KR100394668B1 - A method for warning getting out of a traffic lane of vehicle - Google Patents
A method for warning getting out of a traffic lane of vehicle Download PDFInfo
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- KR100394668B1 KR100394668B1 KR10-2001-0032820A KR20010032820A KR100394668B1 KR 100394668 B1 KR100394668 B1 KR 100394668B1 KR 20010032820 A KR20010032820 A KR 20010032820A KR 100394668 B1 KR100394668 B1 KR 100394668B1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/10—Path keeping
- B60W30/12—Lane keeping
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
- B60W40/06—Road conditions
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/08—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to drivers or passengers
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/08—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to drivers or passengers
- B60W2040/0818—Inactivity or incapacity of driver
- B60W2040/0827—Inactivity or incapacity of driver due to sleepiness
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/08—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to drivers or passengers
- B60W2040/0818—Inactivity or incapacity of driver
- B60W2040/0863—Inactivity or incapacity of driver due to erroneous selection or response of the driver
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/08—Interaction between the driver and the control system
- B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
- B60W2050/143—Alarm means
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2420/00—Indexing codes relating to the type of sensors based on the principle of their operation
- B60W2420/40—Photo, light or radio wave sensitive means, e.g. infrared sensors
- B60W2420/403—Image sensing, e.g. optical camera
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Y—INDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY
- B60Y2300/00—Purposes or special features of road vehicle drive control systems
- B60Y2300/10—Path keeping
- B60Y2300/12—Lane keeping
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Y—INDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY
- B60Y2400/00—Special features of vehicle units
- B60Y2400/30—Sensors
- B60Y2400/301—Sensors for position or displacement
- B60Y2400/3015—Optical cameras
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Y—INDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY
- B60Y2400/00—Special features of vehicle units
- B60Y2400/90—Driver alarms
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- Mathematical Physics (AREA)
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Abstract
보다 정확하게 차선 이탈을 검출하여 경보함으로써, 차량 사고를 미연에 방지할 수 있도록 한 자동차의 차선 이탈 경보방법을 제공할 목적으로;It is an object of the present invention to provide a lane departure warning method for a vehicle that can more accurately detect a lane departure and thereby prevent a vehicle accident;
영상 처리수단의 카메라를 통해 차선 영상이 입력되면, 영상처리수단에서 이를 분석하여 차선을 검출하여 당해 차량이 차선에서 일정량 이상 벗어나면 차선 이탈로 판정하여 경보수단을 통해 경보하는 차량의 차선 이탈 경고방법에 있어서,When the lane image is input through the camera of the image processing means, the image processing means analyzes the lane and detects the lane, and if the vehicle deviates from the lane by more than a predetermined amount, the lane departure warning method of the vehicle alerting through the alarm means To
A는 도로 중앙에서 당해 차량의 중앙까지의 거리, CW/2는 차량의 중앙에서 바깥측까지의 폭, DR은 차량의 이탈 정도, L/2는 한 차선의 폭으로 정의할 때,When A is the distance from the center of the road to the center of the vehicle, CW / 2 is the width from the center of the vehicle to the outside, DR is the degree of departure of the vehicle, and L / 2 is the width of one lane.
상기 L/2에서 (CW/2 + A)의 차에 의하여 구하여진 DR이 기준값 이하로 산출될 때 차선이탈로 판정하여 경보하는 차량의 차선 이탈 경고방법을 제공한다.Provided is a lane departure warning method for a vehicle that determines and warns of lane departure when the DR obtained by the difference of (CW / 2 + A) at L / 2 is calculated to be a reference value or less.
Description
본 발명은 자동차의 차선 이탈 경보방법에 관한 것으로서, 보다 상세하게는 주행 차량이 운전자의 부주의 및 졸음에 의한 무의식적인 차선 이탈을 경보하여 줄 수 있도록 한 차선 이탈 경보방법에 관한 것이다.The present invention relates to a lane departure warning method for an automobile, and more particularly, to a lane departure warning method for allowing a traveling vehicle to alert an unintentional lane departure due to a carelessness and drowsiness of a driver.
최근에는 자동차에 있어서 다양한 기술의 발전과 함께 안전하고 편리한 차량을 위한 시스템들이 개발되고 있으며, 실제 차량에도 적용되어 운전자들의 안전을 도모하고 있다.Recently, with the development of various technologies in automobiles, systems for safe and convenient vehicles have been developed, and applied to actual vehicles to promote the safety of drivers.
이러한 안전 시스템 중에는 운전자의 장시간 운전이나 졸음 운전 또는 휴대 전화 사용등에 의하여 전방 주시가 태만해지면서 발생되는 사고를 미연에 방지하여 줄 수 있는 차선 이탈 경보시스템의 개발이 활발히 이루어지고 있다.Among these safety systems, lane departure warning systems are being actively developed to prevent accidents caused by the long-term attention of the driver, drowsy driving, or the use of a mobile phone.
이러한 차선 이탈 경보시스템은 주로 주행상의 차선 및 차량의 위치를 측정하여 차량이 차선을 이탈하는 경우에 경고를 하여 주는 시스템으로서, 영상으로 입력되는 신호를 영상 처리하고, 이에 차선 이탈이 이루어지는 경우 경보등 또는 부저를 울려주어 운전자들로 하여금 현재 차량이 차선을 이탈하고 있음을 인식시켜 주는 것이다.Such a lane departure warning system mainly measures a location of a driving lane and a vehicle to warn the vehicle when the vehicle leaves the lane. The lane departure warning system processes a signal input as an image, and when a lane departure occurs, an alarm lamp or The buzzer will remind drivers that the vehicle is currently leaving the lane.
이러한 차선 이탈경보 시스템에 있어서, 종래의 차선이탈 방법을 살펴보면, 도 5의 (A)(B)에서와 같이, 화면상에 보이는 도로(100)의 차선(102) 영상과 화면상의 중앙선(104)을 비교하여 차선(102)이 중앙선(104)을 벗어나는 정도(a)로서 차선 이탈을 판정하는 것이 일반적이었다.In the lane departure warning system, a conventional lane departure method is described. As shown in (A) and (B) of FIG. 5, the lane 102 image of the road 100 and the center line 104 on the screen are shown. It was common to determine lane departure as a degree (a) in which lane 102 deviates from center line 104 by comparing.
그러나 상기와 같은 방법으로 차선 이탈을 검출하는 경우에 있어서는 단순히 화면상의 분석을 통하여 경보를 해줌으로써, 어느 정도의 정보를 제공해 준다는 것에 대하여는 부정할 수는 없다.However, in the case of detecting lane departure in the above-described manner, it is impossible to deny that a certain amount of information is provided by simply alerting through on-screen analysis.
하지만, 정확한 경보시점 즉, 바퀴가 차선에 어느 정도 밟고 주행할 때 경보를 할 것인가와, 또한 당해 차량의 폭에 대한 기준이 없기 때문에 현재 당해 차량이 차선을 어느 정도 차지하고 있는가를 전혀 알 수 없기 때문에 정확하게 당해 차량이 차선을 이탈하고 있음을 판단할 수 없다라는 문제점을 내포하고 있다.However, it is impossible to know exactly when the vehicle is occupying the lane because there is no accurate alarm time, that is, how far the wheels step on the lane, and because there is no standard for the width of the vehicle. There is a problem that it cannot be determined that the vehicle is leaving the lane.
따라서 본 발명은 상기와 같은 문제점을 해결하기 위하여 발명된 것으로서, 본 발명의 목적은 보다 정확하게 차선 이탈을 검출하여 경보함으로써, 차량 사고를 미연에 방지할 수 있도록 한 자동차의 차선 이탈 경보방법을 제공하려는 것이다.Accordingly, the present invention has been invented to solve the above problems, and an object of the present invention is to provide a lane departure warning method of a vehicle that can prevent the vehicle accident in advance by detecting and alerting the lane departure more accurately. will be.
도 1은 본 발명이 적용되는 시스템의 구성도.1 is a block diagram of a system to which the present invention is applied.
도 2는 본 발명에 의한 순서도.2 is a flow chart according to the present invention.
도 3의 (A)(B)(C)는 본 발명에 의하여 차선 이탈을 검출해 내는 요소를 설명하기 위한 도면.3 (A) (B) (C) are diagrams for explaining elements for detecting lane departure according to the present invention;
도 4는 본 발명에 의하여 실 도로상에 해석방법을 설명하기 위한 도면.4 is a view for explaining an analysis method on a real road according to the present invention.
도 5 (A)(B)는 종래 차선이탈을 검출해내는 방법을 설명하기 위한 도면이다.5A and 5B are diagrams for explaining a method of detecting a conventional lane departure.
이를 실현하기 위하여 본 발명은, 영상 처리수단의 카메라를 통해 차선 영상이 입력되면, 영상처리수단에서 이를 분석하여 차선을 검출하여 당해 차량이 차선에서 일정량 이상 벗어나면 차선 이탈로 판정하여 경보수단을 통해 경보하는 차량의 차선 이탈 경고방법에 있어서,In order to realize this, when the lane image is input through the camera of the image processing means, the image processing means analyzes the lane and detects the lane. In the lane departure warning method of the warning vehicle,
A는 도로 중앙에서 당해 차량의 중앙까지의 거리, CW/2는 차량의 중앙에서 바깥측까지의 폭, DR은 차량의 이탈 정도, L/2는 한 차선의 폭으로 정의할 때,When A is the distance from the center of the road to the center of the vehicle, CW / 2 is the width from the center of the vehicle to the outside, DR is the degree of departure of the vehicle, and L / 2 is the width of one lane.
상기 L/2에서 (CW/2 + A)의 차에 의하여 구하여진 DR이 기준값 이하로 산출될 때 차선이탈로 판정하여 경보하는 차량의 차선 이탈 경고방법을 제공한다.Provided is a lane departure warning method for a vehicle that determines and warns of lane departure when the DR obtained by the difference of (CW / 2 + A) at L / 2 is calculated to be a reference value or less.
이하, 본 발명의 바람직한 실시예를 첨부한 도면에 의거하여 상세히 설명하면 다음과 같다.Hereinafter, with reference to the accompanying drawings, preferred embodiments of the present invention will be described in detail.
도 1은 본 발명에 의한 운용되는 시스템의 구성도로서, 영상입력수단(2)과, 영상처리수단(4)과, 경보수단(6)으로 이루어진다.1 is a configuration diagram of a system operated according to the present invention, which comprises an image input means 2, an image processing means 4, and an alarm means 6. As shown in FIG.
상기에서 영상 입력수단(2)은 공지의 CCD 카메라가 이용되며, 이의 카메라로서 도로의 차선을 검출해내게 되는 것이다.As the image input means 2, a known CCD camera is used, and the camera input means 2 detects a lane of a road.
그러면, 영상처리수단(4)에서는 상기 영상 입력수단(2)으로부터 입력되는 도로의 영상신호르 분석하여 차선의 위치를 구하고, 그에 따른 당해 차량의 위치에따라 차선을 벗어나는 경우 이를 경보수단(6)을 통해 경보하는 것이다.Then, the image processing means (4) analyzes the image signal of the road input from the image input means (2) to find the position of the lane, and if the lane is departed according to the position of the vehicle according to the alarm means (6) To alert through.
상기에서 경보수단(6)은 소리로서 경보하는 부저나 불빛을 점등시키는 경고등을 사용할 수 있는데, 어느것이나 사용해도 무관하다.In the above, the alarm means 6 may use a buzzer for warning as a sound or a warning light for turning on a light, but any may be used.
도 2는 본 발명에 의한 경보방법의 순서도로서, 영상 처리수단(2)의 카메라를 통해 차선 영상이 입력되면, 영상처리수단(4)에서 이를 분석하여 차선을 검출하여 당해 차량이 차선에서 일정량 이상 벗어나면 차선 이탈로 판정한, 경보수단(6)을 통해 경보하는 순서로 이루어지게 되는 것이다.2 is a flow chart of the alarm method according to the present invention. When a lane image is input through a camera of the image processing means 2, the image processing means 4 analyzes the lane and detects the lane so that the vehicle is more than a predetermined amount in the lane. If the deviation is determined to be lane departure, it will be made in the order of warning through the alarm means (6).
도 3은 본 발명에 의하여 차선 이탈을 검출해 내는 요소를 설명하기 위한 도면으로서, (A)도는 화면상을 정의한 것으로서, 카메라의 화면상에 도로의 중앙선(2)과 당해 차량의 중앙선(4)이 표시된다.FIG. 3 is a view for explaining elements for detecting lane departure according to the present invention, and (A) is a screen defining a center line 2 of a road and a center line 4 of the vehicle on a screen of a camera. Is displayed.
(B)는 당해 차량의 차폭(CW)을 정의하고 있으며, (C)는 실제 주행하는 도로의 폭(L)을 정의하고 있다.(B) defines the vehicle width CW of the vehicle, and (C) defines the width L of the road actually running.
도 4는 도 3의 (C)부분을 확대하여 도로 상에서의 해석을 위한 정의를 하고 있는 것으로서, A는 도로 중앙에서 당해 차량의 중앙까지의 거리를 나타내며, CW/2는 차량의 중앙에서 바깥측까지의 폭을 나타내고, DR은 차량의 이탈 정도를 나타내며, L/2는 한 차선의 폭을 나타낸다.4 is a definition for analysis on the road by expanding part (C) of FIG. 3, where A represents the distance from the center of the road to the center of the vehicle, and CW / 2 is the outer side from the center of the vehicle. Width represents the distance to the vehicle, DR represents the degree of departure of the vehicle, and L / 2 represents the width of one lane.
이와같은 정의 상태에서 상기 차량의 이탈 정도(DR)는 L/2에서 (CW/2 + A)의 차를 구한 것이다.In this defined state, the deviation degree DR of the vehicle is obtained by obtaining a difference of (CW / 2 + A) from L / 2.
즉, 도 4에서와 같이 DR은 차의 바깥측 가장자리(또는 바퀴)가 어느 정도 차선에 가까워졌는가를 나타내는 수치가 되는 것이다.That is, as shown in FIG. 4, DR is a numerical value indicating how close the outer edge (or wheel) of the car is to the lane.
만일 차량이 도로의 정중앙을 주행하고 있다면, A값은 0가 될것이고, DR은 작아지게 되는 바, DR이 작아질수록 차선에 근접하게 됨을 알 수 있게 된다.If the vehicle is driving in the center of the road, the A value will be zero, and the DR will be smaller, indicating that the smaller the DR, the closer to the lane.
따라서 DR이 정해진 상수 보다 작을 경우에는 경보를 울림으로써, 실 도로상에서의 차선 위치와 당해 차량의 위치를 비교할 수 있게 되는 바, 정확한 경보 시점을 조절할 수 있게 되는 것이다.Therefore, when the DR is smaller than the predetermined constant, the alarm is sounded, and thus the position of the lane on the real road can be compared with the position of the vehicle, so that the precise alarm timing can be adjusted.
또한, 도로폭(CW)은 고속도로, 국도, 지방도에 따라 차이가 있지만 능동적으로 DR 상수를 조절하면 어떠한 도로조건에서든지 정확하게 판단할 수 있는 것이다.In addition, the road width (CW) is different depending on the highway, national road, and local road, but by actively adjusting the DR constant can be accurately determined under any road conditions.
이상에서와 같이 본 발명에 의하면, 경보시점을 조절할 수 있는 방법을 제시함으로써, 운전자에게 졸음 운전의한 태만 운전을 방지할 수 있는 차원에서 신뢰성을 일층 높일 수 있게 된다.As described above, according to the present invention, by providing a method for adjusting the alarm time point, it is possible to further increase the reliability in order to prevent the drowsy driving of drowsy driving to the driver.
그리고 차종 및 도로 폭에 따라 조절해주어야 하느 요소를 줄임으로써, 설계비용을 절감할 수 있으며, 운전 형태에 따라서도 능동적으로 대처할 수 있는 발명인 것이다.And by reducing the elements that must be adjusted according to the model and the road width, it is possible to reduce the design cost, it is an invention that can actively cope with the driving mode.
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| KR10-2001-0032820A KR100394668B1 (en) | 2001-06-12 | 2001-06-12 | A method for warning getting out of a traffic lane of vehicle |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR100882687B1 (en) | 2007-12-06 | 2009-02-06 | 현대자동차주식회사 | Apparatus and method for alarming an obstacle in rear and side of vehicle |
| KR101499455B1 (en) * | 2013-07-24 | 2015-03-06 | 현대오트론 주식회사 | Apparatus and method of lane departure warnning for vehicle |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| KR20110139898A (en) * | 2010-06-24 | 2011-12-30 | 주식회사 만도 | Mehtod and apparatus for controlling lane keeping and alarm apparatus for departure from lane |
| CN108082192B (en) * | 2016-11-22 | 2020-06-19 | 比亚迪股份有限公司 | Lane departure early warning method and device |
| CN106828308A (en) * | 2017-01-24 | 2017-06-13 | 桂林师范高等专科学校 | Lane departure warning device |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR100882687B1 (en) | 2007-12-06 | 2009-02-06 | 현대자동차주식회사 | Apparatus and method for alarming an obstacle in rear and side of vehicle |
| KR101499455B1 (en) * | 2013-07-24 | 2015-03-06 | 현대오트론 주식회사 | Apparatus and method of lane departure warnning for vehicle |
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