KR20200041404A - System for analyzing intersection and operating method thereof - Google Patents

Abstract

The present invention determines a vehicle's entry into a solid line intersection in China by receiving vehicle lane information, location information, and speed information of a surrounding vehicle, and an intersection analysis system that activates an alarm to generate an alarm when the vehicle leaves the current lane and the same It relates to a method of operation.
The intersection analysis system according to an embodiment of the present invention includes an image frame generated by photographing a surrounding when driving on a road, location information received from a GPS satellite, and speed information generated by sensing the speed of a host vehicle and surrounding vehicles. A third section of a road driving a first section to a fifth section including a Chinese intersection using a vehicle that generates driving information including one or more and communicates with the vehicle and uses the driving information received from the vehicle. In the case of starting the entry into the fourth section, the vehicle includes an intersection analysis device that determines the intersection of the vehicle and generates a signal to check the intersection, and transmits the signal to the vehicle. In response, the lane change alarm is activated, and the vehicle travels in the first direction from the current driving lane in the fourth section. , When driving in the second direction and driving in any one of the driving in the second direction after the first direction, an alarm signal is generated and output.

Description

Intersection analysis system and its operation method {SYSTEM FOR ANALYZING INTERSECTION AND OPERATING METHOD THEREOF}

The present invention determines a vehicle's entry into a solid line intersection in China by receiving vehicle lane information, location information, and speed information of a surrounding vehicle, and an intersection analysis system that activates an alarm to generate an alarm when the vehicle leaves the current lane and the same It relates to a method of operation.

The intersection characteristics of China consist of a solid line after the dotted line, a stop line at the end of the solid line, a pedestrian crossing after the stop line, and a surveillance camera on the top of the solid line. The solid line section of the Chinese intersection is 30m-70m, which is shorter than the solid line section in the tunnel or the solid line section of the general road. Therefore, Chinese drivers are forced to change the lane after entering the solid line at the intersection, and it is highly stressed by being fined or fined for violating traffic laws (lane violation).

The above-mentioned background art is technical information acquired by the inventor for the derivation of the present invention or acquired in the derivation process of the present invention, and is not necessarily a known technology disclosed to the general public prior to the filing of the present invention.

Domestic registered patent publication No. 10-1685900

The present invention has been devised to solve the above-mentioned problems and / or limitations, by receiving lane information of a vehicle, location information, and speed information of a surrounding vehicle, determining a vehicle to enter a solid line intersection in China, and the vehicle leaving the current lane In order to reduce the stress of lane violations of Chinese drivers by activating the alarm to generate an alarm.

The intersection analysis system according to an embodiment of the present invention includes an image frame generated by photographing a surrounding when driving on a road, location information received from a GPS satellite, and speed information generated by sensing the speed of a host vehicle and surrounding vehicles. A vehicle that generates driving information including one or more; And communicating with the vehicle, and using the driving information received from the vehicle, the vehicle starts to enter from the third section to the fourth section of the road consisting of the first to fifth sections including the Chinese intersection. In case of determining whether the vehicle enters the intersection, an intersection analysis device that generates an intersection entry confirmation signal and transmits it to the vehicle, wherein the vehicle includes a lane corresponding to the intersection entry confirmation signal received from the intersection analysis apparatus. Activate the change alarm, and generate an alarm signal when the vehicle travels in the first direction from the current driving lane in the first direction, in the second direction, or in the second direction after the first direction. It can be generated and output.

When the vehicle starts entering the fifth section using the driving information received from the vehicle, the intersection analysis apparatus may generate an intersection advance confirmation signal and transmit it to the vehicle.

The intersection analysis apparatus may use the driving information received from the vehicle, and when the vehicle travels in the first direction from the current driving lane and then travels again in the first direction, or when the vehicle is driven from the current driving lane. When driving in the second direction after driving in the second direction or when the vehicle is traveling in the first direction from the current driving lane and then driving in the second direction, and then driving again in the first direction A lane change warning deactivation signal may be transmitted to the vehicle.

The vehicle is an image capturing unit that photographs the surroundings while driving on the road to generate the image frame and transmits the image frame to the intersection analysis apparatus; A GPS receiver that transmits location information received from a GPS satellite to the intersection analyzer; A speed sensor for sensing the speed of the host vehicle and surrounding vehicles and transmitting the generated speed information to the intersection analysis apparatus; And activated in response to the intersection entry confirmation signal received from the intersection analysis device, so that the vehicle travels in the first direction from the current driving lane in the first section, travels in the second direction, and the second after the first direction. When driving in any one of the driving in the direction may include an alarm output unit for generating and outputting an alarm signal.

The alarm output unit may be deactivated in response to the intersection advance confirmation signal received from the intersection analyzer.

The alarm output unit may output one or more of an audible alarm signal, a visual alarm signal, and a tactile alarm signal to the alarm signal.

The method of operating the intersection analysis system according to an embodiment of the present invention includes: an image frame generated by a vehicle photographing a surrounding when driving on a road, location information received from a GPS satellite, and speed of a host vehicle and surrounding vehicles Generating driving information including at least one of the generated speed information; The intersection analysis unit communicates with the vehicle, and uses the driving information received from the vehicle to enter the third section from the third section to the fourth section while driving the road comprising the first section to the fifth section including the Chinese intersection. Determining a vehicle's entry into the intersection when the vehicle starts, generating a signal to confirm the entry into the intersection, and transmitting the signal to the vehicle; And the vehicle activates a lane change warning in response to the intersection entry confirmation signal received from the intersection analysis apparatus, and in the fourth section, the vehicle travels in the first direction from the current driving lane and travels in the second direction. And generating and outputting an alarm signal when driving in one of the driving directions in the second direction after the first direction.

The method further includes the step of generating, by the intersection analysis apparatus, an intersection confirmation signal when the vehicle starts entering the fifth section using the driving information received from the vehicle, and transmitting the signal to the vehicle. can do.

In the method, when the intersection analysis apparatus uses the driving information received from the vehicle, the vehicle travels in the first direction from the current driving lane and then travels again in the first direction, or the vehicle is currently When driving in the second direction after driving in the second direction from the driving lane or after the vehicle travels in the first direction from the current driving lane and then travels in the second direction, again in the first direction When driving, transmitting a lane change warning deactivation signal to the vehicle; may further include.

In the method, the outputting may include outputting at least one of an audible warning signal, a visual warning signal, and a tactile warning signal from the vehicle to the warning signal.

In addition to this, other methods for implementing the present invention, other systems, and computer programs for executing the methods may be further provided.

Other aspects, features, and advantages than those described above will become apparent from the following drawings, claims, and detailed description of the invention.

According to embodiments, the vehicle driver's lane information, location information, and speed information of a surrounding vehicle are received to determine the vehicle's entry into the Chinese solid line intersection and to activate an alarm to activate an alarm to generate an alarm when the vehicle leaves the current lane. It can alleviate lane violation stress.

The effects of the present invention are not limited to those mentioned above, and other effects not mentioned will be clearly understood by those skilled in the art from the following description.

1 is a view schematically illustrating characteristics of a road including an intersection in China, which can realize an intersection analysis system according to an embodiment of the present invention.
2 is a diagram for schematically explaining an intersection analysis system according to an embodiment of the present invention.
FIG. 3 is a view schematically illustrating a detailed configuration of a vehicle in the intersection analysis system of FIG. 1.
FIG. 4 is a view schematically illustrating a case in which an alarm is generated on a Chinese intersection in FIG. 1.
FIG. 5 is a view for schematically explaining a detailed configuration of an intersection analysis apparatus among the intersection analysis systems of FIG. 1.
6 is a flowchart illustrating a method of operating an intersection analysis system according to an embodiment of the present invention.

Advantages and features of the present invention, and methods for achieving them will be clarified with reference to embodiments described in detail with reference to the accompanying drawings. However, the present invention is not limited to the embodiments presented below, but may be implemented in various different forms, and should be understood to include all transformations, equivalents, and substitutes included in the spirit and scope of the present invention. . The embodiments presented below are provided to make the disclosure of the present invention complete, and to fully inform the scope of the invention to those skilled in the art to which the present invention pertains. In the description of the present invention, when it is determined that a detailed description of known technologies related to the present invention may obscure the subject matter of the present invention, the detailed description will be omitted.

Terms used in the present application are only used to describe specific embodiments, and are not intended to limit the present invention. Singular expressions include plural expressions unless the context clearly indicates otherwise. In this application, the terms "include" or "have" are intended to indicate the presence of features, numbers, steps, actions, components, parts or combinations thereof described herein, one or more other features. It should be understood that the existence or addition possibilities of fields or numbers, steps, operations, components, parts or combinations thereof are not excluded in advance. Terms such as first and second may be used to describe various components, but the components should not be limited by the terms. The terms are used only for the purpose of distinguishing one component from other components.

Hereinafter, embodiments according to the present invention will be described in detail with reference to the accompanying drawings, and in describing with reference to the accompanying drawings, the same or corresponding components are assigned the same reference numbers, and redundant description thereof is omitted. I will do it.

1 is a view schematically illustrating characteristics of a road including an intersection in China, which can realize an intersection analysis system according to an embodiment of the present invention. Referring to FIG. 1, a road including an intersection in China may include a first section 110 to a fifth section 150 and a surveillance camera 160. Here, the third section 130 to the fifth section 150 and the surveillance camera 160 may correspond to a Chinese intersection.

The first section 110 may include a dotted lane section in which a vehicle can drive before entering the intersection, and in an embodiment, the first section 110 in FIG. 1 may include three lanes.

The second section 120 may include a blanking section in which a vehicle may drive before entering the intersection, but no lane exists, and may exist as much as a designated distance (eg, a first distance).

The third section 130 may include a dotted lane section in which the vehicle can travel after entering the intersection, and may exist as much as a specified distance (eg, a second distance). The third section 130 may include a section composed of more lanes than the first section 110. For example, the third section 120 in FIG. 1 may include four lanes. Therefore, the lane width of the third section 120 may be narrower than the lane width of the first section 110.

The fourth section 140 may include a solid line lane section in which the vehicle can travel after entering the intersection, and may be configured with the same number of lanes as the third section 130. The lane width of the fourth section 140 may be the same as the lane width of the third section 130. Here, the surveillance camera 160 is provided in the fourth section 140, so that it is possible to determine that the traffic law has been violated when the vehicle leaves the lane in the fourth section 140 and photograph the license plate of the vehicle. The end of the fourth section 140 may further include a stop line 141 that the vehicle must stop accordingly when a red light is turned on at a traffic light (not shown) located in front.

The fifth section 150 may include a crosswalk section after the stop line 141.

2 is a diagram for schematically explaining an intersection analysis system according to an embodiment of the present invention. Referring to FIG. 2, the intersection analysis system 1 may include a vehicle 200, an intersection analysis device 300, and a communication network 400.

The vehicle 200 is generated by sensing an image frame generated by photographing the surroundings when driving on the road, location information of the vehicle 200 received from a GPS satellite, and the speed of the host vehicle (vehicle 200) and surrounding vehicles. Driving information including one or more of the speed information may be generated.

The vehicle 200 activates a lane change warning in response to the intersection entry confirmation signal received from the intersection analysis apparatus 300, and in the fourth section 140, the vehicle travels in the first direction from the current driving lane, the second direction In the case of driving in any one of the driving and the driving in the second direction after the first direction, an alarm signal may be generated and output.

However, when the vehicle 200 moves to the fifth section 150 and receives a confirmation signal for advancing an intersection from the intersection analysis apparatus 300, the lane change alarm may be deactivated. In addition, the vehicle 200 may release an alarm signal in response to a lane change alarm deactivation signal received from the intersection analysis apparatus 300 after the alarm signal is output at least twice.

The intersection analysis apparatus 300 communicates with the vehicle 200, and uses the image frame received from the vehicle 200, driving information including one or more of location information and speed information of the own vehicle and surrounding vehicles. ) Is the intersection of the vehicle 200 when starting to enter the fourth section 140 from the third section 130 while driving the road consisting of the first section 110 to the fifth section 150 including the Chinese intersection The entry may be determined and an intersection entry confirmation signal may be generated and transmitted to the vehicle 200.

The intersection analysis apparatus 300 uses the image frame received from the vehicle 200 and the driving information including at least one of location information and speed information of the own vehicle and surrounding vehicles, so that the vehicle 200 is in the fifth section 150. When starting the entry, it is determined that the vehicle 200 enters the intersection, and a signal for confirming the intersection advance may be generated and transmitted to the vehicle 200.

The intersection analysis apparatus 300 uses the image frame received from the vehicle 200 and driving information including at least one of location information and speed information of the own vehicle and surrounding vehicles, so that the vehicle 200 is first from the current driving lane. When driving in the first direction after driving in the direction, or when the vehicle travels in the second direction after driving in the second direction from the current driving lane or when the vehicle 200 travels in the first direction from the current driving lane Then, after driving in the second direction, when driving in the first direction again, the vehicle 200 may transmit a lane change alarm deactivation signal. Here, the vehicle 200 that has received the intersection advance confirmation signal and the lane change alarm deactivation signal may release the generation of the alarm signal.

The communication network 400 serves to connect the vehicle 200 and the intersection analysis device 300. That is, the communication network 400 transmits predetermined information, for example, driving information of the vehicle 200, or deactivates a lane change warning signal or lane change information after the vehicle 200 accesses the intersection analysis apparatus 300 It may mean a communication network that provides a connection path to receive a signal. The communication network 400 includes, for example, wired networks such as Local Area Networks (LANs), Wide Area Networks (WANs), Metropolitan Area Networks (MANs), and Integrated Service Digital Networks (ISDNs), wireless LANs, CDMA, Bluetooth, satellite communication, etc. It may cover a wireless network, but the scope of the present invention is not limited thereto. Also, the communication network 400 may transmit and receive information using short-range communication and / or long-distance communication. Here, the short-range communication may include Bluetooth, radio frequency identification (RFID), infrared data association (IrDA), ultra-wideband (UWB), ZigBee, Wi-Fi (wireless fidelity) technology, and remote Communication includes code division multiple access (CDMA), frequency division multiple access (FDMA), time division multiple access (TDMA), orthogonal frequency division multiple access (OFDMA), and single carrier frequency division multiple access (SC-FDMA) technology. You can. Further, the communication network 400 may include controller area network (CAN) communication, vehicle to infrastructure (V2I) communication, vehicle to everything (V2X) communication, wireless access in vehicular environment (V2X) communication technology, and the like. You can.

FIG. 3 is a view schematically illustrating a detailed configuration of a vehicle in the intersection analysis system of FIG. 1. Referring to FIG. 3, the vehicle 200 includes a communication unit 210, an image capturing unit 220, a GPS receiving unit 230, a speed sensing unit 240, a memory 250, a processor 260, and an alarm output unit ( 270). In this embodiment, the alarm output unit 270 may include an audio output unit 271, a display unit 272 and a steering wheel 273.

The communication unit 210 may provide a communication interface required to provide a transmission / reception signal between the vehicle 200 and the intersection analysis device 300 in the form of packet data in conjunction with the communication network 400. Further, the communication unit 210 may serve to receive one or more of a predetermined signal, for example, an intersection entry confirmation signal, an intersection entry confirmation signal, and a lane change information deactivation signal from the intersection analysis apparatus 300, and the processor ( The information processed by 260), for example, may transmit a video frame, location information, and driving information including one or more of speed information of the own vehicle and surrounding vehicles to the intersection analysis apparatus 300. Here, the communication network is a medium that plays a role of connecting the vehicle 200 and the intersection analysis apparatus 300, and the access path so that the vehicle 200 can transmit and receive information after accessing the intersection analysis apparatus 300. It may include a path to provide. Also, the communication unit 210 may be a device including hardware and software necessary for transmitting and receiving a signal such as a control signal or a data signal through a wired or wireless connection with another network device.

The image photographing unit 220 may include a camera capable of photographing an image frame around the vehicle 200. The image frame photographed by the image photographing unit 220 may be output to the processor 260 and may also be transmitted to the intersection analysis apparatus 300 through the communication unit 210. The image frame may be used later by the intersection analysis apparatus 300 to determine the lane in which the vehicle 200 travels or to determine flow information of surrounding vehicles. Here, the camera refers to a camera that photographs a subject in a photographing area using, for example, a COMS (complementary metal-oxide semiconductor) module (not shown) or a CCD (charge coupled device) module (not shown), and the like. The frame is provided as a COMS module or a CCD module through a lens (not shown), and the COMS module or CCD module converts and outputs an optical signal of an object passing through the lens into an electrical signal. An image signal processing unit (not shown) is provided inside the camera to reduce noise in the captured image frame, gamma correction, color filter array interpolation, and color matrix. Image signal processing for image quality improvement such as matrix, color correction, and color enhancement may be performed. In addition, the image signal processing unit may perform color processing, blur processing, edge enhancement processing, image analysis processing, image recognition processing, image effect processing, and the like functionally. Face recognition, scene recognition processing, and the like may be performed by image recognition processing. For example, luminance level adjustment, color correction, contrast adjustment, outline enhancement adjustment, screen division processing, character image generation, and image synthesis processing may be performed.

The GPS receiver 230 may receive current location information of the vehicle 200 from a GPS satellite (not shown). For example, the location information includes longitude and latitude information on which the vehicle 200 is located, and it is possible to display the location of the vehicle in coordinates from the location information. The location information of the vehicle 200 received by the GPS receiver 230 may be output to the processor 260 and may also be transmitted to the intersection analysis apparatus 300 through the communication unit 210. The location information may be used later by the intersection analysis apparatus 300 to determine whether the vehicle 200 has entered the intersection.

The speed sensor 240 may detect the current speed of the vehicle 200, that is, the host vehicle. The speed sensor 240 may calculate the current speed of the vehicle 200 by detecting the rotational speed of the wheel of the vehicle 200 or by detecting the rotational speed of the output shaft of the transmission connected to the engine of the vehicle 200. Furthermore, the speed detector 240 may detect the speed of an object (eg, a surrounding vehicle) around the vehicle 200. To this end, the speed sensor 240 may further include a radar sensor (not shown). The radar sensor is provided in the vehicle to oscillate the radar, receive a signal reflected from an object (for example, a surrounding vehicle), and output to the processor 260, the processor 260 uses the signal output from the radar sensor By doing so, one or more of the longitudinal distance information between the vehicle and the object, the lateral distance information, the relative speed information, the relative acceleration information, and the motion information of the object may be calculated. The speed information of the own vehicle and the surrounding vehicles sensed by the speed detector 240 may be output to the processor 260 and may also be transmitted to the intersection analyzer 300 through the communication unit 210. The speed information of the host vehicle and the surrounding vehicles may be used later by the intersection analysis apparatus 300 to determine whether the vehicle 200 has entered the intersection.

The memory 250 may store various data and programs for controlling the vehicle 200. For example, if the steering angle value is greater than 0 with respect to 0, information indicating that the steering wheel 273 has moved in the first direction (for example, the left side), and if the steering angle value with respect to 0 is less than 0, steering is performed. Information indicating that the wheel 273 has moved in the second direction (for example, right) may be stored, and this information may be output to the processor 260 and may also be processed through the communication unit 210 to analyze the intersection 300 ).

Also, the program stored in the memory 250 may include one or more instructions. In this embodiment, a program (one or more instructions) stored in the memory 250 may be accessed and executed by the processor 260. Here, the instruction operates the alarm output unit 270 in response to an intersection entry confirmation signal from the intersection analysis apparatus 300 to generate and output an alarm signal when an alarm generation condition is satisfied, or from the intersection analysis apparatus 300. In response to an intersection advance confirmation signal and / or a lane change alarm deactivation signal, a program for canceling the alarm generation of the alarm output unit 270 may be included. Here, that the alarm output unit 270 operates may be the same expression as activating the lane change alarm.

The memory 250 may include internal memory and / or external memory, volatile memory such as DRAM, SRAM, or SDRAM, one time programmable ROM (OTPROM), PROM, EPROM, EEPROM, mask ROM, flash ROM, Non-volatile memory, SSD, such as NAND flash memory, or NOR flash memory. It may include a compact flash (CF) card, an SD card, a Micro-SD card, a Mini-SD card, an Xd card, a flash drive such as a memory stick, or a storage device such as an HDD.

The processor 260 may control the overall operation state of the vehicle 200. The processor 260 may provide various functions by driving control software mounted in an internal memory (not shown) as a kind of central processing unit. Here, the 'processor (processor, 260)', for example, may mean a data processing device embedded in hardware having physically structured circuits to perform functions represented by codes or instructions included in a program. . As an example of such a data processing device embedded in hardware, a microprocessor, a central processing unit (CPU), a processor core, a multiprocessor, and an application-specific integrated ASIC circuit), a field programmable gate array (FPGA), and the like, but the scope of the present invention is not limited thereto.

In this embodiment, the processor 260 may include one or more image frames received from the image capturing unit 220, the GPS receiving unit 230, and the speed detecting unit 240, location information, and speed information of the own vehicle and the surrounding vehicle. The driving information including the above may be transmitted to the intersection analysis apparatus 300 through the communication unit 210. The operation information transmission operation of the processor 260 may be performed periodically or in real time until the vehicle 200 starts driving and ends.

The processor 260 operates the alarm output unit 270 in response to an intersection entry confirmation signal from the intersection analysis apparatus 300 to generate and output an alarm signal when an alarm generation condition is satisfied.

Here, when the condition for generating the alarm is satisfied, when the vehicle 200 travels in the first direction in the current driving lane (for example, the fourth section 140), the vehicle 200 is the current driving lane (eg For example, when driving in the second direction in the fourth section 140, the vehicle 200 travels in the first direction in the current driving lane (eg, the fourth section 140) and then in the second direction. It may include a case of driving.

Further, the processor 260 may generate an alarm signal once when the vehicle 200 is traveling in the first direction in the current driving lane (eg, the fourth section 140), and the vehicle 200 is When driving in the second direction from the current driving lane (for example, the fourth section 140), one alarm signal may be generated, and the vehicle 200 may generate a current driving lane (for example, the fourth section ( 140)), when driving in the first direction and then driving in the second direction, two warning signals may be generated. Here, the processor 260 accesses the memory 250 and determines that the steering wheel 273 has moved in the first direction (for example, the left side) when the steering angle value is greater than 0 with respect to 0, and centers around 0 When the steering angle value is less than 0, an alarm signal may be generated by determining that the steering wheel 273 has moved in the second direction (eg, right).

In addition, the processor 260 may generate an alarm generation cancel signal of the alarm output unit 270 in response to an intersection advance confirmation signal and / or a lane change alarm deactivation signal from the intersection analysis apparatus 300.

When the vehicle 200 enters the fifth section 150 and receives the confirmation signal for entering the intersection from the intersection analyzer 300, the processor 260 may generate an alarm generation cancel signal and transmit it to the alarm output unit 270. have. Here, the signal for releasing the alarm may be the same expression as deactivating the lane change alarm.

In addition, the processor 260 may be used when the vehicle 200 travels in the first direction again after driving in the first direction in the current driving lane (fourth section 140) or the vehicle 200 is running in the current driving lane (fourth When driving in the second direction in the section 140, an alarm generation cancel signal may be generated when driving in the second direction again. Furthermore, the processor 260 generates an alarm release signal even when the vehicle travels in the first direction in the current driving lane (fourth section 140) and then travels in the second direction. can do.

The alarm output unit 270 may output an alarm by receiving an alarm generation signal or an alarm release signal transmitted from the processor 260. The sound output unit 271 may output an alarm signal as an acoustic signal so that the driver can hear it, and the display unit 272 may output an alarm signal as a display signal for the driver to see, and the steering wheel 273 Can output an alarm signal as a vibration signal so that the driver can feel it as a touch.

FIG. 4 is a view schematically illustrating a case in which an alarm is generated on a Chinese intersection in FIG. 1. Referring to FIG. 4, FIG. 4A may generate one alarm signal when the vehicle starts to enter the first section from the current driving lane after starting the entry from the third section 130 to the fourth section 140. . However, when the vehicle travels again in the first direction after the alarm signal is generated, the alarm signal generation may be canceled.

4B may generate an alarm signal once when the vehicle starts to enter the second section from the current driving lane after starting the entry from the third section 130 to the fourth section 140. However, when the vehicle travels again in the second direction after the alarm signal is generated, it is possible to cancel the alarm signal generation.

4C may generate two alarm signals when the vehicle starts to enter the first direction from the current driving lane after starting the entry from the third section 130 to the fourth section 140 and then drives in the second direction. . However, when the vehicle travels again in the first direction after the alarm signal is generated, the alarm signal generation may be canceled.

FIG. 5 is a view for schematically explaining a detailed configuration of an intersection analysis apparatus among the intersection analysis systems of FIG. 1. Referring to FIG. 5, the intersection analysis apparatus 300 may include a communication unit 310, a storage medium 320, a program storage unit 330, a control unit 340, a database 350, and an intersection analysis unit 360 You can.

The communication unit 310 may provide a communication interface necessary for providing a transmission / reception signal between the vehicle 200 and the intersection analysis device 300 in the form of packet data in conjunction with the communication network 400. Furthermore, the communication unit 310 may serve to receive a predetermined information request signal from the vehicle 200, and may serve to transmit information processed by the intersection analysis unit 360 to the vehicle 200. . Here, the communication network is a medium that plays a role of connecting the vehicle 200 and the intersection analysis apparatus 300, and the access path so that the intersection analysis apparatus 300 can transmit and receive information after connecting to the vehicle 200. It may include a path to provide. Also, the communication unit 310 may be a device including hardware and software necessary for transmitting and receiving a signal such as a control signal or a data signal through a wired or wireless connection with another network device.

The storage medium 320 functions to temporarily or permanently store data processed by the control unit 340. The storage medium 320 may store one or more of an image frame received from the vehicle 200, location information, and speed information of the host vehicle and surrounding vehicles. Here, the storage medium 320 may include a magnetic storage media or a flash storage media, but the scope of the present invention is not limited thereto. The storage medium 320 may include internal memory and / or external memory, volatile memory such as DRAM, SRAM, or SDRAM, one time programmable ROM (OTPROM), PROM, EPROM, EEPROM, mask ROM, flash ROM SSD, non-volatile memory, such as NAND flash memory, or NOR flash memory. It may include a compact flash (CF) card, an SD card, a Micro-SD card, a Mini-SD card, an Xd card, a flash drive such as a memory stick, or a storage device such as an HDD.

The program storage unit 330 judges the intersection of the vehicle 200 using the work, location information, and speed information to determine the lane information using the image frame, determine the intersection entry, and generate the intersection entry confirmation signal, and the intersection Operation for generating an entry confirmation signal, operation for generating an intersection entry confirmation signal when the vehicle 200 exits an intersection, operation for generating a signal for deactivating a lane change alarm according to the driving direction of the vehicle, intersection entry confirmation signal, intersection entry It is equipped with a control software that performs a task such as transmitting one or more of the confirmation signal and the lane change alarm deactivation signal to the vehicle 200.

The control unit 340 is a kind of central processing unit, and accesses the program storage unit 330 to drive control software capable of determining the intersection of the vehicle 200 and controls the overall operation of the intersection analysis device 300. It can provide various functions such as. Here, the controller 340 may include all types of devices capable of processing data, such as a processor. Here, a 'processor' may mean a data processing device embedded in hardware having physically structured circuits, for example, to perform functions represented by codes or instructions included in a program. As an example of such a data processing device embedded in hardware, a microprocessor, a central processing unit (CPU), a processor core, a multiprocessor, and an application-specific integrated ASIC circuit), a field programmable gate array (FPGA), and the like, but the scope of the present invention is not limited thereto.

The database 350 may accumulate and store intersection information, for example, location of an intersection, lanes of an intersection, and intersection distance information based on image frames, location information, and speed information. In particular, the location, lane, distance, etc. of the fourth section 140 can be accumulated and stored, and the intersection analysis unit 360 accesses the database 350 and uses the corresponding information in the case of the same intersection. Thus, a lane change alarm activation signal and / or a lane change alarm deactivation signal may be generated.

The intersection analysis unit 360 uses the video frame, location information, and driving information including at least one of the speed information of the own vehicle and the surrounding vehicle, so that the vehicle 200 includes the first section 110 to the first intersection including the Chinese intersection. In the case of starting the entry from the third section 130 as a dashed section to the fourth section 140 as a solid section while driving the road composed of the five sections 150 and the third section 130 and the fourth section 140 When the speed of the surrounding vehicle decreases compared to the speed of the host vehicle, the intersection of the vehicle 200 may be determined, and an intersection entry confirmation signal may be generated and transmitted to the vehicle 200. Here, the intersection analysis unit 360 may determine the first section 110 to the fifth section 150 by determining whether the lane is a dotted line or a solid line based on the image frame, and determine the speed information of the host vehicle and surrounding vehicles. Based on this, it can be determined whether the speed of the surrounding vehicle has decreased. This is usually due to a decrease in speed for vehicles entering an intersection.

The intersection analysis unit 360 advances to the intersection when the vehicle 200 starts entering the fifth section 150 using the image frame, location information, and driving information including one or more of the speed information of the host vehicle and surrounding vehicles. A confirmation signal may be generated and transmitted to the vehicle 200.

The intersection analysis unit 360 uses the image frame, the location information, and the driving information including at least one of the speed information of the host vehicle and the surrounding vehicle to remove the vehicle 200 after driving in the first direction from the current driving lane. When driving in one direction, or when the vehicle travels in the second direction after driving in the second direction from the current driving lane, or when the vehicle travels in the first direction from the current driving lane and then driving in the second direction, and then again When driving in the first direction, a lane change alarm deactivation signal may be generated and transmitted to the vehicle 200.

As an exemplary embodiment, the intersection analysis unit 360 may move before the current vehicle 200 if the preceding vehicle exists in front of the current vehicle 200 and the distance between the two vehicles is within a certain distance to prevent misrecognition of the fourth section 140. Based on the situation, it is possible to accurately determine the entry of the fourth section 140. Here, if a preceding vehicle exists in front of the current vehicle 200 and the distance between the two vehicles is within a predetermined distance, an error may be generated in which the fourth section 140 is determined as a dotted section rather than a solid line. Accordingly, if the preceding vehicle exists in front of the current vehicle and the distance between the two vehicles is within a certain distance, the intersection analysis apparatus 300 determines the previous driving situation of the current vehicle and drives the first section 110 to the third section 130 Later, when determining the occurrence of the dotted line section, the dotted line section may be determined as the solid line of the fourth section 140.

6 is a flowchart illustrating a method of operating an intersection analysis system according to an embodiment of the present invention. In the following description, portions overlapping with those of FIGS. 1 to 5 will be omitted.

In step S610, the vehicle 200 is an image frame generated by photographing the surroundings when driving on the road, the location information of the vehicle 200 received from the GPS satellite, and the speed of the host vehicle (vehicle 200) and surrounding vehicles. Generates driving information including one or more of the generated speed information by sensing. Here, the driving information generation of the vehicle 200 may be generated periodically or in real time until the vehicle 200 starts driving and ends.

In step S620, the vehicle 200 transmits the generated driving information to the intersection analysis apparatus 300. Here, the transmission information of the vehicle 200 may be transmitted periodically or in real time until the vehicle 200 starts driving and ends.

In step S630, the intersection analysis apparatus 300 determines the intersection of the vehicle 200 based on the driving information received from the vehicle 200. The intersection analysis apparatus 300 may determine whether the vehicle 200 has entered the intersection using location information and speed information of the host vehicle and surrounding vehicles, and use the location information, the image frame, and the speed information to determine whether the lane is a dotted line or a solid line. It is also possible to determine whether the position of the first section 110 to the fifth section 150 is driving by cognitive determination.

In step S640, when the vehicle 200 enters the intersection, the intersection analysis apparatus 300 generates an intersection entry confirmation signal and transmits it to the vehicle 200.

In steps S650 and S660, the vehicle 200 activates the lane change alarm generation and generates and outputs an alarm when the alarm generation condition is satisfied.

In step S670, the intersection analysis apparatus 300 determines the advancement of the intersection of the vehicle 200 based on the driving information received from the vehicle 200. The intersection analysis apparatus 300 may determine that the vehicle enters the intersection when the vehicle 200 enters the fifth section 150 using the image frame, location information, and speed information of the host vehicle and surrounding vehicles.

In step S680, when the vehicle 200 advances at the intersection, the intersection analysis apparatus 300 generates an intersection advance confirmation signal and transmits it to the vehicle 200.

In step S680, the vehicle 200 deactivates the lane change alarm occurrence and releases the alarm.

In an exemplary embodiment, the intersection analysis apparatus 300 uses the image frame, location information, and driving information including at least one of the speed information of the own vehicle and the surrounding vehicle, so that the vehicle 200 travels in the first direction from the current driving lane. Afterwards, when driving in the first direction again, or when the vehicle travels in the second direction from the current driving lane and then driving again in the second direction, or when the vehicle travels in the first direction from the current driving lane and then driving in the second direction Then, when driving in the first direction again, a lane change alarm deactivation signal may be generated and transmitted to the vehicle 200. The vehicle 200 that has received the lane change alarm deactivation signal may release the alarm.

The embodiment according to the present invention described above may be implemented in the form of a computer program that can be executed through various components on a computer, and such a computer program can be recorded on a computer-readable medium. At this time, the medium includes a hard disk, a magnetic medium such as a floppy disk and a magnetic tape, an optical recording medium such as a CD-ROM and DVD, a magneto-optical medium such as a floptical disk, and a ROM. , Hardware devices specially configured to store and execute program instructions, such as RAM, flash memory, and the like.

Meanwhile, the computer program may be specially designed and configured for the present invention or may be known and available to those skilled in the computer software field. Examples of computer programs may include machine language codes such as those produced by a compiler, as well as high-level language codes that can be executed by a computer using an interpreter or the like.

In the specification (particularly in the claims) of the present invention, the use of the term " above " and similar indication terms may be in both singular and plural. In addition, in the case of describing a range in the present invention, as including the invention to which the individual values belonging to the range are applied (if there is no contrary description), each individual value constituting the range is described in the detailed description of the invention. Same as

Unless explicitly stated or contrary to the steps constituting the method according to the invention, the steps can be done in a suitable order. The present invention is not necessarily limited to the order of description of the above steps. The use of all examples or exemplary terms (eg, etc.) in the present invention is merely for describing the present invention in detail, and the scope of the present invention is limited due to the examples or exemplary terms, unless it is defined by the claims. It does not work. In addition, those skilled in the art can recognize that various modifications, combinations, and changes can be configured according to design conditions and factors within the scope of the appended claims or equivalents thereof.

Accordingly, the spirit of the present invention is not limited to the above-described embodiment, and should not be determined, and the scope of the spirit of the present invention as well as the claims to be described later, as well as all ranges that are equivalent to or equivalently changed from the claims Would belong to

Claims (11)

A vehicle generating driving information including at least one of an image frame generated by photographing a surrounding when driving on the road, location information received from a GPS satellite, and speed information generated by detecting the speed of the host vehicle and the surrounding vehicle; And
When communicating with the vehicle and using the driving information received from the vehicle, the vehicle starts to enter from the third section to the fourth section of the road consisting of the first to fifth sections including the Chinese intersection. Includes an intersection analysis device for determining the intersection of the vehicle, generating an intersection entry confirmation signal and transmitting it to the vehicle.
The vehicle,
A lane change alarm is activated in response to the intersection entry confirmation signal received from the intersection analysis device, and the vehicle travels in the first direction from the current driving lane in the fourth section, travels in the second direction, and the first direction in the fourth section. Then, when driving in any one of the driving in the second direction, generates and outputs an alarm signal, the intersection analysis system. According to claim 1, The intersection analysis device,
When the vehicle starts entering the fifth section by using the driving information received from the vehicle, an intersection analysis system generates and transmits an intersection advance confirmation signal to the vehicle. According to claim 1, The intersection analysis device,
When the vehicle travels in the first direction after driving in the first direction from the current driving lane using the driving information received from the vehicle, or when the vehicle travels in the second direction from the current driving lane Afterwards, when the vehicle is traveling in the second direction again, or when the vehicle is traveling in the first direction from the current driving lane and then traveling in the second direction, the lane change warning to the vehicle is again performed when traveling in the first direction again An intersection analysis system that transmits an inactive signal. The method of claim 2, wherein the vehicle
An image capturing unit that photographs the surroundings when driving on the road and generates the image frame and transmits the image frame to the intersection analysis apparatus;
A GPS receiver that transmits location information received from a GPS satellite to the intersection analyzer;
A speed sensor for sensing the speed of the host vehicle and surrounding vehicles and transmitting the generated speed information to the intersection analysis apparatus; And
Activated in response to the intersection entry confirmation signal received from the intersection analysis device, the vehicle travels in the first direction from the current driving lane in the first direction, travels in the second direction, and is in the second direction after the first direction. Includes; an intersection analysis system that includes an alarm output unit for generating and outputting an alarm signal when driving to any one of the driving. The method of claim 4, wherein the alarm output unit,
The intersection analysis system is deactivated in response to the intersection advance confirmation signal received from the intersection analysis apparatus. The method of claim 4, wherein the alarm output unit,
And outputting one or more of the audible alert signal, the visual alert signal, and the tactile alert signal. The vehicle generates driving information including one or more of an image frame generated by photographing the surroundings when driving on the road, location information received from a GPS satellite, and speed information generated by detecting the speed of the host vehicle and surrounding vehicles. step;
The intersection analysis unit communicates with the vehicle, and uses the driving information received from the vehicle to enter the third section from the third section to the fourth section while driving the road comprising the first section to the fifth section including the Chinese intersection. Determining a vehicle's entry into the intersection when the vehicle starts, generating a signal to confirm the entry into the intersection, and transmitting the signal to the vehicle; And
The vehicle activates a lane change warning in response to the intersection entry confirmation signal received from the intersection analysis apparatus, and in the fourth section, the vehicle travels in the first direction from the current driving lane, and runs in the second direction and And generating and outputting an alarm signal when driving in one of the driving directions in the second direction after the first direction. The method of claim 7,
The intersection analysis apparatus, using the driving information received from the vehicle, when the vehicle starts entering the fifth section, generating an intersection advance confirmation signal and transmitting it to the vehicle. How the system works. The method of claim 7,
When the intersection analysis apparatus uses the driving information received from the vehicle, the vehicle travels in the first direction from the current driving lane and then travels again in the first direction, or the vehicle is removed from the current driving lane. When driving in the second direction after driving in the second direction or when the vehicle is traveling in the first direction from the current driving lane and then driving in the second direction, and then driving again in the first direction And transmitting a lane change warning deactivation signal to the vehicle. The method of claim 7, wherein the step of outputting,
And outputting at least one of an audible alert signal, a visual alert signal, and a tactile alert signal from the vehicle to the alert signal. A computer program stored in a computer-readable recording medium to execute the method of any one of claims 7 to 10 using a computer.

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