KR20070066663A - Vehicle accident information storage device and lane tracking device - Google Patents

Abstract

The present invention relates to a lane tracking device, for example, a plurality of cameras are installed at a predetermined distance from the front and the bottom of a vehicle, and the lane image is extracted from an image photographed by each of the plurality of cameras, After detecting the lane image pattern on the road according to the movement of the vehicle, if the lane departure is determined based on the lane image pattern, the driver may drive safely by outputting a warning sound or warning message or automatically decelerating the driving speed. In addition, it is a very useful invention that can prevent the vehicle crash accident due to drowsy driving in advance.

Description

Apparatus for recording car accident information and apparatus for line tracking}

1 illustrates a configuration of a vehicle accident information storage device according to the present invention,

2 illustrates an embodiment in which a donut-shaped fisheye lens and a plurality of CDs are applied to the camera module according to the present invention.

3 shows a circuit configuration for the camera module according to the present invention,

4 illustrates an embodiment in which power is supplied to a vehicle accident information storage device according to the present invention;

5 and 6 show the configuration of the lane tracking device according to the present invention,

7 illustrates an embodiment of a lane tracking process according to the present invention.

※ Explanation of code for main part of drawing

10: storage 11: black box controller

12: can module 13: information processing unit

14: video display unit 15,61,62,63: camera module

20,70: Electronic control unit 100: Car black box

60: lane tracking module 600: 4 channel video decoder

601: lane extraction unit 602: 2D space configuration unit

603: lane tracking control unit

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a lane tracking device and, for example, to a lane tracking device for preventing drowsy driving and the like.

In some vehicles recently developed and released, a small camera is installed in a rear bumper or a side mirror of a vehicle for safe parking and the like, and an image signal photographed by the small camera is installed inside, for example, a vehicle. It is displayed through an LCD screen of a car navigation terminal.

In addition, the driver of the vehicle visually checks obstacles existing at the rear or the side of the vehicle through the LCD screen to back up more safely, and while the vehicle is stopped on the road, the rear of the vehicle Alternatively, other vehicles located on the side may be visually checked through the LCD screen to drive the vehicle more safely.

However, the video signal photographed by a small camera installed in the rear bumper or side mirror of the vehicle as described above is displayed on the LCD screen in order for the driver to secure the rear or side view of the vehicle. It is not used as video data to analyze the cause.

Meanwhile, when a vehicle accident occurs, the development of a car black box is required to more accurately and objectively analyze the cause of the occurrence of a vehicle accident, and an effective solution is not provided. This is urgently required.

In addition, when the driver is drowsy driving, after shooting and tracking the lane on the road to determine whether the lane departure, and outputs a corresponding warning sound or warning message, so that the driver can drive the vehicle more safely This situation is urgently required to provide a solution.

Therefore, the present invention was created in view of the above situation, for example, by taking an image of an external situation of the vehicle, detecting the state information of the vehicle, and storing the information on a nonvolatile storage medium, so that a vehicle accident occurs. To provide a vehicle accident information storage device, which is a black box for a vehicle, to enable an objective and accurate analysis of the cause of the occurrence thereof, an object thereof is provided.

In addition, the present invention provides a plurality of cameras at a predetermined distance from the front and the bottom of the vehicle, and extracts the lane image in the image taken by each of the plurality of cameras, the lane image pattern on the road according to the movement of the vehicle And detecting a lane departure based on the lane image pattern, and outputting a warning sound or warning message or automatically decelerating the driving speed, thereby providing a lane tracking device for driving more safely. There is a purpose.

Lane tracking apparatus according to the present invention for achieving the above object, a plurality of photographing means for photographing the lane on the road; Detection means for detecting a lane image pattern in an image photographed by the plurality of photographing means, respectively; And control means for controlling a lane tracking operation based on the detected lane image pattern.

The plurality of photographing means may be a plurality of cameras provided at predetermined distances in front of and below the vehicle, and the detecting means may be lanes within a video frame of an image photographed by the plurality of cameras, respectively. After extracting each image, characterized in that for detecting the pattern for the lane image,

The control means may be further configured to output a warning sound or a warning message corresponding to the lane departure based on the detected lane image pattern, and to drive a driving speed through an interface with the electronic control unit mounted on the vehicle. Reduce or, or turn on the emergency light automatically.

Hereinafter, exemplary embodiments of a vehicle accident information storage device and a lane tracking device according to the present invention will be described in detail with reference to the accompanying drawings.

First, in the vehicle accident information storage device according to the present invention, as shown in FIG. 1, the storage 10, the black box controller 11, the can module 12, the information processing unit 13, and the video display unit 14. And a camera module 15, and the like, and the storage 10 is a large-capacity non-volatile storage that can safely and permanently store information stored until just before the vehicle is damaged due to a fatal accident or the like. Medium is used.

Meanwhile, the black box controller 11 communicates with an electronic control unit (ECU) 20 mounted in a vehicle through the CAN (Car Area Network) module 12 to communicate with the vehicle. For example, vehicle state information such as an engine speed (RPM) may be received.

In addition, the black box controller 11 receives detection information of various sensors 1 to k signal-processed through the information processor 13 to determine whether a vehicle accident occurs, and to detect the detection information. To the storage 10 which is a non-volatile storage medium. For example, the detection information detected by the plurality of sensors includes at least one state information of an engine state, a pedal state, and an impact state of the vehicle. Included.

In addition, the black box controller 11 controls the camera module 15 and stores the image signal photographed by the camera module 15 in the nonvolatile storage medium. For example, as illustrated in FIG. 2, four CDDs 151 to 154 are arranged in a quadrangular shape in the camera module 15, and a donut shape capable of 360-degree wide-angle photographing in a horizontal direction. The fisheye lens 150 may be used.

Meanwhile, as illustrated in FIG. 3, the camera module 15 includes four CDs 151 to 154, a four channel video decoder 155, an image correcting unit 156, and a three-dimensional panoramic image reconstruction. The unit 157 and the two-dimensional image imaging unit 158 may be included. In the four CDs 151 to 154, the donut-shaped fisheye lens 150 shown in FIG. The object image of a predetermined angle (eg, 90 degrees or more) that is incident is converted into an electrical signal and output.

In addition, the four-channel video decoder 155 sequentially decodes the electric signals output from the four CDs 151 to 154, that is, the four channel CD output signals, to decode four subject images into one image. The image correction unit 156 performs an image correction operation on a part of the distorted region by combining the distortion components existing in the output image, for example, four subject images. .

The 3D panoramic image reconstruction unit 157 performs a 3D panoramic image reconstruction operation on one image on which the image correction operation is completed as described above, and in the 2D image imager 158, The 3D panoramic image is signal processed into a 2D image.

Meanwhile, the subject image output through the 2D image imager 158 is recorded and stored in the storage 10 through the black box controller 11, in which the black box controller 11, Receive detection information of each sensor (Sensor 1 to k) received through the information processor 13 and vehicle state information received from the electronic control unit 20 through the can module 12, the subject image In addition, a series of operations of updating and storing the storage 10 are performed.

In addition, the controller 11 determines whether or not a vehicle accident occurs by referring to detection information and vehicle state information of each of the sensors 1 to k. The update operation is stopped so that the stored subject image and various information are permanently maintained in the storage 10.

Meanwhile, as illustrated in FIG. 4, separate small batteries 160 to 164 may be installed and used in the camera module, the video display unit, the plurality of sensors, the information processing unit, and the black box controller. For example, the power supply of the vehicle black box which should always be operated for monitoring uses the main car battery power supply first.

Then, when all of the car battery power is discharged, by using the power charged in each small battery as the supply power, the monitoring operation state can be maintained more than a predetermined time, the main car due to long time parking Even if the battery power is exhausted or a third party intentionally disconnects the main car battery, the monitoring function of the black box can be maintained for a predetermined time or more.

Meanwhile, FIG. 5 illustrates a configuration of a lane tracking apparatus according to the present invention, wherein the lane tracking apparatus includes a plurality of cameras, for example, photographing a front lane in a front bumper of a vehicle. The first camera 61 is provided, and as shown in FIG. 5, under the vehicle, a second camera 62 for photographing the lane of the right front wheel part, and a photograph for photographing the lane of the center part. The third camera 63 and the fourth camera 64 for photographing the lanes of the left front wheel portion may be provided at a predetermined distance.

In addition, the lane tracking device includes a lane tracking module 60, and the lane tracking module 60 performs an interface operation with an electronic control unit (ECU) 70 mounted in a vehicle. As illustrated in FIG. 6, the 4-channel video decoder 600, the lane extractor 601, the 2D space constructing unit 602, and the lane tracking control unit 603 may be configured.

The lane tracking module 60 enables the first to fourth cameras 61 to 64 when the current vehicle moves through an interface operation with the electronic control unit 70. This prevents the lane tracking operation from being performed unnecessarily in a situation where the vehicle is not moved.

Meanwhile, when the lane tracking module 60 and the first to fourth cameras 61 to 64 are operated due to the movement of the vehicle, the images captured by the respective cameras are 4 channel video decoders. Input to 600, the four-channel video decoder 600, the signals are processed into digital video data, respectively, and output as a video frame.

In addition, the lane extracting unit 601 extracts a lane image displayed on a road within each of the video frames output as described above. For example, as shown in FIG. When driving normally without departing from the lane range indicated above, a ladder-shaped front lane image is detected in the video frame photographed by the first camera Cam 1, and is captured by the second camera Cam 2. In the video frame, a lane image is detected in the right part.

The lane image is not detected in the video frame photographed by the third camera Cam 3, and the lane image is detected in the left portion of the video frame photographed by the fourth camera Cam 4.

On the other hand, when the vehicle is out of the lane range marked on the road to the right, a right diagonal front lane image is detected in the video frame photographed by the first camera Cam 1, and the second camera Cam 2 is detected. ) And a lane image are not detected in the video frames captured by the third camera Cam 3, and the lane image is detected in the right portion of the video frames captured by the fourth camera Cam 4.

In addition, when the vehicle is outside the lane range marked on the road to the left, a left diagonal front lane image is detected in the video frame photographed by the first camera Cam 1, and the fourth camera Cam 4 is detected. ) And the lane image are not detected in the video frames respectively shot by the third camera Cam 3, and the lane image is detected in the left portion of the video frames captured by the second camera Cam 2.

On the other hand, when the four lane images as described above are input to the lane tracking control unit 603 via the lane detection unit 601 and the 2D space configuration unit 602, the lane tracking control unit 603 performs the four lanes. By combining the images, the lane image pattern according to the movement of the vehicle is compared with various lane image patterns stored and managed in advance, thereby determining whether the lane is out of line.

When the current vehicle is out of the lane range on the road as a result of the determination, the lane tracking control unit 603 performs an interface operation with the electronic control unit ECU to warn a drowsy driving state or the like. In addition to outputting a message or the like, the emergency light is automatically turned on and the running speed of the vehicle is reduced to prevent the vehicle from traveling at high speed.

Accordingly, the driver who is drowsy driving can know that the lane has deviated, so that the driver can safely drive, and can prevent the vehicle crash accident caused by the drowsy driving.

As mentioned above, preferred embodiments of the present invention described above are disclosed for the purpose of illustration, and those skilled in the art can improve other various embodiments within the spirit and technical scope of the present invention disclosed in the appended claims below. Changes, substitutions or additions will be possible.

In the lane tracking apparatus according to the present invention configured as described above, for example, a plurality of cameras are installed at a predetermined distance from the front and the lower side of the vehicle, and the lane image is captured in the images respectively photographed by the plurality of cameras. After detecting the lane image pattern on the road according to the movement of the vehicle, and detecting the lane departure based on the lane image pattern, the driver outputs a warning sound or a warning message or automatically decelerates the driving speed. It is a very useful invention to be able to drive safely, and to prevent vehicle crash accidents due to drowsy driving.

Claims (5)

A plurality of photographing means for photographing a lane on a road; Detection means for detecting a lane image pattern in an image photographed by the plurality of photographing means, respectively; And And a control means for controlling a lane tracking operation based on the detected lane image pattern. The method of claim 1, The plurality of photographing means is a lane tracking device, characterized in that the plurality of cameras are provided at a predetermined separation distance in front and below the vehicle. The method of claim 2, And the detecting means extracts lane images from each other in a video frame of an image photographed by the plurality of cameras, and detects a pattern of the lane images. The method of claim 1, And the control means controls to output a warning sound or a warning message corresponding to the lane departure based on the detected lane image pattern. The method of claim 1, The control means is a lane tracking device, characterized in that to reduce the running speed or to automatically turn on the emergency light through the interface with the electronic control unit mounted on the vehicle.

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