Device and method for assisting driving of a host vehicle
阅读说明：本技术 辅助驾驶主车辆的设备及辅助驾驶主车辆的方法 (Device and method for assisting driving of a host vehicle ) 是由 千岁民 于 2021-04-29 设计创作，主要内容包括：本公开涉及一种辅助驾驶主车辆的设备,该设备包括：摄像机,被安装在主车辆上并且具有该主车辆外部的视野,该摄像机被配置为获取图像数据；以及控制器,被配置为：处理图像数据,基于图像数据来识别主车辆正在行驶的道路的速度限制以及是否存在针对主车辆的测速执法；以及基于道路的速度限制以及是否存在针对主车辆的测速执法,向主车辆的驾驶员提供关于道路的速度限制的信息。因此,可防止车辆超过速度限制行驶。(The present disclosure relates to an apparatus for assisting driving of a host vehicle, the apparatus comprising: a camera mounted on a host vehicle and having a field of view external to the host vehicle, the camera configured to acquire image data; and a controller configured to: processing the image data, identifying, based on the image data, a speed limit of a road on which the host vehicle is traveling and whether speed enforcement for the host vehicle is present; and providing information about the speed limit of the road to a driver of the host vehicle based on the speed limit of the road and whether speed enforcement for the host vehicle is present. Therefore, the vehicle can be prevented from traveling beyond the speed limit.)
1. An apparatus for assisting driving of a host vehicle, the apparatus comprising:
a camera mounted on the host vehicle and having a field of view outside the host vehicle, the camera configured to acquire image data; and
a controller configured to:
the image data is processed in such a way that,
identifying, based on the image data, a speed limit of a road on which the host vehicle is traveling and whether speed enforcement for the host vehicle is present, an
Providing information to a driver of the host vehicle regarding the speed limit of the road based on the speed limit of the road and whether speed enforcement for the host vehicle is present.
2. The device of claim 1, wherein the controller is configured to:
identifying a distance to a speed measurement enforcement location of the host vehicle based on the image data, and
providing information to the driver regarding the speed limit, the speed limit decreasing in accordance with a distance from a speed enforcement location for the host vehicle.
3. The device of claim 2, wherein the controller is configured to:
acquiring a running speed of the host vehicle, and
in response to the travel speed being greater than or equal to the speed limit, providing information to the driver regarding a gradual decrease in speed limit from the travel speed to the speed limit as a function of distance from a speed enforcement location for the host vehicle.
4. The device of claim 2, wherein the controller is configured to:
acquiring a running speed of the host vehicle, an
In response to the travel speed being less than the speed limit, providing information to the driver regarding a speed limit of the road on which the host vehicle is traveling.
5. The device of claim 1, wherein the controller is configured to:
acquiring a current running speed of the host vehicle, an
In response to the travel speed being greater than or equal to the speed limit, controlling at least one of a drive system or a brake system of the host vehicle to reduce the travel speed of the host vehicle.
6. The device of claim 5, wherein the controller is configured to:
in response to the travel speed being greater than or equal to the speed limit, controlling at least one of a drive system or a brake system of the host vehicle to gradually decrease the travel speed of the host vehicle from a current travel speed to the speed limit as a function of a distance from a speed enforcement location for the host vehicle.
7. A method of assisting driving a host vehicle, the method comprising:
acquiring, by a camera mounted on the host vehicle and having a field of view external to the host vehicle, image data;
processing, by a processor, the image data;
identifying, by the processor, a speed limit of a road on which the host vehicle is traveling and whether speed enforcement for the host vehicle is present in response to processing the image data; and is
Providing information to a driver of the host vehicle regarding the speed limit of the road based on the speed limit of the road and whether speed enforcement for the host vehicle is present.
8. The method of claim 7, wherein providing information comprises:
identifying, by the processor, a distance to a speed enforcement location for the host vehicle based on the image data, and
providing information to the driver regarding the speed limit, the speed limit decreasing in accordance with a distance from a speed enforcement location for the host vehicle.
9. The method of claim 8, wherein providing the driver with information regarding a gradually decreasing speed limit comprises:
obtaining, by the processor, a travel speed of the host vehicle; and is
In response to the travel speed being greater than or equal to the speed limit, providing information to the driver regarding a speed limit that gradually decreases from the travel speed to the speed limit as a function of distance from a speed enforcement location for the host vehicle.
10. The method of claim 8, wherein providing the driver with information regarding a gradually decreasing speed limit comprises:
obtaining, by the processor, a travel speed of the host vehicle; and is
In response to the travel speed being less than the speed limit, providing information to the driver regarding a speed limit of a road on which the host vehicle is traveling.
11. The method of claim 7, wherein providing information comprises:
obtaining, by the processor, a travel speed of the host vehicle; and is
In response to the travel speed being greater than or equal to the speed limit, reducing the travel speed of the host vehicle.
12. The method of claim 11, wherein reducing the travel speed of the host vehicle comprises:
gradually reducing, by the processor, the travel speed of the host vehicle from a current travel speed to the speed limit as a function of a distance from a speed enforcement location for the host vehicle in response to the travel speed being greater than or equal to the speed limit.
13. An apparatus for assisting driving of a host vehicle, the apparatus comprising:
a camera mounted on the host vehicle and having a field of view outside the host vehicle, the camera configured to acquire image data; and
a controller configured to:
the image data is processed in such a way that,
controlling at least one of a drive system or a brake system of the host vehicle to cause the host vehicle to travel at a set speed set by a driver,
identifying, based on the image data, a speed limit of a road on which the host vehicle is traveling and whether speed enforcement for the host vehicle is present, and
controlling at least one of a drive system or a brake system of the host vehicle to reduce a travel speed of the host vehicle to the speed limit based on the speed limit of the road and whether speed enforcement for the host vehicle is present.
14. The device of claim 13, wherein the controller is configured to:
identifying a distance to a speed measurement enforcement location for the host vehicle based on the image data, and
controlling at least one of a drive system or a brake system of the host vehicle to gradually reduce a travel speed of the host vehicle as a function of distance from a speed enforcement location for the host vehicle.
15. The device of claim 14, wherein the controller is configured to:
acquiring a running speed of the host vehicle, and
in response to the travel speed being greater than or equal to the speed limit, controlling at least one of a drive system or a brake system of the host vehicle to gradually decrease the travel speed of the host vehicle as a function of distance from a speed enforcement location for the host vehicle.
16. The device of claim 14, wherein the controller is configured to:
acquiring a running speed of the host vehicle, and
in response to the travel speed being greater than or equal to the speed limit, providing information to the driver regarding a speed limit for a road on which the host vehicle is traveling.
17. A vehicle comprising the apparatus of claim 1.
18. A non-transitory computer readable storage medium storing computer readable instructions of the method of claim 7.
19. A vehicle comprising the apparatus of claim 13.
Technical Field
The present disclosure relates to an apparatus for assisting driving of a host vehicle, and more particularly, to an apparatus for assisting driving of a host vehicle and a method of assisting driving of a host vehicle, which are capable of adjusting a vehicle running speed.
Background
Vehicles are the most common vehicles in modern society, and the number of people using vehicles is increasing. Due to the development of vehicle technology, long-distance movement is easy, and life is easier. However, in places where population density is high, road traffic conditions deteriorate, and traffic congestion often occurs.
Recently, active research is being conducted on vehicles equipped with Advanced Driver Assistance Systems (ADAS) that actively provide information about vehicle states, driver states, and surrounding environments to reduce the burden on the driver while improving the convenience of the driver.
As an example of an advanced driver assistance apparatus mounted on a vehicle, a cruise control system may control the vehicle to travel at a speed set by a driver, or control the vehicle to travel while keeping a certain distance from a preceding vehicle.
A vehicle controlled by a cruise control system may be regulated to overspeed if the speed set by the driver exceeds the speed limit, or the preceding vehicle is traveling at a speed exceeding the speed limit.
Disclosure of Invention
For the foregoing reasons, it is an aspect of the present disclosure to provide a driver assistance apparatus and a driver assistance method capable of adjusting a vehicle speed according to a law enforcement mark.
Accordingly, it is an aspect of the present disclosure to provide an apparatus for assisting driving of a host vehicle, the apparatus including: a camera mounted on a host vehicle and having a field of view external to the host vehicle, the camera configured to acquire image data; and a controller configured to: processing the image data, identifying, based on the image data, a speed limit of a road on which the host vehicle is traveling and whether speed enforcement for the host vehicle is present; and providing information about the speed limit of the road to a driver of the host vehicle based on the speed limit of the road and whether speed enforcement for the host vehicle is present.
One aspect of the present disclosure is to provide a method of assisting driving of a host vehicle, the method including: acquiring image data by a camera mounted on a host vehicle and having a field of view external to the host vehicle; processing the image data by a processor; in response to processing the image data, identifying a speed limit of a road on which the host vehicle is traveling and whether speed enforcement for the host vehicle is present; and providing information about the speed limit of the road to a driver of the host vehicle based on the speed limit of the road and whether speed enforcement for the host vehicle is present.
An aspect of the present disclosure is to provide an apparatus for assisting driving of a host vehicle, the apparatus including: a camera mounted on a host vehicle and having a field of view external to the host vehicle, the camera configured to acquire image data; and a controller configured to: processing the image data, controlling at least one of a drive system or a brake system of the host vehicle to cause the host vehicle to travel at a set speed set by a driver, identifying a speed limit of a road on which the host vehicle is traveling and whether speed enforcement for the host vehicle is present based on the image data; and controlling a driving system or a braking system of the host vehicle to reduce a traveling speed of the host vehicle to the speed limit based on the speed limit of the road and whether there is speed enforcement for the host vehicle.
Drawings
These and/or other aspects of the present disclosure will become apparent and more readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
fig. 1 shows a configuration of a vehicle equipped with a driver assistance apparatus according to an embodiment;
fig. 2 shows a configuration of a driver assistance device according to an embodiment;
FIG. 3 illustrates an example of a speed limit flag;
fig. 4 shows the operation of the driver assistance device according to an embodiment;
FIG. 5 shows an example of providing a notification to a driver in accordance with operation of the driver assistance apparatus shown in FIG. 4;
fig. 6 shows the operation of the driver assistance device according to an embodiment; and is
Fig. 7 shows an example of limiting the vehicle speed according to the operation of the driver assistance apparatus shown in fig. 6.
Detailed Description
The following detailed description is provided to assist the reader in obtaining a thorough understanding of the methods, devices, and/or systems described herein. Accordingly, various changes, modifications, and equivalents of the methods, apparatus, and/or systems described herein will be suggested to one of ordinary skill in the art. The described process of processing operations is by way of example; however, operations and/or the order of operations are not limited to that set forth herein, and may be changed as is known in the art, except as necessary to occur in a particular order. In addition, corresponding descriptions of well-known functions and constructions may be omitted for clarity and conciseness.
Additionally, exemplary embodiments will now be described more fully hereinafter with reference to the accompanying drawings. The exemplary embodiments may, however, be embodied in different forms and should not be construed as limited to the embodiments set forth herein. These embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the exemplary embodiments to those skilled in the art. Like numbers refer to like elements throughout.
It will be understood that, although the terms first, second, etc. may be used herein to describe various elements, these elements should not be limited by these terms. These terms are only used to distinguish one element from another. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.
It will be understood that when an element is referred to as being "connected" or "coupled" to another element, it can be directly connected or coupled to the other element or intervening elements may be present. In contrast, when an element is referred to as being "directly connected" or "directly coupled" to another element, there are no intervening elements present.
The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise.
Reference will now be made in detail to the exemplary embodiments of the present disclosure, examples of which are illustrated in the accompanying drawings, wherein like reference numerals refer to the like elements throughout.
The expression "at least one of a, b and c" is to be understood as including only a, only b, only c, both a and b, both a and c, both b and c, or all of a, b and c.
Hereinafter, principles and embodiments of the present disclosure will be described with reference to the accompanying drawings.
Fig. 1 shows a configuration of a vehicle equipped with a driver assistance apparatus according to an embodiment.
As shown in fig. 1, the vehicle 1 includes a drive system 10, a brake system 30, and a steering system 40.
The drive system 10 moves the vehicle 1 and may include an engine 12, an engine control module 11, a transmission 22, and a transmission control module 21.
The engine 12 can generate power for running of the vehicle 1 by explosive combustion using fuel. The transmission 22 may reduce power generated by the engine 12 and transmit the power to the wheels.
The engine control module 11 may be electrically connected to the engine 12, and may output a control signal for controlling the engine 12 in response to a driver's desire to accelerate with an accelerator pedal or a request from the driver assistance apparatus 100.
The engine control module 11 may control the engine 12 in response to a request from the driver assistance device 100. For example, the engine control module 11 may receive an acceleration request including an acceleration from the driver assistance apparatus 100 and control the engine 12 such that the vehicle 1 accelerates according to the received acceleration.
The transmission control module 21 may be fluidly connected to the transmission 22 (e.g., via a flow path, etc.) and may provide hydraulic pressure to the transmission 22 for controlling a gear of the transmission 22 in response to a shift command by a driver via a shift lever and/or a travel speed of the vehicle 1.
The braking system 30 stops the vehicle 1 and may include brakes 32 and a brake control module 31.
The brake 32 may decelerate the vehicle 1 or stop the vehicle 1 by rubbing with the wheel.
The brake control module 31 is fluidly connected to the brakes 32, and may provide hydraulic pressure to the brakes 32 for controlling the brakes 32 in response to a driver's desire to brake via a brake pedal and/or behavior of the vehicle 1.
The brake control module 31 may control the brakes 32 in response to a request from the driver assistance device 100. For example, the brake control module 31 receives a deceleration request including deceleration from the driver assistance apparatus 100, and controls the brake 32 such that the vehicle 1 decelerates according to the requested deceleration.
The steering system 40 may include a steering gear 42 and a steering control module 41.
The steering gear 42 may change the driving direction of the vehicle 1.
The steering control module 41 is mechanically (e.g., via gears) or fluidly connected to the steering gear 42, and may assist the operation of the steering gear 42 such that the driver may easily manipulate the steering wheel in response to the driver's desire to steer via the steering wheel.
The steering control module 41 may control the steering 42 in response to a request from the driver assistance apparatus 100. For example, the steering control module 41 receives a steering request including a steering torque from the driver assistance apparatus 100, and may control the steering gear 42 such that the vehicle 1 is steered according to the requested steering torque.
For the safety and convenience of the driver, the vehicle 1 further includes a display device 51 and a driver assistance apparatus 100.
The display device 51 may display images for providing convenience and information to the driver. The display device 51 may display information requested from the driver assistance apparatus 100. For example, the display device 51 may display information about the speed limit of the road in response to a request from the driver assistance apparatus 100.
The driver assistance device 100 may assist the driver in steering (driving, braking and steering) the vehicle 1. For example, the driver assistance apparatus 100 may sense a surrounding environment of the vehicle 1 (e.g., another vehicle, a pedestrian, a rider, a lane, a road sign, etc.), and control driving and/or braking and/or steering of the vehicle 1 in response to the sensed environment.
The driver assistance apparatus 100 may provide various functions to the driver. For example, the driver assistance apparatus 100 may include Lane Departure Warning (LDW), Lane Keeping Assistance (LKA), High Beam Assistance (HBA), Automatic Emergency Braking (AEB), Traffic Sign Recognition (TSR), Smart Cruise Control (SCC), Blind Spot Detection (BSD), and the like.
The driver assistance apparatus 100 includes a camera module 101 and a radar module 102, the camera module 101 acquiring image data around the vehicle 1, and the radar module 102 acquiring object data around the vehicle 1. The camera module 101 may include a camera 101a and an Electronic Control Unit (ECU)101b, and photograph at least one of the front or side of the vehicle 1 and recognize another vehicle, a pedestrian, a rider, a lane, a road sign, and the like. The radar module 102 may include a radar 102a and an ECU 102b, and acquires a relative position, a relative speed, and the like of an object (e.g., another vehicle, a pedestrian, a rider, and the like) around the vehicle 1.
The driver assistance apparatus 100 is not limited to the apparatus shown in fig. 1, and may further include a lidar that scans and detects an object around the vehicle 1.
The above electronic components can communicate with each other through the vehicle communication network NT. For example, the electronic components may transmit data through a Controller Area Network (CAN), a Local Interconnect Network (LIN), and so on. For example, the driver assistance apparatus 100 may transmit a driving signal, a braking signal, and a steering signal to the engine control module 11, the transmission control module 21, the braking control module 31, and the steering control module 41, respectively.
Fig. 2 shows a configuration of a driver assistance device according to an embodiment. Fig. 3 shows an example of the speed limit flag.
As shown in fig. 2, the vehicle 1 may include a drive system 10, a brake system 30, a steering system 40, a display device 51, and a driver assistance apparatus 100.
The drive system 10, the brake system 30, the steering system 40, and the display device 51 may be the same as the drive system 10, the brake system 30, the steering system 40, and the display device 51 shown in fig. 1.
The driver assistance device 100 may comprise a front camera 110, a front radar 120 and a controller 140.
The front camera 110 may have a field of view 110a facing forward of the vehicle 1. The front camera 110 may be mounted on the front windshield of the vehicle 1.
The front camera 110 may capture the front of the vehicle 1 and acquire image data in front of the vehicle 1. The image data in front of the vehicle 1 may include information of another vehicle, a pedestrian, a lane, or a sign existing 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 for converting 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, and may transmit image data in front of the vehicle 1 to the controller 140. For example, the front camera 110 may be connected to the controller 140 through a vehicle communication network NT, a hard wire, or a Printed Circuit Board (PCB).
The front radar 120 may have a sensing area 120a facing the front of the vehicle 1. The front radar 120 may be mounted on a grille of the vehicle 1, for example.
The front radar 120 may include a transmitting antenna (or a transmitting antenna array) and a receiving antenna (or a receiving antenna array) that face the front of the vehicle 1. The front radar 120 may acquire detection data based on a transmission radio wave transmitted by a transmission antenna and a reception radio wave received by a reception antenna. The detection data may include the position (distance and direction) and speed of an object located in front of the vehicle 1.
The front radar 120 may be connected to the controller 140 through a vehicle communication network NT, a hard wire, or a printed circuit board. The front radar 120 may transmit front radar data to the controller 140.
The controller 140 may include an ECU (101 b in fig. 1) of the camera module (101 in fig. 1) and/or an ECU (102 b in fig. 1) of the radar module (102 in fig. 1), and/or an integrated ECU.
The controller 140 may be electrically connected to the front camera 110 and the front radar 120. In addition, the controller 140 may be connected to the driving system 10, the braking system 30, and the steering system 40 through a vehicle communication network NT.
The controller 140 may include a plurality of semiconductor devices, and may be variously referred to as an Electronic Control Unit (ECU) or the like.
The controller 140 includes a CAN transceiver, a memory 142, and a processor 141.
The CAN transceiver may exchange data with the engine control module 11, the transmission control module 21, the brake control module 31, the steering control module 41, and the display device 51 via the vehicle communication network NT.
The memory 142 may store programs and data for controlling the operation of the driver assistance device 100. In addition, the memory 142 may provide programs and data to the processor 141 and store temporary data generated during the operation of the processor 141.
The memory 142 may include volatile memory, such as S-RAM, D-RAM, etc., and non-volatile memory, such as flash memory, read-only memory (ROM), erasable programmable read-only memory (EPROM), etc. The memory 142 may include one semiconductor device or may include a plurality of semiconductor devices.
The processor 141 may process image data of the front camera 110 and/or detection data of the front radar 120 according to the program and data provided from the memory 142. In addition, processor 141 may generate control signals for controlling drive system 10, brake system 30, and steering system 40 according to programs and data stored in memory 142.
The processor 141 may include one semiconductor device or may include a plurality of semiconductors. In addition, processor 141 may include one core or a plurality of cores in one semiconductor device. Such a processor 191 may be referred to in various ways, such as a Micro Processing Unit (MPU) or the like.
The controller 140 may detect an object (e.g., another vehicle, a pedestrian, a sign, etc.) in front of the vehicle 1 based on the front image data of the front camera 110 and the detection data of the front radar 120.
The controller 140 may identify the relative position (distance and direction) and category (e.g., whether the object is another vehicle, a pedestrian, or a sign) of the object in front of the vehicle 1 based on the image data of the front camera 110. The controller 140 may acquire the relative position (distance and direction) and the relative speed of the object in front of the vehicle 1 based on the detection data of the front radar 120. In addition, the controller 140 may match the object detected from the image data with the object detected from the detection data, and identify the category, relative position, and relative speed of the object in front of the vehicle 1 based on the matching result.
The controller 140 may generate a driving signal, a braking signal, and a steering signal based on the driver's input and the relative position and relative speed of the preceding object. For example, the controller 140 may transmit a driving signal for driving the vehicle 1 at a speed set by the driver to the drive system 10. The controller 140 may transmit a driving signal to the drive system 10 so that the distance from the preceding vehicle (or the time until the position of the preceding vehicle is reached) becomes the distance set by the driver. The controller 140 determines a Time To Collision (TTC) or a collision Distance (DTC) between the vehicle 1 and the preceding object based on the position (distance) and the relative speed of the preceding object, and warns the driver of a collision or transmits a brake signal to the brake system 32 based on the result of comparison of the TTC with a reference value.
The controller 140 may detect a sign in front of the vehicle 1 and recognize the content of the sign. For example, the controller 140 may detect the marker based on the color and/or shape of the marker. In addition, the controller 140 may identify the content of the token using a machine learning identification module.
The sign may have a particular shape and a particular color. As shown in fig. 3, the speed limit flag may be a red ring. The controller 140 may detect a particular shape (e.g., a ring shape) in a particular color region (e.g., a red region).
When the flag is detected, the controller 140 may determine the speed limit of the road by recognizing a number or word in the flag. In addition, the controller 140 may determine road information (e.g., school zone) by recognizing a shape in the sign.
The controller 140 may detect, for example, a composite marker including various information. For example, as shown in fig. 3, the law enforcement notification sign 200 may include a first sign 210 indicating a speed limit, a second sign 220 indicating speed enforcement, and a third sign 230 indicating a distance from a law enforcement location.
The controller 140 may detect each of the first flag 210, the second flag 220, and the third flag 230. For example, the controller 140 may detect the first flag 210 indicating the speed limit, and then detect the second flag 220 and the third flag 230 near the first flag 210.
Controller 140 may identify the content of first marker 210, the content of second marker 220, and the content of third marker 230. The controller 140 may identify the speed limit of the link from the first flag 210. The controller 140 may identify speed enforcement from the second indicia 220. The controller 140 may identify the distance from the speed enforcement location from the third marker 230.
As such, the controller 140 may determine the speed limit of the road and the distance from the speed measurement enforcement location based on the enforcement notification mark 200 including the first mark 210, the second mark 220, and the third mark 230.
The controller 140 may provide a path for preventing speeding to the driver or limit the traveling speed of the vehicle 1 based on the speed limit of the road and the distance from the speed measurement enforcement location. For example, when cruise control for controlling the vehicle 1 to travel at a speed set by the driver is activated, the controller 140 may limit the travel speed of the vehicle 1 to the speed limit of the road.
Fig. 4 shows the operation of the driver assistance device according to an embodiment. Fig. 5 shows an example of providing a notification to the driver in accordance with the operation of the driver assistance apparatus shown in fig. 4.
Referring to fig. 4 and 5, an operation 1000 of the driver assistance apparatus 100 will be described.
The driver assistance apparatus 100 acquires image data in front of the vehicle 1 (1010).
When the vehicle 1 is running, the front camera 110 may capture the front of the vehicle 1 and acquire image data in front of the vehicle 1. In addition, the front camera 110 may provide the acquired image data to the controller 140.
For example, the front camera 110 may acquire image data including the law enforcement notification flag 200, and may provide the controller 110 with the image data including the law enforcement notification flag 200.
The driver assistance apparatus 100 determines whether the law enforcement notification flag 200 is detected (1020).
The controller 140 may receive image data from the front camera 110 and process the received image data. The controller 140 may include an image processor for processing image data.
For example, the controller 140 may search for a marker from the image data. The controller 140 may search for a specific shape in the color area of the specific color. For example, the controller 140 may search for a ring shape in the red region to search for the speed limit flag. Accordingly, the controller 140 may detect the first flag 210 indicating the speed limit.
When the first marker 210 is detected, the controller 140 may again search for a specific shape in a color area of a specific color around the first marker 210. For example, the controller 140 may search for a rectangle in the yellow region to search for a speed measurement enforcement token. Thus, the controller 140 may detect the second flag 220 indicating speed enforcement.
When the second marker 220 is detected, the controller 140 may again search for a specific shape in a color area of a specific color around the second marker 220. For example, the controller 140 may search for a rectangle in a white area. Thus, the controller 140 may detect the third flag 230 indicating the speed enforcement location.
In this way, controller 140 may detect law enforcement notification indicia 200 based on image data acquired from front-facing camera 110.
If it is determined that the law enforcement notification flag 200 is not detected (NO at 1020), the driver assistance device 100 may continue image processing to detect the speed enforcement flag.
When it is determined that the law enforcement notification flag 200 is detected (yes in 1020), the driver assistance apparatus 100 determines whether the running speed of the vehicle 1 is greater than the speed limit (1030).
If a flag is detected, the controller 140 may identify the contents of the flag. The controller 140 may use a machine learning recognizer module to recognize the content of the token or may use a feature extraction algorithm to recognize the content of the token.
For example, if first marker 210 is detected, controller 140 may identify the contents of first marker 210. In other words, the controller 140 may identify the number on the first flag 210 that represents the speed limit. If the second marker 220 is detected, the controller 140 may identify the content of the second marker 220. In other words, the controller 140 may detect a flag or word indicating speed enforcement in the second flag 220. If the third flag 230 is detected, the controller 140 may identify the content of the third flag 230. In other words, the controller 140 may identify a number representing the distance from the third marker 230 to the speed measurement enforcement location.
Once the contents of the law enforcement notification flag 200 are identified, the controller 140 may determine whether the travel speed of the vehicle 1 is greater than the speed limit of the identified law enforcement notification flag 200. If information regarding the travel speed of vehicle 1 may be received from drive system 10 or brake system 30, controller 140 may compare the travel speed of vehicle 1 to the speed limit of identified law enforcement notification flag 200.
If it is determined that the traveling speed of the vehicle 1 is not greater than the speed limit (no in 1030), the driver assistance apparatus 100 notifies the driver of the speed limit (1035).
For example, the controller 140 may transmit information about the speed limit to the display device 51 to display the speed limit to the driver. The speed limit of the road may be displayed on the display device 51 so that the vehicle 1 does not accelerate.
When it is determined that the travel speed of the vehicle 1 is greater than the speed limit (yes in 1030), the driver assistance apparatus 100 notifies the speed limit that gradually decreases according to the distance from the law enforcement location (1040).
When it is determined that the travel speed of the vehicle 1 is greater than the speed limit, the controller 140 may determine a difference between the travel speed of the vehicle 1 and the speed limit, and determine whether the determined difference is greater than a reference difference.
If the determined difference is not greater than the reference difference, the controller 140 may transmit information about the speed limit to the display device 51 to display the speed limit to the driver. The speed limit of the road may be displayed on the display device 51 so that the vehicle 1 is not regulated for speeding.
In addition, an image effect may be displayed so that the driver can recognize that the traveling speed of the vehicle 1 is greater than the speed limit. For example, an image displayed on the display device 51 may blink, or an image indicating a speed limit may partly blink.
If the determined difference is greater than the reference difference, the controller 140 may transmit information about the speed limit to the display device 51 to display the speed limit gradually decreasing according to the remaining distance from the law enforcement location. Specifically, controller 140 may transmit information regarding the speed limit to display device 51 to display the decreasing speed limit as the distance from the enforcement location decreases. Thus, the driver can gradually or gradually reduce the travel speed of the vehicle 1 before the vehicle 1 reaches the law enforcement location.
For example, as shown in fig. 5, vehicle 1 is traveling at a speed of 100kph (kilometers per hour), the speed limit for the roadway may be 50kph, and the distance from the law enforcement location may be 500 m.
Once law enforcement notification flag 200 is identified, controller 140 may transmit information about the speed limit to display device 51 to indicate a speed limit of 90 kph.
When the vehicle 1 is running, the controller 140 may determine the running distance of the vehicle 1. If the distance from the law enforcement location based on the travel distance of the vehicle 1 is 400m or less, the controller 140 may transmit information on the speed limit to the display device 51 to display the speed limit of 80 kph. If the distance from the law enforcement location based on the travel distance of the vehicle 1 is 300m or less, the controller 140 may transmit information on the speed limit to the display device 51 to display the speed limit of 70 kph. If the distance from the law enforcement location based on the travel distance of the vehicle 1 is 200m or less, the controller 140 may transmit information on the speed limit to the display device 51 to display the speed limit of 60 kph. In addition, if the distance from the law enforcement location based on the travel distance of the vehicle 1 is 100m or less, the controller 140 may transmit information on the speed limit to the display device 51 to display the speed limit of 50 kph.
If the difference between the traveling speed of the vehicle 1 and the speed limit of the road is large, the driver may forcibly reduce the speed of the vehicle 1 when the speed limit is displayed to the driver. Therefore, there is a risk of collision of the vehicle following the vehicle 1. On the other hand, by displaying the speed limit gradually decreasing according to the distance from the law enforcement location, the driver assistance apparatus 100 may prompt the driver to gradually slow down the vehicle 1. Therefore, an accident caused by rapid deceleration of the vehicle 1 can be prevented.
However, urging the driver assistance apparatus 100 to reduce the travel speed of the vehicle 1 is not limited to urging the vehicle 1 to gradually reduce the travel speed. For example, the driver assistance device 100 may transmit information about the speed limit to the display means 51 to display the speed limit decreasing in proportion to the distance from the law enforcement location.
The driver assistance apparatus 100 determines whether the vehicle 1 has passed the law enforcement location (1050).
After recognizing the law enforcement notice flag 200, the controller 140 may determine the travel distance of the vehicle 1 while the vehicle 1 is traveling. In other words, controller 140 may determine the distance from law enforcement notification flag 200 to vehicle 1. If the distance from law enforcement notification mark 200 to vehicle 1 is greater than or equal to the distance from law enforcement notification mark 200 to the law enforcement location disclosed in law enforcement notification mark 200, controller 140 may determine that vehicle 1 has passed the law enforcement location.
After recognizing the law enforcement notification flag 200, the controller 140 may acquire image data from the front camera 110 and search the image data for a law enforcement camera or a speed measurement law enforcement flag while the vehicle 1 is running. For example, the controller 140 searches for a speed measurement enforcement mark indicating speed measurement enforcement on the upper side or the right side in front of the vehicle 1 based on the image data, and when the speed measurement enforcement mark is detected on the upper side or the right side in front of the vehicle 1, the controller 140 may determine that the vehicle 1 has passed through the enforcement location.
If it is determined that the vehicle 1 has not passed the law enforcement location (NO in 1050), the driver assistance apparatus 100 may repeatedly determine whether the travel speed of the vehicle 1 is greater than the speed limit.
If it is determined that the vehicle 1 has passed the law enforcement location (yes in 1050), the driver assistance apparatus 100 notifies the driver of the passage of the law enforcement location (1060).
The controller 140 may transmit a control signal to the display device 51 to display an image indicating that the vehicle 1 has passed through the law enforcement location.
As described above, the driver assistance apparatus 100 may recognize the law enforcement notification flag 200 based on the image data in front of the vehicle 1, and may provide the driver with a gradually decreasing speed limit based on the speed limit indicated on the law enforcement notification flag 200 and the distance from the law enforcement location. Thus, the vehicle 1 is prevented from speeding on the speed measurement enforcement section, and accidents due to rapid deceleration of the vehicle 1 can be prevented.
In the above, no reference is made to the navigation device of the vehicle 1. Unlike the above description, when the vehicle 1 includes the navigation device, the driver assistance apparatus 100 may acquire information about a law enforcement location that regulates speeding of the vehicle 1 from the navigation device. If the distance from the navigation device to the law enforcement location is less than the reference distance, the driver assistance apparatus 100 may notify the driver of the speed limit that gradually decreases according to the distance from the law enforcement location.
In addition, even if the vehicle 1 includes a navigation device, if the navigation device malfunctions, the driver assistance apparatus 100 may detect the law enforcement notification flag 200 based on the image data in front of the vehicle 1 and determine the distance from the law enforcement location, and may notify the driver of the speed limit that gradually decreases according to the distance from the law enforcement location.
In other words, in the case where the vehicle 1 is equipped with the navigation device, the driver assistance apparatus 100 may notify the driver of the speed limit that gradually decreases according to the distance from the law enforcement location based on the law enforcement location output from the navigation device. And if the navigation device malfunctions, the driver assistance apparatus 100 may notify the driver of the speed limit gradually decreasing according to the distance from the law enforcement location based on the law enforcement notification flag 200.
Fig. 6 shows the operation of the driver assistance device according to the embodiment. Fig. 7 shows an example of limiting the vehicle speed according to the operation of the driver assistance apparatus shown in fig. 6.
Referring to fig. 6 and 7, an operation 1100 of the driver assistance apparatus 100 is described.
The driver assistance device 100 acquires image data in front of the vehicle 1 (1110). The driver assistance apparatus 100 determines whether the law enforcement notification flag 200 is detected (1120). If it is determined that the law enforcement notification flag 200 is not detected (NO in 1120), the driver assistance device 100 may continue image processing to detect the speed enforcement flag. When it is determined that the law enforcement notification flag 200 has been detected (yes in 1120), the driver assistance apparatus 100 determines whether the running speed of the vehicle 1 is greater than the speed limit (1130). If it is determined that the running speed of the vehicle 1 is not greater than the speed limit (no in 1130), the driver assistance apparatus 100 notifies the driver of the speed limit (1135).
Operations 1110, 1120, 1130, and 1135 may be the same as operations 1010, 1020, 1030, and 1035 shown in fig. 4.
When it is determined that the running speed of the vehicle 1 is greater than the speed limit (yes in 1130), the driver assistance apparatus 100 determines whether cruise control of the vehicle 1 is activated (1140).
The cruise control includes controlling the vehicle 1 to travel at a travel speed set by the driver, and controlling the vehicle 1 to follow a preceding vehicle selected by the driver and to maintain a constant distance from the preceding vehicle.
The driver can set the cruise control travel speed by means of, for example, buttons provided on the steering wheel or on the center dashboard. The driver assistance device 100 may transmit an acceleration signal or a deceleration signal to the drive system 10 or the brake system 30 so that the vehicle 1 travels at the travel speed set by the driver.
In addition, the driver can set the distance to the vehicle ahead for cruise control by, for example, a button provided on the steering wheel or the center dash panel. The driver assistance apparatus 100 may measure the distance to the vehicle in front based on the output of the front radar 120 and transmit a control signal to the drive system 10 and the brake system 30 so that the vehicle 1 maintains the distance set by the driver from the vehicle in front.
If it is determined that cruise control has not been activated (NO in 1140), the driver assistance device 100 notifies a decreasing speed limit according to the distance from the law enforcement location (1145).
Operation 1145 may be the same as operation 1040 shown in fig. 4.
When it is determined that the cruise control is activated (yes in 1140), the driver assistance apparatus 100 controls the vehicle 1 to travel at a speed that gradually decreases according to the distance from the law enforcement location (1150).
When it is determined that the travel speed of the vehicle 1 is greater than the speed limit, the controller 140 may determine whether a difference between the travel speed of the vehicle 1 and the speed limit is greater than a reference difference. If the determined difference is not greater than the reference difference, the controller 140 may transmit an acceleration signal or a deceleration signal to the driving system 10 or the braking system 30 so that the vehicle 1 is driven at the speed limit.
If the determined difference is greater than the reference difference, the controller 140 may transmit an acceleration signal or a deceleration signal to the driving system 10 or the braking system 30 so that the vehicle 1 travels at a gradually decelerated travel speed according to the remaining distance from the law enforcement location. Specifically, controller 140 may transmit an acceleration signal or a deceleration signal to drive system 10 or brake system 30 to travel at a reduced travel speed as the distance from the enforcement location decreases. Thus, the vehicle 1 may gradually or gradually reduce the travel speed before the vehicle 1 reaches the law enforcement location.
For example, as shown in fig. 7, vehicle 1 is traveling at a speed of 100kph (kilometers per hour), the speed limit for the roadway may be 50kph, and the distance from the law enforcement location may be 500 m.
Upon recognizing the law enforcement notification flag 200, the controller 140 may transmit a deceleration signal to the drive system 10 or the brake system 30 to reduce the traveling speed of the vehicle 1 to 90 kph.
While the vehicle 1 is running, the controller 140 may determine the running distance of the vehicle 1, and if the distance from the law enforcement location based on the running distance of the vehicle 1 is 400m or less, the controller 140 may transmit a deceleration signal to the driving system 10 or the braking system 30 to reduce the running speed of the vehicle 1 to 80 kph. If the distance from the law enforcement location based on the travel distance of the vehicle 1 is 300 meters or less, the controller 140 may transmit a deceleration signal to the driving system 10 or the braking system 30 to reduce the travel speed of the vehicle 1 to 70 kph. If the distance from the law enforcement location based on the travel distance of the vehicle 1 is 200 meters or less, the controller 140 may transmit a deceleration signal to the driving system 10 or the braking system 30 to reduce the travel speed of the vehicle 1 to 60 kph. In addition, if the distance from the law enforcement location based on the travel distance of the vehicle 1 is 100m or less, the controller 140 may transmit a deceleration signal to the driving system 10 or the braking system 30 to reduce the travel speed of the vehicle 1 to 50 kph.
If the running speed of the vehicle 1 is drastically reduced, inconvenience is given to the driver, and there is a risk that the vehicle following the vehicle 1 collides. By gradually reducing the running speed of the vehicle 1, inconvenience to the driver can be prevented, and accidents due to rapid deceleration of the vehicle 1 can be prevented.
However, reducing the travel speed of the vehicle 1 by the driver assistance apparatus 100 is not limited to gradually reducing the travel speed of the vehicle 1. For example, the driver assistance device 100 transmits an acceleration signal or a deceleration signal to the drive system 10 or the brake system 30 so that the vehicle 1 travels at a travel speed that decreases in proportion to the distance from the law enforcement location.
In this case, the deceleration of the vehicle 1 may be determined by [ equation 1] or [ equation 2 ].
[ equation 1]
Here, a represents the acceleration of the vehicle 1, V1Representing the current speed, V, of the vehicle 12Representing the speed limit and D the distance from the enforcement location.
[ equation 2]
Here, a represents the acceleration of the vehicle 1, V1Represents the current speed of the vehicle 1, T represents the time of arrival at the enforcement location and D represents the distance from the enforcement location.
The driver assistance apparatus 100 determines whether the vehicle 1 has passed the law enforcement location (1160).
Operation 1160 may be the same as operation 1050 shown in FIG. 4.
If it is determined that the vehicle 1 has not passed the law enforcement location (No in 1160), the driver assistance device 100 may repeatedly determine whether the travel speed of the vehicle 1 is greater than the speed limit.
If it is determined that the vehicle 1 has passed the law enforcement location (yes in 1160), the driver assistance device 100 notifies the driver of the passage of the law enforcement location, and resumes the running speed of the vehicle 1 (1170).
The controller 140 may transmit a control signal to the display device 51 to display an image indicating that the vehicle 1 has passed through the law enforcement location.
Also, if the cruise control is activated, the controller 140 may transmit an acceleration signal or a deceleration signal to the driving system 10 or the braking system 30 when the vehicle 1 passes through the law enforcement location, so that the vehicle 1 travels at a traveling speed set by the driver.
As described above, the driver assistance apparatus 100 may recognize the law enforcement notification mark 200 based on the image data in front of the vehicle 1, and may gradually decelerate the vehicle 1 based on the speed limit indicated on the law enforcement notification mark 200 and the distance from the law enforcement location. Thus, the vehicle 1 is prevented from speeding on the speed measurement enforcement section, and accidents due to rapid deceleration of the vehicle 1 can be prevented.
The foregoing has described exemplary embodiments of the present disclosure. In the above exemplary embodiments, some components may be implemented as "modules". Herein, the term "module" refers to, but is not limited to, software and/or hardware components such as a Field Programmable Gate Array (FPGA) or an Application Specific Integrated Circuit (ASIC) that perform particular tasks. A module may advantageously be configured to reside on the addressable storage medium and configured to run on one or more processors.
Thus, as an example, a module may include components such as: software components, object-oriented software components, class components and task components, processes, functions, attributes, procedures, subroutines, segments of program code, drivers, firmware, microcode, circuitry, data, databases, data structures, tables, arrays, and variables. The operations provided for in the components and modules may be combined into fewer components and modules or further separated into additional components and modules. Additionally, the components and modules may be implemented such that they execute one or more central processing units in the device.
That is, in addition to the exemplary embodiments described above, embodiments may thus be implemented by computer readable code/instructions in/on a medium, such as a computer readable medium, to control at least one processing element to implement any of the exemplary embodiments described above. The medium may correspond to any medium allowing storing and/or transmitting of computer readable code.
The computer readable code may be recorded on a medium or transmitted over the internet. The medium may include read-only memory (ROM), random-access memory (RAM), compact disc read-only memory (CD-ROM), magnetic tape, floppy disk, and optical recording medium. Also, the medium may be a non-transitory computer readable medium. The medium can also be a distributed network, such that the computer readable code is stored or transmitted and executed in a distributed fashion. Further, by way of example only, the processing elements may include at least one processor or at least one computer processor, and the processing elements may be distributed and/or included in a single device.
While exemplary embodiments have been described with respect to a limited number of embodiments, those skilled in the art, having benefit of this disclosure, will appreciate that other embodiments can be devised which do not depart from the scope of the disclosure as disclosed herein. Accordingly, the scope should be limited only by the attached claims.
According to an aspect of the present disclosure, a driver assistance apparatus and a driver assistance method capable of adjusting a vehicle speed according to a law enforcement mark may be provided. Therefore, the vehicle can be prevented from traveling beyond the speed limit.