle detector 220 may include an ultrasonic sensor.

The ultrasonic sensor generates ultrasonic waves for a certain period of time and then detects a signal that is reflected from an object and returns. Such an ultrasonic sensor may be used to determine the presence or absence of an obstacle such as a pedestrian within a short range.

The obstacle detection unit 220 can also detect obstacles behind the vehicle 1 .

The vehicle 1 may include a driving information detection unit 230 that detects driving information of the vehicle, such as driving speed information, driving direction information, acceleration information, yaw rate information, deceleration information, and acceleration information.

Here, the acceleration information may include acceleration information in a lateral direction and acceleration information in a longitudinal direction with respect to the body of the vehicle.

The driving information detector 230 may include a speed detector 231, a yaw rate detector 232, a steering angle detector 233, and a pressure detector 234.

The speed detector 231 may include a plurality of wheel speed sensors. The speed detector 231 may include an acceleration sensor. The speed detector 231 may include a plurality of wheel speed sensors and acceleration sensors.

When the speed detection unit 231 is an acceleration sensor, the third processor 250 acquires the acceleration of the vehicle 1 based on information detected by the acceleration sensor and travels speed of the vehicle 1 based on the obtained acceleration. It is also possible to obtain

When the speed detection unit 231 is an acceleration sensor and a plurality of wheel speed sensors, the third processor 250 obtains the acceleration of the vehicle 1 based on the information detected by the acceleration sensor and transmits the information to the plurality of wheel speed sensors. It is also possible to obtain the traveling speed of the vehicle 1 based on the speed information obtained by

The yaw rate detector 232 detects the yaw moment of the vehicle 1 . The rotational angular speed, which is the yaw rate in the direction of the vehicle's vertical axis, is detected.

The yaw rate detector 232 may be provided on the body of the vehicle 1, and may be provided on the lower part of the center console or on the driver's seat, but is not limited to these locations.

The steering angle detection unit 233 detects the angular velocity of the steering wheel for detecting the steering angle of the vehicle 1 . That is, the steering angle detector 233 may include an angular velocity detector.

Inside the vehicle 1, a steering wheel for adjusting the driving direction, a brake pedal pressed by the user according to the user's (ie driver's) will to brake, and an accelerator pedal pressed by the user according to the user's will to accelerate are provided. It may include, and it is possible to further include a driving direction indicating lever provided around the steering wheel and instructing rotational directions for left turn, right turn, and U-turn.

The pressure detector 234 detects the pressure applied to the brake pedal.

It is also possible that the vehicle 1 further includes a pressure detector for detecting pressure applied to an accelerator pedal (also referred to as an accelerator pedal).

The image acquisition unit 240 detects object information around the vehicle 1 and converts it into an electrical image signal, and from the current location of the vehicle to the environment outside the vehicle, especially the road on which the vehicle travels and the front, left and right sides of the vehicle. Detects side object information and transmits a video signal of the detected object information to the third processor 250 .

That is, the image acquisition unit 240 acquires an image of the road and transmits the acquired image to the third processor 250 . Here, the image of the road may be images of a road in a forward direction based on the traveling direction of the vehicle and images of both roads based on the forward direction.

The image acquisition unit 240 acquires images of not only the front of the vehicle, but also the side of the vehicle, so that the driver assistance system 200 or the third processor 250 can recognize other vehicles around the user's vehicle. Therefore, it is possible to analyze and determine whether the first target vehicle is in a cut-out state.

The image acquisition unit 240 is a front camera and may include a CCD or CMOS image sensor.

The image acquisition unit 240 may be provided on the front window glass, but may be provided on the window glass inside the vehicle, may be provided on the room mirror inside the vehicle, or may be provided on the roof panel to be exposed to the outside.

The image acquisition unit 240 may be a rear camera, a black box camera, or a camera of an autonomous driving control device prepared for autonomous driving.

The third processor 250 transmits a wake-up command to the driver assistance system 200 when an on signal for a cruise control mode on command is received through the input unit 211 so that the driver assistance system 200 wakes up. and when an off signal for a cruise control mode off command is received through the input unit 211, a sleep command may be transmitted to the driver assistance system 200 so that the driver assistance system 200 may perform the sleep mode.

While the cruise control mode is being performed through the driver assistance system 200, the third processor 250 transmits various types of information from the obstacle detection unit 220, the driving information detection unit 230, and the image acquisition unit 240 to the driver assistance system 200. ) can be transmitted.

While the cruise control mode is performed through the driver assistance system 200, the third processor 250 operates the engine system 12 and brakes based on the acceleration signal, deceleration signal, and steering signal received through the driver assistance system 200. At least one of system 32 and steering system 42 may be controlled.

The third processor 250 may be integrated with the second processor 200b and provided in the vehicle 1 as a single processor. That is, all of the operations performed by the second processor shown in FIG. 4 may also be performed by the third processor 250 .

The third processor 250 may include a third memory (not shown) storing data for an algorithm or a program reproducing the algorithm for controlling the operation of components in the vehicle 1, and stored in the third memory. The above-described operation may be performed using data. In this case, the third memory and the third processor may be implemented as separate chips. Alternatively, the third memory and the third processor may be implemented as a single chip.

7 is a control flowchart of a vehicle according to an embodiment.

The vehicle obtains (301) image information of roads in forward and left-right directions through the image acquisition unit 240.

The vehicle may generate 3D vehicle detection (3DVD) image information based on the acquired image information.

More specifically, the vehicle recognizes obstacles that can move on the road such as other vehicles, pedestrians, bicycles, and scooters in the image based on the image information acquired by the image acquisition unit, recognizes lanes, and recognizes road surface types and road surfaces. Recognizes the condition, angle of the road, height of the road, and type of each lane, distinguishes boundaries for drivable roads such as curves and guardrails, and recognizes whether traffic lights and signs on or around the road or lamps of other vehicles are on. .

The vehicle recognizes the 3D depth (Geometry) of the image through the appearance, perspective, or movement of obstacles in pixel units, and converts the 2D image acquired by the image acquisition unit to the 3D image based on the recognition information. Convert to (3D) image.

Through this, the vehicle can acquire information about other vehicles as 3D vehicle image information through a 3D image, and obtain lane information through a 3D image (302).

The vehicle may obtain lane information based on 2D image information acquired by the image acquisition unit. Here, the lane information may include lane type information and lane location information.

The vehicle may perform preprocessing 303 to remove noise from a 3D image.

In addition, the vehicle may pre-process the 2D image acquired by the image acquisition unit.

The vehicle recognizes lane objects L1, L2, L3, L4, and L5 in the image M based on the 3D image information, and based on the location information of the recognized lane objects, the vehicle 1 is driving. Recognizes the object R1 of the own lane (also referred to as the first lane), recognizes the obstacle object based on the image information, and drives in the own lane among the recognized obstacle objects (2M, 3M, 4M) while driving in front of the vehicle The first target vehicle object 2M for the first target vehicle 2 to be played may be recognized (304) (see FIG. 5B).

The vehicle checks the first lane object L1 and the second lane object L2, which are both lanes constituting the own lane, and identifies the checked location information of the first lane object L1, the location information of the second lane object L2, and Based on the location information of the first target vehicle object 2M, the state of the first target vehicle 2 is analyzed, and whether the first target vehicle is in a cut-out state is primarily analyzed (305).

When it is first determined (306) that the first target vehicle 2 is in a cut-out state in response to the analysis result, the vehicle acquires a lane object L1 overlapping the first target vehicle object M2, and obtains the obtained lane object. Based on (L1), the area of the first target vehicle object 2M is divided into a first area A1 located in the object R1 of the own vehicle and a second area A2 located in the object R2 of the other vehicle. And, area information of the first area A1 is acquired (307).

More specifically, the vehicle provides longitudinal position information, lateral position information, length information, and width information of the first target vehicle based on the 3D vehicle detection image information. , heading angle information may be obtained, and the area of the first area A1 may be obtained based on the obtained information.

The vehicle may acquire distance information D to the rear panel of the first target vehicle based on the longitudinal location information and the lateral location information.

More specifically, the vehicle obtains a rear panel object from the first target vehicle object 2M, acquires the acquired location information of the rear panel object and the overlapped location information of the lane object, and obtains the location of the acquired rear panel object Distance information D between the rear panel object and the overlapping lane object may be obtained based on the location information of the lane object overlapped with the information.

In addition, the vehicle may acquire distance information D to the rear panel of the first target vehicle based on the longitudinal location information and the lateral location information.

The vehicle obtains relative speed information and relative distance information of the first target vehicle 2 based on the obstacle information detected by the obstacle detection unit 220 and the traveling speed information of the vehicle, and the obtained first target vehicle 2 The lateral speed information of the first target vehicle 2 may be obtained (308) based on the relative speed information, the relative distance information, and the lateral speed information of the host vehicle obtained by the driving information detection unit 230. .

The vehicle determines that the first target vehicle 2 is in a cut-out state based on the area information of the first area, the obtained distance information D, and the lateral relative speed information of the first target vehicle 2 detected by the obstacle detector. Recognition can be determined secondarily (309).

When the vehicle secondarily determines that the first target vehicle is in a cut-out state, the vehicle recognizes the second target vehicle object 3M in the image, and based on the location information of the second target vehicle object in the image, the second target vehicle object 3M is selected from among other nearby vehicles. The target vehicle is recognized (310).

The vehicle obtains driving information of the second target vehicle 2 based on the image information and the obstacle information detected by the obstacle detection unit, and performs longitudinal control based on the acquired driving information of the second target vehicle 2. (311).

Here, the longitudinal control includes generating an acceleration signal or deceleration signal and controlling a braking system or an engine system based on the generated signal.

The vehicle determines the risk of collision with the first target vehicle based on the area information of the first area, the obtained distance information (D), and the lateral relative speed information of the first target vehicle 2 detected by the obstacle detection unit. It is also possible.

The collision risk corresponding to the correlation between the area information of the first region, the obtained distance information D, and the lateral relative speed information of the first target vehicle 2 detected by the obstacle detector may be stored in advance as a lookup table. can

When it is determined that the risk of collision with the first target vehicle exceeds the reference risk, the vehicle may control deceleration based on the relative distance information and relative speed information of the first target vehicle.

When it is determined that the risk of collision with the first target vehicle is less than or equal to the reference risk, the vehicle may control deceleration based on the relative distance information and relative speed information of the second target vehicle.

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 codes, and when executed by a processor, create program modules to perform operations of the disclosed embodiments. The recording medium may be implemented as a computer-readable recording medium.

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

As described above, the disclosed embodiments have been described with reference to the accompanying drawings. A person skilled in the art to which the present invention pertains may change the technical spirit or essential features of the present invention in a different form from the disclosed embodiments. It will be understood that the present invention can be practiced with The disclosed embodiments are illustrative and should not be construed as limiting.

1: vehicle
100: driver assistance system
110: front camera
120: forward radar
130: corner radar
131: first corner radar
132: second corner radar
133: third corner radar
134: 4th corner radar
140: control unit
200: driver assistance system
280: second control unit
281: storage unit

Claims (17)

image acquisition unit; and
Based on the image information acquired by the image acquisition unit, the own lane object, lane object, and obstacle object are recognized, and 3D vehicle detection image information is acquired and converted based on the depth information of the recognized obstacle object, and the converted A target vehicle object for the target vehicle is recognized based on the 3D vehicle detection image information, and a part of the target vehicle object is attached to the lane object based on the recognized location information of the target vehicle object and the location information of the lane object. It is determined whether or not a part of the target vehicle object overlaps with the lane object, and if it is determined that a part of the target vehicle object overlaps with the lane object, the target vehicle is cut out based on area information of an area located on the object by the own vehicle among areas of the target vehicle object. and a processor that determines whether or not the target vehicle is cut out and generates a deceleration signal or an acceleration signal based on whether the target vehicle is cut out. The method of claim 1, wherein the processor,
Recognizing a rear panel object of the target vehicle based on the 3D vehicle detection image, acquiring lateral location information and longitudinal location information of the target vehicle based on the 3D vehicle detection image, and obtaining the target A driver obtaining distance information between the lane object and a rear panel object of the target vehicle based on the lateral location information and the longitudinal location information of the vehicle, and determining whether the target vehicle is cut out based on the distance information auxiliary system. According to claim 2,
Communication unit for receiving driving information of the vehicle; and
Further comprising an obstacle detection unit for detecting nearby obstacles and outputting obstacle information about the detected obstacles;
The processor obtains lateral speed information of the target vehicle based on the driving information of the vehicle and the obstacle information, and adds whether the target vehicle is cut out based on the obtained lateral speed information and the distance information Driver assistance systems judged by The method of claim 3, wherein the processor,
When it is determined that the target vehicle is in a cut-out state by additional determination of whether the target vehicle is cut-out, another target vehicle object for another target vehicle is recognized based on 3D vehicle detection image information, and detected by the obstacle detection unit. Based on the obtained obstacle information, relative distance information and relative speed information of another target vehicle to the recognized other target object are obtained, and an acceleration signal or deceleration signal is generated based on the relative distance information and relative speed information of the other target vehicle. driver assistance systems. The method of claim 4, wherein the processor,
Recognizing the risk of collision with the target vehicle based on the area information, the obtained lateral speed information, and the distance information, and detecting by the obstacle detection unit when it is determined that the risk of collision with the target vehicle exceeds the reference risk of collision Relative distance information and relative speed information of the target vehicle are obtained based on the obtained obstacle information and driving information of the vehicle, and an acceleration signal or deceleration signal is generated based on the obtained relative distance information and relative speed information of the target vehicle. driver assistance systems. The method of claim 5, wherein the processor,
When it is determined that the risk of collision with the target vehicle is less than or equal to the reference risk of collision, an acceleration signal or deceleration signal is generated based on the obtained relative distance information and relative speed information of the target vehicle and the relative distance information and relative speed information of the other target vehicle. driver assistance systems. The method of claim 1, wherein the processor,
Based on the 3D vehicle detection image information, length information of the target vehicle, width information of the target vehicle, and heading angle information of the target vehicle are obtained, and the length information of the target vehicle, the width information of the target vehicle, and the target vehicle A driver assistance system for obtaining area information of the area based on heading angle information of the vehicle. According to claim 1,
Further comprising a communication unit for performing communication with a vehicle processor provided in the vehicle,
wherein the processor transmits the deceleration signal or the acceleration signal to the vehicle processor through the communication unit. a driving information detection unit that detects driving information;
an obstacle detection unit that detects nearby obstacles and outputs obstacle information about the detected obstacles;
An image acquisition unit for acquiring images of the front and left and right side roads; and
Based on the image information acquired by the image acquisition unit, the own lane object, lane object, and obstacle object are recognized, and 3D vehicle detection image information is acquired and converted based on the depth information of the recognized obstacle object, and the converted A target vehicle object for the target vehicle is recognized based on the 3D vehicle detection image information, and a part of the target vehicle object is attached to the lane object based on the recognized location information of the target vehicle object and the location information of the lane object. It is determined whether or not a part of the target vehicle object overlaps with the lane object, and if it is determined that a part of the target vehicle object overlaps with the lane object, the target vehicle is cut out based on area information of an area located on the object by the own vehicle among areas of the target vehicle object. and a processor that determines whether or not the target vehicle is cut out, and generates a deceleration signal or an acceleration signal based on the driving information and the obstacle information. According to claim 9,
a braking system performing deceleration based on the generated deceleration signal; and
A vehicle further comprising an engine system performing acceleration based on the generated acceleration signal. The method of claim 1, wherein the processor,
Recognizing a rear panel object of the target vehicle based on the 3D vehicle detection image, acquiring lateral location information and longitudinal location information of the target vehicle based on the 3D vehicle detection image, and obtaining the target A vehicle that obtains distance information between the lane object and a rear panel object of the target vehicle based on the lateral location information and the longitudinal location information of the vehicle, and determines whether the target vehicle is cut out based on the distance information. . The method of claim 11, wherein the processor,
A vehicle that acquires lateral speed information of the target vehicle based on the driving information and the obstacle information and further determines whether or not the target vehicle is cut out based on the obtained lateral speed information and the distance information. The method of claim 12, wherein the processor,
When it is determined that the target vehicle is in a cut-out state by additional determination of whether the target vehicle is cut-out, another target vehicle object for another target vehicle is recognized based on 3D vehicle detection image information, and detected by the obstacle detection unit. Based on the obtained obstacle information, relative distance information and relative speed information of another target vehicle to the recognized other target object are obtained, and an acceleration signal or deceleration signal is generated based on the relative distance information and relative speed information of the other target vehicle. vehicle to create. The method of claim 13, wherein the processor,
Recognizing the risk of collision with the target vehicle based on the area information, the obtained lateral speed information, and the distance information, and detecting by the obstacle detection unit when it is determined that the risk of collision with the target vehicle exceeds the reference risk of collision Relative distance information and relative speed information of the target vehicle are obtained based on the obtained obstacle information and driving information of the vehicle, and an acceleration signal or deceleration signal is generated based on the obtained relative distance information and relative speed information of the target vehicle. vehicle to do. The method of claim 14, wherein the processor,
When it is determined that the risk of collision with the target vehicle is less than or equal to the reference risk of collision, an acceleration signal or deceleration signal is generated based on the obtained relative distance information and relative speed information of the target vehicle and the relative distance information and relative speed information of the other target vehicle. vehicle to create. The method of claim 9, wherein the processor,
Based on the 3D vehicle detection image information, length information of the target vehicle, width information of the target vehicle, and heading angle information of the target vehicle are obtained, and the length information of the target vehicle, the width information of the target vehicle, and the target vehicle A vehicle for obtaining area information of the area based on heading angle information of the vehicle. According to claim 9,
a display unit displaying collision notification information with the target vehicle; and
A vehicle further comprising a sound output unit configured to output collision notification information with the target vehicle.

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