KR20130021990A - Pedestrian collision warning system and method of vehicle - Google Patents

Abstract

PURPOSE: A vehicular pedestrian collision alarm system and method are provided to indicate an alarm to be variably separated into at least one dangerous step according to the inside and the outside of the lane of a car or vehicle driving direction based on the lane, thereby providing the reliability of the alarm to a driver. CONSTITUTION: A vehicular pedestrian collision alarm system includes a camera(110), a video processor(120), a pedestrian position discriminator(130), a pedestrian alarm controller(140), an alarm and displayer(150). The camera is mounted on a vehicle. The video processor detects a lane and pedestrians by using videos acquired from the camera. The pedestrian position discriminator includes an area separating module(132) and a pedestrian recognizing position module(134). The area separating module separates an area into the danger steps of an alarm according to the position of the vehicle and the lane. The pedestrian recognizing position module recognizes the detected position of the pedestrians. The pedestrian alarm controller includes an areal pedestrian collision determining module(142) and a vehicle control organization module(144). The areal pedestrian collision determining module determines the collision alarm step of the pedestrians by using results from the pedestrian position discriminator. The vehicle control organization module is for a vehicle control and display device. The alarm and displayer displays a collision alarm to a driver according to the collision alarm step from the pedestrian alarm controller. [Reference numerals] (110) Camera; (120) Video processor; (122) Traffic lane detecting module; (124) Pedestrian detecting module; (130) Pedestrian position discriminator; (132) Area separating module; (134) Pedestrian position recognizing module; (140) Pedestrian alarm controller; (142) Areal pedestrian collision determining module; (144) Vehicle control organization module; (150) Alarm and displayer; (152) Alarm display module; (154) Brake control module

Description

Pedestrian collision warning system and method of vehicle

The present invention relates to a pedestrian collision warning system and method of the vehicle, and more particularly, to a pedestrian collision warning system and method of the vehicle that can obtain the driver's reliability by dividing the risk level of the alarm.

The pedestrian collision warning system of a vehicle is a device that assists safe driving by detecting an object in front of the vehicle using a sensor and providing an alarm.

Conventional technologies for such a pedestrian collision warning system of a vehicle include a pedestrian collision warning and preventive control method of a vehicle of Korean Patent Application No. 10-2008-4865.

The prior art receives the speed signal from the speed sensor and the sensing signal for the front object from the front sensing sensors to calculate the speed of collision with the front object, the risk of collision with the front object, and the type of the front object. It also calculates the threat for each object from the calculated collision speed, collision risk, and type of forward object, and calculates the radius from the calculated threat and Threat Control & Containment (TTC). And determining the object having the minimum value among the calculated radius as the most dangerous object, comparing the determined radius of the most dangerous object with a predefined threshold value, and performing alarm and braking control according to the comparison result. Pedestrian collision warning and prevention control of the vehicle.

In the related art method, the object having the minimum value among the calculated radii is determined as the most dangerous object, or when the detected object moves to a certain area, an alarm and a braking control are performed to the driver to provide a pedestrian collision warning of the vehicle. That is, there is a disadvantage that the driver may be insensitive to the alarm and lose the reliability of the alarm by alerting all the objects with only the detected object regardless of the area range.

Disclosure of Invention The present invention has been made in the technical background as described above, and an object thereof is to provide a pedestrian collision warning system and a method of a vehicle capable of obtaining a driver's reliability by dividing and outputting a risk level of an alarm.

Another object of the present invention is to provide a pedestrian collision warning system and a method of a vehicle that can display the dangerous stage of the alarm differently according to the detection area of the pedestrian.

In order to solve the above problems, the present invention improves the reliability of the alarm by dividing the dangerous stages of the alarm according to the inside and the outside of the lane in the traveling direction based on the own vehicle or the vehicle progress lane, that is, the detected area. .

That is, the pedestrian collision warning system of a vehicle according to an aspect of the present invention, the camera mounted on the vehicle, the image processing unit for detecting the lane and pedestrian from the image obtained by using the camera, the position of the vehicle and the lane Pedestrian position determination unit comprising a segmentation module for dividing the area to divide the risk of the alarm step by step and a pedestrian recognition position module for detecting the detected position of the pedestrian; Pedestrian alarm control unit including a pedestrian collision determination module for each area for determining the collision warning step and a vehicle control organization module for the vehicle control and display device, and a collision warning to the driver according to the collision warning step determined by the pedestrian alarm control unit Including alarms and indicators to display and control the vehicle Lure.

Here, the area-specific pedestrian collision determination module, the front of the vehicle and the inside of the lane to designate the three stages of the highest risk of collision warning, and in the second step in front of the vehicle and the passenger seat lane of the vehicle, 1 In step 0, the front of the lane and the outside of the lane may be designated, and in step 0, the side of the vehicle and the outside of the lane may be designated.

The area-specific pedestrian collision determination module determines the collision warning step by comparing an area division result of the area division module with a pedestrian position recognized by the pedestrian recognition location module.

Meanwhile, the camera may include an infrared image sensor or a 3D image sensor.

According to another aspect of the present invention, there is provided a pedestrian collision warning method of a vehicle, the method comprising: obtaining an image around a vehicle through a camera mounted on the vehicle, detecting a lane and a pedestrian around the vehicle from the obtained image; Dividing a dangerous area based on the location of the vehicle and the detected lane; recognizing the location of the pedestrian based on the divided dangerous area; comparing the location of the dangerous area with the recognized pedestrian; And determining a pedestrian collision for each danger zone, and displaying an alarm and controlling the vehicle according to the danger level set for each danger zone.

According to the present invention, instead of simply determining on-off of an alarm for an object having a minimum value for a distance or a certain radius, the danger of alarming along the inside and outside of the lane in the direction of travel of the vehicle based on the own vehicle or the vehicle progress lane By dividing the steps into one or more steps in a variable manner, the driver can have an alarm reliability, thereby increasing the awareness of the driver.

1A and 1B show examples of pedestrian detection images.
2 is a block diagram showing the configuration of a pedestrian collision warning system of a vehicle according to an embodiment of the present invention.
3 is a flowchart illustrating the operation of a pedestrian collision warning system according to an embodiment of the present invention.

Advantages and features of the present invention and methods for achieving them will be apparent with reference to the embodiments described below in detail with the accompanying drawings. The present invention may, however, be embodied in many different forms and should not be construed as being limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the invention to those skilled in the art. Is provided to fully convey the scope of the invention to those skilled in the art, and the invention is only defined by the scope of the claims. It is to be understood that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. In the present specification, the singular form includes plural forms unless otherwise specified in the specification. It is noted that the terms "comprises" and / or "comprising" used in the specification are intended to be inclusive in a manner similar to the components, steps, operations, and / Or additions.

Hereinafter, with reference to the accompanying drawings will be described in detail with respect to the vehicle pedestrian collision warning system and method according to an embodiment of the present invention.

In the pedestrian collision warning system of a vehicle according to an embodiment of the present invention based on the own vehicle or the vehicle progress lane, the risk level of the alarm is divided and displayed according to the inside and the outside of the lane in the traveling direction of the vehicle, that is, the detected area. Improve reliability.

1A and 1B show examples of pedestrian detection images. FIG. 1A illustrates an image of detecting a pedestrian from the front of the vehicle, and FIG. 1B illustrates an image of detecting a pedestrian from the side of the vehicle. In this case, even though the distance between the vehicle and the pedestrian is similar, the case of FIG. 1A in which the pedestrian is detected at the front of the vehicle may be considered to be higher than the collision risk of FIG. 1B in which the pedestrian is detected at the vehicle side. Accordingly, the present invention divides and displays the risk level of the alarm according to the detection area of the pedestrian.

2 is a block diagram showing the configuration of a pedestrian collision warning system of a vehicle according to an embodiment of the present invention.

As shown in FIG. 2, the vehicle pedestrian collision warning system 100 according to an exemplary embodiment of the present invention includes an image including a camera 110, a lane detection module 122, and a pedestrian detection module 124 for acquiring an image. The processor 120, the region segmentation module 132, which divides an area to divide the risk of an alarm according to the own vehicle position and the lane base, and the pedestrian's position in various distances such as (x, y) coordinates or radar, etc. Pedestrian for each area to determine the pedestrian collision warning step using the result of the pedestrian position determination unit 130 and the pedestrian position determination unit 130 including the pedestrian recognition position module 134 to recognize using the position measurement sensor Using a pedestrian alert control unit 140 including a collision determination module 142 and a vehicle control organization module 144 for vehicle control and display devices and one or more communication buses used in automobiles And a W buzzer, lamp, seat belt, navigation, and control the alarm display indicating the alarm stage or the like cluster module 152 and alarm and a display 150 that includes a brake control module 154 for controlling the brake.

The camera 110 may utilize an image sensor that can be used both at night and at night, and includes an infrared image sensor and a 3D image sensor.

The image processor 120 performs lane detection and pedestrian detection around the vehicle, and the pedestrian position determiner 130 collides with the area of the own vehicle and lane detected and detected by the lane detection module 122 of the image processor 120. Configure step-by-step areas for alerting and recognize the location of pedestrians.

The pedestrian warning control unit 140 determines the pedestrian collision step by comparing the step-by-step area information for the collision warning obtained from the area dividing module 132 with the position of the pedestrian obtained from the pedestrian position recognition module 134.

For example, the determination of the pedestrian collision phase assumes three levels of data signals of the collision warning of the pedestrian and the vehicle, and this may be output by dividing the area into four areas in the own vehicle location and lane-based area division module. The front of the vehicle and the inside of the lane are designated as the third level with the highest risk of collision warning. In the second step, the front of the vehicle and the outside of the passenger seat lane, the first step may be configured to the front of the lane and the outside of the lane, and the 0 step to the side of the vehicle and the outside of the lane, which is the pedestrian alarm control unit 140 Selected and printed.

As another example, the collision warning level may be compared and evaluated using the area conditions of the own vehicle and the lane position.

The pedestrian collision stage thus determined is transmitted to the alarm and display unit 150 and displayed to the driver through a buzzer, a lamp, a seat belt, a navigation, a cluster, and the like, and the brake is controlled through the brake control module 154 as necessary. To avoid collisions. The control function such as the lamp of the alarm display module may be linked with the control function of the vehicle such as a brake.

Now, the operation method of the pedestrian collision warning system of a vehicle according to an embodiment of the present invention will be described in detail with reference to the drawings.

3 is a flowchart illustrating the operation of a pedestrian collision warning system according to an embodiment of the present invention.

As shown in FIG. 3, first, the camera 110 acquires an image around a vehicle (S310).

A lane is detected from the acquired image (S312), and a pedestrian around the vehicle is detected (S314).

If there is a pedestrian around the vehicle (YES in S316), the dangerous area is divided based on the own vehicle position and the lane (S318). Next, the position of the pedestrian is recognized based on the divided danger area (S320).

By comparing the danger zone divided in the step S318 and the position of the pedestrian recognized in step S320 to determine the pedestrian collision for each danger zone (S322), to display an alarm according to the danger level set for each danger zone (S324), control the vehicle (S326).

Thus, instead of simply determining on-off of an alarm for an object with a minimum value for a distance or a certain radius, the danger level of the alarm is based on the inside and outside of the lane in the direction of travel of the vehicle based on the own vehicle or the vehicle progress lane. By dividing the display into one or more levels variably, the driver can have the reliability of the alarm, thereby increasing the awareness of the driver.

While the invention has been described in terms of the preferred embodiments, it is to be understood that the invention is not limited to the disclosed embodiments, but, on the contrary, is intended to cover various modifications and equivalent arrangements included within the spirit and scope of the invention. Accordingly, the appended claims will include such modifications and variations as long as they fall within the spirit of the invention.

Claims (6)

The camera mounted on the vehicle,
An image processing unit for detecting a lane and a pedestrian from an image acquired using the camera;
A pedestrian position determination unit including an area division module for dividing an area for dividing the risk of an alarm according to the position of the vehicle and the lane in stages and a pedestrian recognition position module that recognizes the detected position of the pedestrian;
A pedestrian warning control unit including a pedestrian collision determination module for each area determining a pedestrian collision warning step by using the determination result of the pedestrian position determining unit and a vehicle control organization module for a vehicle control and display device;
And a warning and display unit for displaying a collision warning to a driver and controlling the vehicle according to the collision warning step determined by the pedestrian warning control unit. The method of claim 1, wherein the area-specific pedestrian collision determination module,
Designate the front of the vehicle and the inside of the lane in three stages with the highest risk of collision warning, the second stage in front of the vehicle and the passenger seat lane outside the vehicle, and the first stage in front of the vehicle and the outside of the lane A pedestrian collision warning system for a vehicle, which designates to the side of the vehicle and to the outside of the lane in step 0. The method of claim 1, wherein the area-specific pedestrian collision determination module,
And comparing the area division result of the area division module with a pedestrian position recognized by the pedestrian recognition location module to determine the collision warning step. The method of claim 1, wherein the camera,
Pedestrian collision alarm system of a vehicle comprising an infrared image sensor or a 3D image sensor. Acquiring an image around the vehicle through a camera mounted on the vehicle;
Detecting a lane and a pedestrian around the vehicle from the obtained image;
Dividing a dangerous area based on the position of the vehicle and the detected lane;
Recognizing the position of the pedestrian based on the divided danger zone;
Determining the pedestrian collision for each danger zone by comparing the location of the recognized pedestrian with the danger zone;
And displaying an alarm and controlling the vehicle according to a danger level set for each danger area. The method of claim 5, wherein dividing the dangerous area comprises:
Designate the front of the vehicle and the inside of the lane in three stages with the highest risk of collision warning, the second stage in front of the vehicle and the passenger seat lane outside the vehicle, and the first stage in front of the vehicle and the outside of the lane The pedestrian collision warning method of the vehicle to divide the designation to the side of the vehicle and the outside of the lane in step 0.

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