KR100603711B1 - Apparatus and method for preventing collision of vehicles using gps - Google Patents

Abstract

The present invention relates to a vehicle collision avoidance apparatus using a GPS (Global Positioning System), and more particularly, having a map data having lane information, using a camera to recognize the lane in progress, the distance Detects the vehicle in progress and calculates the distance and lane with the vehicle by using the measuring sensor, corrects the position of other vehicles identified by the satellite positioning system and displays it on the display device. It will alert you when you enter.

GPS, laser sensor, lane recognition, line recognition, collision avoidance, location information transmission

Description

Vehicle collision prevention system and method using satellite positioning system {APPARATUS AND METHOD FOR PREVENTING COLLISION OF VEHICLES USING GPS}             

1 is a view for explaining a distance measurement and lane recognition concept between vehicles according to an embodiment of the present invention.

Figure 2 is a block diagram showing the configuration of a vehicle collision avoidance system using a satellite positioning system according to an embodiment of the present invention

3 is a flowchart illustrating a collision avoidance method of a vehicle using a satellite positioning system according to an exemplary embodiment of the present invention.

The present invention relates to a vehicle collision avoidance system using a global positioning system (GPS), and in particular, a satellite positioning system for preventing a collision by correcting the position of a collision risk vehicle using a camera and a distance measuring sensor. The present invention relates to a vehicle collision prevention system and method.

In general, the navigation system uses a GPS system. The GPS receives location information from a GPS satellite through a GPS antenna and maps the received location information data to map data recorded in a storage device such as a compact disk (CD) to display on the screen. Giving device. The navigation system searches for a route from a current location of a vehicle equipped with a GPS receiver and a portable GPS receiver to a registered and input destination using the GPS, and guides the route to the GPS receiver user through the searched route.

The navigation system reads the map data of the surrounding area of the GPS receiver in a predetermined area unit to guide the route from the current location to the destination and displays the direction and current location along with the map. . In general, maps displayed on a display device such as a thin film transistor liquid crystal display (TFT LCD) are simplified and stored only on roads without distinction of important buildings and lanes due to the capacity of the storage device and the size of the display device. have. Specifically, the road is displayed on the liquid crystal display device, whether the current road is a four-lane road or a two-lane road, without distinguishing lanes. This is because there is an error in positioning using the current GPS system. In general, the position error of the GPS system is usually 10m ~ 100m.

When the navigation system is used to move to another road that is parallel to each other due to the position error of the GPS system, it is indicated that the road continues to the same road on the screen of the display device. In other words, the navigation system determines that the route is out of the path only after a certain distance from the current road and re-searches the route to guide the new route.

In the conventional collision avoidance system using GPS, when the location of a vehicle equipped with a navigation system is determined, the location information is transmitted to other vehicles in the vicinity, and the vehicles receiving the location information are matched with the map according to the received location information. After performing, display on the display device and calculates the distance between the position of the received position information and its own position, and alerts the collision if the calculated data value is within a stable distance (data in a safe case). The collision avoidance system after the collision warning is to operate the brake system and the seat belt tensioner (Pretensioner). The collision prevention system using the GPS is described in detail in the Korean Utility Model Registration Application "20-2004-0016289", "Vehicle Collision Avoidance System", filed earlier by the present applicant, and a detailed description thereof will be omitted.

As described above, the conventional collision avoidance system using GPS alerts only the vehicles that are at risk of collision on the map displayed on the display device to the destination and the vehicle around the vehicle, and displays on the display device the driver's drowsiness and There was a problem that the driver can not prepare for a collision accident with the fixtures on the road, such as roadside trees and fall prevention jaw due to the glance.

In addition, the conventional collision avoidance system using GPS can be applied in a place where the vehicle proceeds at high speed, such as a highway, such as a GPS error, that is, an error of 10 ~ 100m may occur when determining the position by the GPS, but collision on a relatively low road There is a problem that can noticeably degrade performance.

Accordingly, an object of the present invention is to measure the position, lane and distance of the surrounding vehicles by using a camera and a distance sensor in the collision avoidance system using the satellite positioning system to correct the position of the received surrounding vehicles, The present invention provides an apparatus and method for preventing a collision of a vehicle using a satellite positioning system that generates a collision risk alarm when the distance is within a certain distance.

The apparatus of the present invention for achieving the above object; A satellite positioning system having map data and receiving a vehicle satellite positioning signal from a plurality of satellite positioning system satellites to determine a position and matching the position to the map data; An anti-collision system, comprising: a storage unit for storing a safe distance value, a radio unit for transmitting position information grasped by the satellite positioning system module unit, and receiving position information from another vehicle, and installed outside the vehicle And a plurality of distance measuring devices that generate and output distance data by measuring the distance between the rotation angle information and the object detected during the rotation while repeatedly rotating within a predetermined angle range, and the distance between the object measured by the distance measuring device. The position of an object near the position of the object being positioned is determined by the measured distance. Control the satellite positioning system module to adjust the map matching, and generate and output an alarm signal when the distance of the map-matched object is smaller than the safety distance value, and receive the alarm signal and generate an alarm. It is characterized by consisting of an alarm unit.                         

The method of the present invention for achieving the above object; It has map data including lane information and lane width information, and receives a vehicle satellite positioning signal from a plurality of satellite positioning system satellites under predetermined control to determine a location and map the location to the map data. A satellite positioning system module unit for outputting and outputting a lane, a camera for photographing a lane in an ongoing direction, and outputting image data; A storage unit for storing a safety distance value, a wireless unit for transmitting the position information and the lane information under predetermined control and receiving the position information and the lane information from another vehicle, Repeated rotation within the angular range to measure the distance between the rotation angle information and the object detected during the rotation In the collision avoidance method using a satellite positioning system having a plurality of distance measuring device to generate and output the distance data, the method comprising: identifying the position of the vehicle in progress through the satellite positioning system module unit; Photographing an ongoing lane of the vehicle, recognizing a lane through the line recognition unit, transmitting the position and lane information through the wireless unit, and receiving the position and lane information of another vehicle through the wireless unit And map matching the location and lane information of the vehicle and the location and lane information of another vehicle, measuring the distance of the other vehicle detected by the sensor, determining a lane, and measuring the detected vehicle. Correcting the position and lane information of the other vehicle in the vicinity of the estimated distance and the position of the lane; If the distance is less than the safety distance value is characterized in that the process of generating an alarm.

Hereinafter, exemplary embodiments of the present invention will be described in detail with reference to the accompanying drawings. It should be noted that in the following description, only parts necessary for understanding the operation according to the present invention will be described, and descriptions of other parts will be omitted so as not to distract from the gist of the present invention.

1 is a view for explaining the concept of distance measurement and lane recognition between vehicles according to an embodiment of the present invention.

Reference numerals 10, 20 and 30 in the drawings show a vehicle equipped with a collision avoidance system according to the present invention. Hereinafter, the vehicle 10 is referred to as the present vehicle, and 20 is referred to as a first other vehicle and 30 as a second other vehicle. The vehicle 10, the first other vehicle 20, and the second other vehicle 30 are equipped with a distance measuring sensor 15 on the front, rear, and both sides thereof. The distance measuring sensor 15 measures the distance between the surrounding vehicles and the fixtures on the road while rotating by a predetermined angle under the control of the controller of the collision avoidance system of the present invention. The first distance measuring sensor 15-1 measures the distance between the vehicle and the fixtures in the front, and the second distance measuring sensor 15-2 measures the distance between the vehicle and the fixtures in the rear, and the third distance measuring sensor 15-3 and the fourth distance measuring sensor 15-4 measure the distance between the vehicle and the fixtures on both sides. In addition, according to the present invention, the vehicles 10, 20, 30 mount the camera 17 and photograph the front side.

The vehicle 10 rotates the second distance measuring sensor 15-2 at a predetermined angle unit at an initial position (0 °) in order to determine a distance and a lane from the first other vehicle 20. Measure the distance and the angle between the second vehicle 20 in the. The angles θ1 and θ2 are calculated by Equation 1 below when the predetermined angle (hereinafter referred to as a “reference angle”) is 1 degree and the initial angle is based on a line horizontal to the width of the vehicle. do.

 Rotation Angle (θ) = Number of Rotations * Reference Angle

And based on the line perpendicular to the width of the vehicle is calculated by the following equation (2).

Rotation Angle (θ) = 90- (Rotation Speed) * (Reference Angle)

In FIG. 1, when θ1 and θ2 are calculated by Equations 1 or 2, the horizontal distances h1 and h2 between vehicles are calculated by Equation 3 below.

Horizontal distance (h) = distance * cosθ (θ is θ1, θ2)

The horizontal distance h is used to determine the lane of the first other vehicle 20 and the second other vehicle 30. In order to determine the lane of the other vehicle, the lane in which the vehicle 10 is in progress should be determined first.

The lane determination of the present vehicle 10 is made by line recognition through the camera 17. Specifically, the collision avoidance system mounted on the vehicle 10 performs image capturing through the camera 17, and recognizes a line from the photographed image to determine a lane. When the line is recognized, the center line may be determined by color separation, and if there is the center line, the lane may be determined by counting the number of lines based on the center line. If there is no center line and there is a median, lanes can be recognized based on the center line.

2 is a block diagram showing the configuration of a vehicle collision avoidance system using a satellite positioning system according to an embodiment of the present invention. Hereinafter, a configuration of a collision avoidance system using GPS according to the present invention will be described with reference to FIG. 2.

The control unit 201 controls the overall operation of the collision avoidance system using the GPS according to the present invention. The storage unit 203 includes a ROM for storing a control program for controlling a collision avoidance system using a GPS and a RAM for temporarily storing data generated while the control program is executed. The ROM stores mode setting information such as a collision avoidance mode set by a user and a safety distance value for generating a collision alert. The key input unit 207 includes keys for mode setting and generates and outputs key data for the keys. The display unit 205 receives and displays graphic data such as text and map data under the control of the controller 201. The camera 17 photographs an image to generate and output image data. The line recognition module 209 receives still image data or video data from the camera 17, performs line recognition, generates lane information, and outputs the lane information to the controller 201. The GPS module 211 includes a map data storage 212 and receives a location signal from a GPS satellite through an antenna ANT to determine its location and writes the map data stored in the map data storage 212 to the map data. Map-match the identified location and output it. The map data storage unit 212 includes lane information according to the present invention. The lane information includes lane number, lane width information, and the like for the roads. The first sensor unit 15-1, the second sensor unit 15-2,. The n-th sensor unit 15-n is a distance measuring sensor that detects a vehicle in progress and senses the detected distance of the vehicle and generates and outputs a distance signal. The first sensor unit 15-1 may be installed at the front of the vehicle, the second sensor unit 15-1 may be installed at the rear of the vehicle, and the n-th sensor unit 15-n may be installed at the side. have. As the number of the distance measuring sensors increases, the sensing angle can be reduced, so that the detection and the distance of the driving vehicle can be quickly measured, but the production cost can be high.

As the distance measuring sensors, an infrared sensor, a laser sensor, a photo sensor, an ultrasonic sensor, or the like may be used. The ultrasonic sensor is used to measure an object of a short distance, the photo sensor can be used to measure the distance between the object between 0 ~ 70m, in the case of a laser sensor, the distance from a long distance of 0 ~ 400m It can be used to measure. In the present invention, since the distance between the other vehicle and the fixture on the road within the distance of the risk of collision is measured, it would be preferable to use a photo sensor or the like in consideration of manufacturing cost.

The distance measuring unit 215 is connected to each of the sensor units 15 and converts the distance signal input from the sensor unit 15 into measurement distance data and outputs the measured distance data.

The radio unit 213 transmits the location information and the lane information obtained through the GPS module unit 211 via a radio signal wirelessly under the control of the control unit 201 and transmits it from the collision avoidance system of another vehicle. Receives the wireless signal to detect the location information and lane information and outputs to the control unit 201.

The brake system 220 is driven by the control of the control unit 201 to reduce the speed of the vehicle or to stop the vehicle. The pretensioner 230 tightens the seat belt so that the driver comes into close contact with the seat under the control of the control unit 201.

3 is a flowchart illustrating a collision avoidance method of a vehicle using a satellite positioning system according to an exemplary embodiment of the present invention. Hereinafter, a collision prevention method using GPS according to the present invention will be described with reference to FIGS. 1 to 3.

First, the control unit 201 performs location determination through the GPS module unit 211 in step 301. When the position detection is performed through the GPS module unit 211 in step 301, the controller 201 performs lane recognition for determining a lane of a road in progress through the camera 17 and the line recognition module 209 in step 303. do. If the current lane is determined through the lane recognition, the control unit 201 proceeds to step 304 and outputs the lane information to the GPS module unit 211 to perform map matching on the map data of the region corresponding to the identified position. . After step 304, the controller 201 proceeds to step 305 to check whether the collision avoidance mode is set in the ROM of the storage unit 203. If the collision avoidance mode is set, the controller 201 proceeds to step 331 and outputs and displays the map-matched map data in the display unit 205 in step 304.

On the other hand, if the collision avoidance mode is set, the control unit 201 proceeds to step 306 and transmits the location information and the lane information identified in step 301 through the wireless unit 213. After step 306, the control unit 201 proceeds to step 307 to check whether there is location information and lane information received from another vehicle. If there is location information and lane information received from another vehicle in step 307, the control unit 201 proceeds to step 309 and outputs the location information and lane information of another vehicle to the GPS module unit 211 for map matching, and step 310. Proceed to

In step 310, the sensor units 15 are initialized at an angle, and in step 311, the sensor unit 15 is rotated at a predetermined angle to sense whether there is an object. In step 311, scanning of the parser units 15 is started, and in step 313, the controller 201 determines whether distance data is input from each of the distance measurers 215 to determine whether an object is detected in the vicinity. If the object is not detected, the process proceeds to step 319 and the map-matched map data is displayed on the display unit 203, and the process after step 301 is repeated through step 321.

On the other hand, if an object is detected in the vicinity, the control unit 201 proceeds to step 315 and receives and stores the distance data input through the corresponding sensor unit 15 where the object is detected, and proceeds to step 317 and the stored distance data and the distance. By calculating the horizontal distance by the rotation angle of the corresponding sensor unit 15 that outputs the data to determine the relative lane to the inner lane to determine the final lane of the object. In this case, since the map data storage unit includes lane width information of the ongoing road, the controller 201 determines the lane data based on the lane width information. For example, if the current lane width is 4m, the lane being progressed by the vehicle 10 is 2 lanes, and the horizontal distance is 7m, it is determined that the other vehicle is driving 4 lanes. When the lane is determined, the control unit 201 outputs the measured distance and lane information between the other vehicles to the GPS module 211. Then, the GPS module 211 maps the position of the other vehicle and the position of the present vehicle to the controller 201 based on the measured distance and lane information between the other vehicles. In this case, the GPS module 211 may map the position information of another vehicle determined by receiving the previous position information to the position of another vehicle by the measurement of the sensor unit 15 within a predetermined distance or the corresponding sensor unit 15 may be mapped. If there is a map matching between the other vehicle measured by the sensor unit 15, the position measured by the sensor unit 15 is preferentially mapped and the previous vehicle position information is discarded. The predetermined distance may be, for example, 1 m as a distance at which positions overlap.

After the step 317, the control unit 201 proceeds to step 319 to display the matched map data through the display unit 203, and proceeds to step 321 where the object detected in step 313 falls within a collision risk distance, that is, in step 315. Check that the measured and stored distance data is less than the safety distance. If the object detected in step 321 is within the collision risk distance, the control unit 201 proceeds to step 323 to alert the collision risk. The collision risk alarm may be displayed by text or graphic display through the display unit 205, or may generate an alarm through the audio unit 217 and the speaker SP.

After the collision risk alarm is generated in step 323, the control unit 201 proceeds to step 325 to determine whether the sensor detecting the object is a rear sensor to determine whether the collision object is a rear object. As a result of the determination, if it is a rear object, the control unit 201 proceeds to step 329 to drive the seat belt pretensioner to tighten the seat belt and proceeds to step 301 to repeat the following process. On the other hand, if the object is not the rear, that is, the front or side of the control unit 201 proceeds to step 327 to operate the brake system and proceeds to step 329 to drive the pretensioner of the seat belt and proceeds to step 301.

The present invention as described above, by using the vehicle's satellite positioning system in front of the vehicle in the current direction of travel, if the other vehicle moving within the collision danger distance, the driver in advance to notify the driver in advance or avoid the collision By giving a time that can have the advantage of preventing contact accidents and large accidents in advance.

Claims (9)

delete delete delete In the collision avoidance system using the satellite positioning system, It has map data including lane information and lane width information, and receives a vehicle satellite positioning signal from a plurality of satellite positioning system satellites under predetermined control to determine a location and map the location to the map data. A satellite positioning system module unit for outputting A camera which outputs image data by photographing a lane in the ongoing direction; A line recognition module for receiving the image data and recognizing a line and outputting lane information on a current lane; A storage unit for storing a safety distance value; A wireless unit for transmitting the location information and the lane information under predetermined control and receiving the location information and the lane information from another vehicle; A plurality of distance measuring devices installed outside of the vehicle and configured to measure distance between the rotation angle information and the object detected during the rotation while repeatedly rotating within a predetermined angle range to generate and output distance data; The satellite receives the distance data, the angle information, the position information of the tacharang, and the lane information, and maps the map by matching the position of the object located near the position of the object located at the measured distance with the position according to the measured distance. A control unit for controlling the positioning system module unit and outputting map data having matched lane information, and generating and outputting an alarm signal when the distance of the map-matched object is smaller than the safety distance value; A display unit which displays the text and graphics and receives and displays the map data; And a warning unit for receiving the alarm signal and generating an alarm. The method of claim 4, wherein And an audio processor and a speaker for outputting an alarm for warning of a collision with an audible sound. The method of claim 4, wherein Collision prevention system using a satellite positioning system, characterized in that the alarm unit for displaying a warning of the collision in text and graphics. It has map data including lane information and lane width information, and receives a vehicle satellite positioning signal from a plurality of satellite positioning system satellites under predetermined control to determine a location and map the location to the map data. A satellite positioning system module unit for outputting and outputting a lane, a camera for photographing a lane in an ongoing direction, and outputting image data; a line recognition module for recognizing a line by receiving the image data and outputting lane information on a currently ongoing lane; A storage unit for storing a safety distance value, a wireless unit for transmitting the position information and the lane information under predetermined control and receiving the position information and the lane information from another vehicle, Repeated rotation within the angular range to measure the distance between the rotation angle information and the object detected during the rotation In the collision avoidance method using a satellite positioning system having a plurality of distance measuring device for generating and outputting distance data Determining the location of the vehicle in progress through the satellite positioning system module; Photographing an ongoing lane of the vehicle with the camera and recognizing the lane through the line recognition unit; Transmitting the location and lane information through the wireless unit; Receiving location and lane information of another vehicle through the wireless unit; Mapping and matching the location and lane information of the vehicle with the location and lane information of another vehicle; Measuring the distance of the other vehicle detected by the sensor and determining a lane; Correcting the position and lane information of the previous other vehicle located near the detected distance of the vehicle and the position of the lane; If the measured distance is less than the safety distance value, the collision prevention method using a satellite positioning system, characterized in that the process of generating an alarm. The method of claim 7, wherein And when the alarm occurs, if the collision dangerous object is a rear object, operating the pretensioner of the seat belt to tighten the seat belt. 10. The method of claim 8, further comprising driving a brake system and driving a pretensioner of the seat belt if the object is a front and side object.

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