KR101718238B1 - Device and method for vehicle attention alert - Google Patents

Abstract

BACKGROUND OF THE INVENTION 1. Field of the Invention [0002] The present invention relates to an alarm notification apparatus for vehicle attention and an alarm notification method for a vehicle alarm. The vehicle attention warning apparatus according to the present invention includes a determination unit that determines at least a part of a plurality of warning areas in a forward image as a warning area of interest, a distance and an angle of the target vehicle with respect to the vehicle, When the target vehicle is detected by the measuring unit and the camera to enter the attention warning area, if the positional information identified by the distance and the angle is on the same driving lane as the vehicle, And a processing unit for issuing an alarm.

Description

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a vehicle warning device,

BACKGROUND OF THE INVENTION 1. Field of the Invention [0002] The present invention relates to an alarm notification apparatus for vehicle attention and an alarm notification method for a vehicle alarm.

In the prior art, a black box mounted on a vehicle plays a role of recording an image of the moving scene of the opponent vehicle positioned ahead. When a traffic accident occurs, recorded images are used as evidence data and reporting data, and the importance of black box is increasing. In recent years, the black box not only plays a role of video recording but also can be equipped with a video signal processing device to recognize lanes and detect obstacles. That is, the black box can provide additional safety information necessary for driving to the driver, thereby enabling safer running. That is, the black box in the prior art can serve as a vehicle safety warning system.

However, the black box in the prior art can provide image-based safety information through an image sensor. However, the image sensors in the black box have limitations in detecting lanes and obstacles when the clock is unstable such as night, fog, and the like.

To solve this problem, a radar sensor can be used. The radar sensor can detect the distance of the target vehicle, the speed of the target vehicle, etc. from the vehicle by transmitting and receiving radio waves. In addition, the radar sensor is less sensitive than the image sensor in the external environment, which is advantageous in overcoming the disadvantage of the image sensor. However, there is a disadvantage that radar sensors can not recognize lanes.

Accordingly, there is a need for an apparatus and method that can efficiently compensate for the shortcomings of the radar sensor and the image sensor, maximize the advantages, and provide a safety warning for the vehicle efficiently.

Disclosure of Invention Technical Goals The present invention has been made to solve the above problems, and it is an object of the present invention to provide a method and apparatus for detecting a target vehicle by using information obtained from a radar and a camera, , And to allow the user to travel safely without regard to the external environment.

Further, the present invention senses the position of the target vehicle using the information obtained from the radar and the camera, and alerts the target vehicle entering the warning area in the forward image, It has a different purpose of enabling you to drive safely.

The vehicle attention warning apparatus for achieving the above object includes a determination unit that determines at least a part of a plurality of warning areas in the forward image as a warning area of interest, a distance and angle of the target vehicle with respect to the vehicle, When the target vehicle is detected by the measuring unit and the camera to be measured to enter the attention warning area, if the positional information identified by the distance and the angle is on the same driving lane as the vehicle, And a processor for issuing a caution alarm to the user.

As a technical method for accomplishing the above object, a method for issuing a warning of a vehicle attention includes determining at least a part of a plurality of warning areas in a forward image as a warning area of interest, And when the positional information identified by the distance and the angle is on the same driving lane as the vehicle when the target vehicle is detected as entering the attention warning area by the camera, And issuing a caution alarm to the target vehicle.

According to an embodiment of the present invention, the position of the target vehicle is detected using the information obtained from the radar and the camera, and a warning alert is issued to the target vehicle entering the warning area in the forward image, So that the user can safely drive the vehicle.

According to an embodiment of the present invention, the position of the target vehicle is detected using the information obtained from the radar and the camera, and a warning alert is issued to the target vehicle entering the warning area in the forward image, So that the user can safely drive without being concerned.

FIG. 1 is a block diagram showing an alarm notification apparatus for a vehicle according to an embodiment of the present invention.
FIG. 2 is a diagram for explaining a process of determining a warning area of interest according to an embodiment of the present invention. Referring to FIG.
FIG. 3 is a view for explaining an example of issuing a caution alarm when a target vehicle enters a plurality of warning areas using the warning device for warning of a vehicle attention according to the present invention.
FIG. 4 is a view for explaining an example of issuing a warning alarm in the case where the angle is not measured through the vehicle alarm notification device of the present invention.
FIG. 5 is a diagram for explaining an example of implementing the vehicle-alarm notification apparatus of the present invention.
FIG. 6 is a view for explaining a warning mode in the alarm apparatus for alarming a vehicle attention according to an embodiment of the present invention. FIG.
FIG. 7 is a workflow diagram specifically illustrating a method of issuing a warning of a warning of a vehicle according to an embodiment of the present invention.

Hereinafter, embodiments according to the present invention will be described in detail with reference to the accompanying drawings. However, the present invention is not limited to or limited by the embodiments. Like reference symbols in the drawings denote like elements.

The vehicle attention warning apparatus and the vehicle attention warning notification method described in this specification recognize a target vehicle entering a virtual warning area determined on a forward image through information on a target vehicle acquired from a camera and a radar, It can be issued.

FIG. 1 is a block diagram showing an alarm notification apparatus for a vehicle according to an embodiment of the present invention.

The alarm notification apparatus 100 of the present invention may include a determination unit 110, a measurement unit 120, and a processing unit 130. [

The determination unit 110 determines at least a part of the plurality of warning areas in the forward image as a warning area of interest. That is, the determination unit 110 may determine one or more of the warning areas set in the image photographed by the camera as the warning area of interest.

The determination unit 110 may determine, from among the plurality of warning areas, an area including at least a part of the driving lane as the warning warning, if the center line and the outline of the road are not detected from the image by the camera, Area can be determined. That is, when the determination unit 110 can not recognize both the center line and the outline in the image, the determination unit 110 may determine an area including the center of the path where the vehicle travels as the attention warning area.

According to the embodiment, the determination unit 110 may include at least a part of the driving lane among the plurality of warning areas, but may include a warning area including any one of an in-road center line and an outline line from the image, Can be excluded. That is, the determination unit 110 may exclude the warning area including the center line or the outline from the attention warning area, and determine only the driving lane as the warning warning area.

  The process of setting the warning area of interest will now be described in more detail with reference to FIG.

FIG. 2 is a diagram for explaining a process of determining a warning area of interest according to an embodiment of the present invention. Referring to FIG.

2 (a) is a diagram showing an example of a warning area.

The warning device for warning of vehicle attention 100 may set a plurality of warning areas 220 in which an area is divided into virtual lines with respect to roads located ahead in the front image 210. [ That is, the warning device for warning of a vehicle attention 100 uses a virtual straight line as a front road including a driving lane, an opposite lane, an outer lane, a remote lane, a lane outer environment, ) Can be set. At this time, the alarm apparatus for a warning of vehicle attention 100 may set a warning area 222 located at a remote location to be smaller than a warning area 221 located near by a perspective. In the present specification, the warning area 220 is described as being square, but not limited thereto. That is, the warning device 220 of the vehicle attention warning apparatus 100 may be configured in a shape other than a rectangle.

FIG. 2 (b) is a view showing an example of determining a warning warning area when a lane is recognized.

The determination unit 110 may determine at least a part of the warning areas 220 as the warning areas 230 and 231 of interest. For example, when the center line 241 and the outline line 242 of the driving lane 240 are recognized in the image 210, the determination unit 110 determines the warning area 220 including at least a part of the route Can be determined as the attention warning areas 230 and 231. [

FIG. 2C is a diagram showing an example of determining a warning warning area when a lane is not recognized.

If the determination unit 110 does not detect any of the center line and the outline in the image 210, the determination unit 110 determines that the warning area located in the middle of the route (the driving lane) (233). At this time, the determination unit 110 may determine the interest warning area 233 by including the driving lane of the nearest warning area 220 including at least a part thereof.

Referring again to FIG. 1, the measuring unit 120 measures the distance and angle of the target vehicle with respect to the vehicle, via the radar. That is, the measuring unit 120 can receive at least one of the distance, the speed, and the angle with respect to the target vehicle by receiving the radar signal that detects the target vehicle from the radar.

If the position information identified by the distance and the angle is on the same driving lane as the vehicle, when the target vehicle is detected by the camera as entering the attention warning area by the camera, And notifies the user of the warning. That is, when the target vehicle enters the warning area of interest, the processing unit 130 can issue a warning alert for the target vehicle if the target vehicle is traveling in the same driving lane. At this time, the processing unit 130 may display a warning alarm by displaying a color, a mark, a shade or the like distinguishable from other warning areas on the forward warning image of the target vehicle.

2 (b), the processing unit 130 detects that the target vehicle 250 is entering the attention warning area 230 or 231, and the target vehicle 250 is in the same traveling lane The attention warning area 231 in which the target vehicle 250 has entered can be displayed as a dot pattern to issue warning alarms.

According to the embodiment, the processing unit 130 can issue a warning alert with voice, sound effect, etc. to the attention warning area in which the target vehicle has entered through the speaker. For example, the processing unit 130 can issue a warning alert for a target vehicle that has entered a warning area of interest, such as "Please note that there is a vehicle with a speed of 20 km per hour at 30 m."

In addition, the processing unit 130 enters the attention warning area and, when there are a plurality of target vehicles on the same driving lane, the processing unit 130 notifies the warning alert to the nearest target vehicle that is the shortest distance among the plurality of target vehicles Or for each of the plurality of target vehicles, the warning alert may be issued in a manner different from each other. That is, when the processing unit 130 detects a plurality of target vehicles entering the attention warning area, the processing unit 130 can issue warning alarms to the target vehicle closest to the vehicle. Alternatively, the processing unit 130 issues warning alerts for a plurality of target vehicles entering the warning area of interest, and issues a warning alert in a different manner through the effect of differentiating each color or sequentially blinking the alert area of interest can do.

Also, the processing unit 130 may insert a description phrase in association with the determined interest warning area on the display unit on which the forward image is displayed. For example, the processing unit 130 displays a forward image on a display means (e.g., a monitor mounted on a vehicle, a black box monitor, a navigation monitor, and the like), a description such as a distance, You can insert statements.

If it is detected that the target vehicle is entering into the proximity warning area closest to the vehicle among the plurality of warning areas, the processing unit 130 displays the forward image according to mode switching for the black box In the display means, in association with the proximity warning region, the distance and angle of the measured target vehicle may be inserted, or a warning alert may be issued to the target vehicle entering the proximity warning region. That is, the processing unit 130 regards the closest proximity warning area as a top priority warning target by using the measured angle with respect to the target vehicle, inserts information about the target vehicle when the target vehicle enters the proximity warning area You can issue warning alarms. A more detailed description of the proximity warning area among the plurality of warning areas will be described with reference to FIG. 3 (a), which will be described later.

If it is detected that the target vehicle is entering into an arbitrary warning region among the plurality of warning regions, the processing unit 130 may cause the display means to display the forward image according to mode switching for the black box, In association with the arbitrary warning area, it is possible to insert the distance and angle of the measured target vehicle, or to issue a warning alert for the target vehicle entering the warning area. In other words, the processing unit 130 can use the angle of the target vehicle to issue a warning alarm for an arbitrary warning area in which the target vehicle has entered, or insert information about the target vehicle. A more detailed description of an arbitrary warning area among a plurality of warning areas will be described with reference to FIG. 3 (b).

FIG. 3 is a view for explaining an example of issuing a caution alarm when a target vehicle enters a plurality of warning areas using the warning device for warning of a vehicle attention according to the present invention.

3 (a) is a diagram for explaining an example of issuing a warning alarm through a proximity warning area.

When the processing unit 130 detects that a plurality of target vehicles have entered the plurality of warning areas 310, the processing unit 130 changes the color in the nearest proximity warning area 311 in which the target vehicle has entered, It can be issued. The processing unit 130 may also insert information (e.g., speed, distance to the vehicle, position of the target vehicle, etc.) about the target vehicle that has entered the closest proximity warning area 311. [

Fig. 3 (b) is a diagram for explaining an example of issuing a warning alarm through an arbitrary warning area.

The processing unit 130 may change the color of all the warning areas 312, 313, and 314 in which the target vehicle has entered among the plurality of warning areas 310 as an optional warning area, have. The processing unit 130 also inserts information (e.g., speed, distance to the vehicle, position of the target vehicle, etc.) for all the target vehicles entering the warning areas 312, 313, and 314 in which the target vehicle has entered It is possible.

Referring again to FIG. 1, when the angle of the target vehicle is not measured, the processing unit 130 may identify the distance information according to the distance as the position information. That is, if the angle of the target vehicle is not measured by the measuring unit 120, the processing unit 130 can identify the distance information from the vehicle using the distance of the target vehicle. At this time, the processing unit 130 can issue a warning alarm to the warning area at the distance where the target vehicle is located based on the separation information. A description of the notification of the warning of the case where the angle is not measured will be described with reference to FIG.

FIG. 4 is a view for explaining an example of issuing a warning alarm in the case where the angle is not measured through the vehicle alarm notification device of the present invention.

Fig. 4 (a) shows an example of issuing a caution alarm in the case where the target vehicle enters the proximity warning area closest to the vehicle without measuring the angle.

Even if the angle is not measured, the processing unit 130 can issue a warning alarm to the target vehicle that has entered the nearest proximity warning area of the warning area 410. That is, the processing unit 130 may issue warning alarms for all the warning areas 411 on the abscissa to the proximity warning area where the target vehicle is located.

Fig. 4 (b) shows an example of issuing a caution alarm in the case where the target vehicle is detected as entering an arbitrary warning area without measuring the angle.

Even if the angle is not measured, the processing unit 130 can issue a caution alarm for the target vehicle entering the warning area of the warning area 410. That is, the processing unit 130 can issue warning alarms to all the warning areas 412, 413, and 414 on the horizontal axis at the distance where the target vehicle is located.

Referring again to FIG. 1, if the vehicle does not travel, the measuring unit 120 can measure the distance and angle of the moving object with reference to the vehicle through the radar. That is, when the vehicle is stopped, the measuring unit 120 can measure the distance and angle of the moving object when a moving object (e.g., a person, an automobile, etc.), which is an object moving from the front, is detected.

In this case, when the camera detects that the moving object is entering the attention warning area, the processing unit 130 extracts an image related to the moving object from the forward image, Can be kept in the storage means. In other words, when there is a moving object entering the warning area of interest, the processing unit 130 can maintain the position information and the forward image for the moving object in the storage means. At this time, the processing unit 130 extracts the photographed image while the moving object enters the warning area of interest, protects the captured image, and holds the captured image in the storage unit. The protected image can not be deleted unless there is a separate process (for example, deletion selection by the user).

The vehicle alert notification system 100 senses the position of the target vehicle using the information obtained from the radar and the camera and issues a warning alert to the target vehicle that has entered the warning area in the forward image, So that the user can safely drive without being concerned.

In addition, the alarm apparatus 100 for a vehicle attention alarm detects the moving object by using the information obtained from the radar and the camera in the stopped vehicle, separately stores the detected image, protects the moving object, Can be shortened.

FIG. 5 is a diagram for explaining an example of implementing the vehicle-alarm notification apparatus of the present invention.

The vehicle attention warning signaling apparatus 500 includes a camera 510, a radar transmission / reception terminal 520, a video signal processing unit 530, a radar signal processing unit 540, a memory 550, a display 560, a communication unit 570, A control unit 580 and a user interface 590. [

The camera 510 may be at least one of cameras mounted on a vehicle and capable of photographing a forward image. For example, the camera 510 may be a CMOS sensor camera. In addition, the camera 510 may be at least one of a mono system, a stereo system, and the like. The camera 510 can transmit a video signal, which is a video signal received from the camera sensor, to the video signal processor 530.

The radar transmission / reception unit 520 can transmit and receive a radar source signal using a vehicle radar. At this time, the radar transmitting / receiving end 520 may be at least one of a single antenna and multiple antennas. If the radar transmitting / receiving end 520 is a single antenna, the angle of the target vehicle can not be estimated, whereas in case of multiple antennas, the angle of the target vehicle can be estimated. The radar transmitter / receiver unit 520 can transmit a radar signal, which is a radar source signal received from the radar sensor, to the radar signal processor 540.

The image signal processor 530 may perform signal processing such as encoding to store the received image. In addition, the image signal processor 530 may perform the lane recognition and then select a region of interest warning corresponding to the route of the vehicle.

Also, the image signal processor 530 may transmit image information including photographed image data, lane recognition information, and attention alert area information to at least one of the memory 550 and the display 560. Also, the video signal processor 530 may transmit the road information including the attention warning area information (for example, the attention warning area number, etc.) to the radar signal processor 540.

The radar signal processing unit 540 may detect at least one of the distance, the speed, or the angle (extractable) of the target vehicle. Further, the radar signal processing unit 540 can select a warning area for displaying the warning alert. In addition, the radar signal processor 540 can generate warning alarm information (warning alarm information) for the selected warning area.

The radar signal processing unit 540 also outputs detection information including the warning alarm information generated using the road information and the radar signal, the position (distance and angle) of the target vehicle and the speed information to the memory 550 and the display 560, To at least one of < / RTI >

The memory 550 may store the data output from the video signal processor 530 and the data output from the radar signal processor 540. That is, the memory 550 may store data on the forward image, the warning region, the attention warning region, and the target vehicle information.

The display 560 can display the data output from the video signal processor 530 and the data output from the radar signal processor 540 on the screen. That is, the display 560 may display data including a warning area, an attention warning area, and target vehicle information in the forward image.

The communication unit 570 can communicate the upgrade data when upgrading the warning apparatus 500 for the vehicle attention. In addition, when an event occurs in the image stored at the time of parking, the communication unit 570 can communicate the notification of the occurrence of the event to the terminal of the user.

The control unit 580 receives the mode information from the user interface 590 and transmits the mode information to the camera 510, the radar transmission / reception terminal 520, the video signal processing unit 530, the radar signal processing unit 540, the memory 550, 560 and the communication unit 570 can be controlled.

The user interface 590 may receive mode information (for example, a driving mode, a radar function, a warning target type, and the like) capable of selecting a warning area display mode for a forward image. At this time, the mode information may include a mode selected by the user through the user interface 590. A detailed description of the warning mode according to the input to the mode information will be described with reference to FIG.

FIG. 6 is a view for explaining a warning mode in the alarm apparatus for alarming a vehicle attention according to an embodiment of the present invention. FIG.

In Fig. 6, it is explained that the alert mode of the vehicle-mounted alert notification device 500 is six, but is not limited thereto. In other words, the warning device 500 of the vehicle attention alert system may constitute one or more warning modes.

6, the mode information received from the user interface 590 of the alarm apparatus 500 for a vehicle is described as a 'mode of operation', a 'radar function', and a 'warning target'. However, the present invention is not limited thereto. That is, the vehicle-alarm notification apparatus 500 may configure one or more mode information.

In addition, in FIG. 6, the alarm notification device 500 of the vehicle is described as displaying an alarm in a warning area for warning of a warning, but is not limited thereto. The vehicle state alarm issuing device 500 can issue a warning alarm to at least one of the visual, auditory, or sensory means to issue the warning alarm. In addition, the vehicle attention warning apparatus 500 may display at least one of the distance and the speed with respect to the target vehicle when alarming the warning area.

First, the vehicle state alert issuing device 500 sets the warning mode number 1 (# 1) to "1" when the operation mode is "running" and the radar function is " Can be performed.

In alert mode number 1, the vehicle alert alert device 500 may cause the display 560 to display an alert area that includes the target vehicle coordinates (distance and angle) for all detected target vehicles. At this time, the alarm apparatus 500 for a warning of vehicle attention can make the display system different according to the angle detection capability of the radar. In addition, the vehicle attention warning apparatus 500 can execute the warning mode number 3 together with the warning mode number 1 by user selection.

For example, referring to FIG. 3 (b), when the vehicle-alarm notification device 500 is capable of detecting the angle of the radar device in the alarm mode number 1, An alarm (display) can be performed for the area. At this time, the vehicle alert notification device 500 may include an alarm for the 'route target' located in the warning warning area in the alert mode number 3.

For example, referring to FIG. 4 (b), when the vehicle-alarm notification device 500 can not detect the angle of the radar device in the warning mode number 1, The area can be alarmed. At this time, the vehicle alert notification device 500 may include an alarm for the 'route target' located in the warning warning area in the alert mode number 3.

Next, the vehicle state alert issuing device 500 performs warning mode number 2 (# 2) when the operation mode is 'running', the radar function is 'on', and the warning target is inputted as 'proximity target' .

In the warning mode number 2, the vehicle alert notification device 500 may display a warning area where the target vehicle closest to the target vehicle is located. At this time, the alarm apparatus 500 for a warning of vehicle attention can make the display system different according to the angle detection capability of the radar. In addition, the vehicle attention warning apparatus 500 can perform the alarm mode number 3 together with the user selection in the warning mode number 2.

For example, referring to Fig. 3 (a), the vehicle alert notification device 500 can alarm an alert area corresponding to the distance and angle information of the latest distance target vehicle detected by the radar. At this time, the vehicle alert notification device 500 may include an alarm for the 'route target' located in the warning warning area in the alert mode number 3.

For example, referring to FIG. 4A, the alarm device 500 for a vehicle attention alarm can alarm all warning zones corresponding to the distance of the latest distance target vehicle detected by the radar. At this time, the vehicle alert notification device 500 may include an alarm for the 'route target' located in the warning warning area in the alert mode number 3.

Next, the vehicle attention warning apparatus 500 performs warning mode number 3 (# 3) when the operation mode is "running", the radar function is "on", and the warning target is input as the " .

In the warning mode number 3, the alarm apparatus 500 for vehicle attention may be performed differently depending on whether or not the angle can be detected by the radar.

The vehicle attention warning apparatus 500 can display warning alarms only for the closest target vehicle if the target of interest is located in a plurality of warning warning areas when angle detection of the radar is possible. At this time, the warning device 500 of the vehicle attention alert system may determine the alert area of interest as follows.

When the lane recognition of the image is possible, the warning device 500 of the warning device of the vehicle can determine all warning areas corresponding to the route (lane) on which the vehicle travels as the warning area of interest. If it is impossible to recognize the lane on the image, the vehicle alert notification device 500 may determine all the warning areas corresponding to the center as the warning warning areas.

In addition, when the vehicle-alarm notification apparatus 500 can not detect the angle of the radar, the warning alarm mode number 2 can be automatically performed after the warning mode number 3 is terminated.

In addition, the vehicle attention warning apparatus 500 can perform the alarm mode number 1 or the warning mode number 2 together by user selection in the warning mode number 3.

For example, referring to FIG. 2 (b), the vehicle alert notification device 500 detects a lane, and then determines which area of the warning warning area corresponding to the lane (running lane) . The vehicle attention warning signaling device 500 can receive information on the target vehicle that has entered the warning area of interest by the radar. At this time, the alarm apparatus 500 for the vehicle attention alarm can alarm the nearest target vehicle entering the warning area of interest.

In the example as shown in FIG. 2 (b), the vehicle alert notification device 500 may be a case where a target vehicle located on a route in a lane in which the vehicle is traveling exists. In addition, the warning device 500 for warning of the warning of the vehicle can perform the alarm mode number 3 when the radar can detect the angle of the target vehicle.

2 (c), when the vehicle warning notification device 500 can not detect the lane, the warning alert area located in the middle of the route on which the vehicle travels is referred to as an attention alert area . The vehicle attention warning signaling device 500 can receive information on the target vehicle that has entered the warning area of interest by the radar. At this time, the alarm apparatus 500 for the vehicle attention alarm can alarm the nearest target vehicle entering the warning area of interest.

In the example shown in FIG. 2 (c), the alarm apparatus 500 for a vehicle warning may be a case where there is no target vehicle located in the middle of the traveling direction of the vehicle. In addition, the warning device 500 for warning of the warning of the vehicle can perform the alarm mode number 3 when the radar can detect the angle of the target vehicle.

Next, when the operation mode is "running" and the radar function is "off" (the alarm target selection is not applicable), the warning device 500 of the vehicle attention alert system issues warning mode number 4 ). ≪ / RTI >

In the warning mode number 4, the alarm apparatus 500 for warning of the state of the vehicle can perform a general black box function. That is, in the warning mode number 3, the alarm apparatus 500 for a warning of vehicle attention can simply record (store) a forward image. At this time, the vehicle alert notification device 500 can display the lane identification information together with the forward image.

Next, when the operation mode is "parking" and the radar function is "on" (the alarm target selection is not applicable), the alarm apparatus 500 of the vehicle attention alert system executes the alarm mode number 5 (# 5) can do.

In the warning mode number 5, the alarm apparatus 500 for a warning of vehicle attention can monitor whether there is any moving object ahead. The vehicle attention warning signaling device 500 can protect a memory area for a photographed image while a moving object is present.

The warning device 500 may not overwrite the protected memory area. However, when the 'delete' function is inputted by the user with respect to the old image, the alarm apparatus 500 for the vehicle attention alert can delete the memory area by deleting the 'delete' function.

In addition, the vehicle alert notification device 500 can separately display the date and time at which the protected image is recorded. In other words, the warning device 500 for a vehicle attention alert can shorten the time for searching for a necessary image in the recorded image by allowing the user to quickly search and confirm the protected image.

Next, when the vehicle operation mode is "parking" and the radar function is "off" (the alarm target selection is not applicable) ) Can be performed.

In the warning mode number 6, the warning device 500 for warning of the vehicle attention can perform a general black box function. That is, in the warning mode number 6, the alarm apparatus 500 for a warning of vehicle attention can record a forward image in a state where the vehicle is stopped.

FIG. 7 is a workflow diagram specifically illustrating a method of issuing a warning of a warning of a vehicle according to an embodiment of the present invention.

First, the vehicle state alarm issuing method according to the present embodiment can be performed by the vehicle state alarm issuing apparatus 100 described above.

First, the vehicle attention warning apparatus 100 determines at least a part of a plurality of warning areas in the forward image as a warning area of interest (710). That is, step 710 may be a process of determining at least one of the warning areas set in the image photographed by the camera as the warning area of interest.

Next, the distance and the angle of the target vehicle with respect to the vehicle are measured through the radar (720). That is, the vehicle warning alert signaling apparatus 100 can receive at least one of the distance, the speed and the angle with respect to the target vehicle by receiving the radar signal that detects the target vehicle from the radar.

Next, when it is detected by the camera that the target vehicle is entering the attention warning area, the vehicle attention warning apparatus 100 determines that the position information identified by the distance and the angle is the same on the same lane , A warning alert is issued to the target vehicle (730). That is, the step 730 may be a process of issuing a warning alert for the target vehicle if the target vehicle is a target vehicle traveling in the same driving lane when the target vehicle enters the warning warning area. At this time, the alarm apparatus 100 for a vehicle attention alert may display a warning alarm by displaying a color, a mark, a shade, etc. distinguished from other warning areas on the forward warning image of the target vehicle.

According to the embodiment, the alarm apparatus 100 for a warning of the state of the vehicle can issue a warning alarm with a voice, a sound effect, or the like to the attention warning area in which the target vehicle has entered through the speaker. For example, the warning device 100 of the vehicle attention warning apparatus 100 may issue a warning alert for a target vehicle entering the warning warning area, as in "Please note that there is a vehicle with a speed of 20km per hour at 30m. &Quot;

If the angle of the target vehicle is not measured, step 730 may be, as the positional information, identifying the distance information according to the distance. That is, if the angle of the target vehicle is not measured, the warning device 100 of the warning device of the vehicle can distinguish the distance information from the vehicle using the distance of the target vehicle. At this time, based on the distance information, the vehicle state alarm issuing device 100 can issue a warning alarm to a warning area at a distance where the target vehicle is located.

According to the embodiment, when the vehicle does not detect any of the center line and the outline of the road from the image by the camera, the vehicle attention warning apparatus 100 may include at least a part of the driving lane among the plurality of warning areas Can be determined as the attention warning area. That is, when the vehicle attention warning apparatus 100 can not recognize both the center line and the outline in the image, it can determine the area including the center of the path where the vehicle travels as the warning area of interest.

According to the embodiment, the warning apparatus 100 for warning of a vehicle attention includes at least a part of the driving lane among the plurality of warning areas, but a warning area including any one of an in-road center line and an outline from the image, You can exclude it from the warning area. That is, the warning device 100 for a vehicle attention alert may exclude a warning area including a center line or an outline from the warning area of interest, and determine only the driving lane as the warning area of interest.

According to the embodiment, when the target attention warning device for vehicle attention 100 enters the attention warning area and there are a plurality of target vehicles on the same driving lane, among the plurality of target vehicles, The warning alert may be issued to the vehicle, or, for each of the plurality of target vehicles, the alarm alert may be issued in a manner different from each other. That is, when the vehicle warning alert system 100 detects a plurality of target vehicles entering the warning area of interest, it can issue a warning alert to the target vehicle closest to the vehicle. Alternatively, the vehicle attention warning signaling apparatus 100 may issue warning alerts for a plurality of target vehicles that have entered the warning area of interest, and may issue warning alerts in a different manner You can issue warning alarms.

According to the embodiment, the warning apparatus 100 for warning of a state of the vehicle may insert a description phrase in association with the determined warning warning area on the display means for displaying the forward image. For example, the vehicle attention warning apparatus 100 displays a forward image on a display means (e.g., a monitor mounted on a vehicle, a black box monitor, a navigation monitor, etc.) Speed, and so on.

According to the embodiment, in the case where the warning device for warning of a vehicle attention 100 is detected as the entry of the target vehicle into the proximity warning area closest to the vehicle from among the plurality of warning areas, , A distance and an angle of the measured target vehicle are inserted into display means in which the front image is displayed in association with the proximity warning region or a warning alert is issued to the target vehicle entering the proximity warning region . That is, when the target vehicle enters the corresponding proximity warning area, the vehicle attention warning apparatus 100 regards the nearest proximity warning area as a top priority warning target by using the measured angle with respect to the target vehicle, You can insert information or issue warning alerts.

According to the embodiment, in the case where it is sensed that the target vehicle is entering into an arbitrary warning area from among the plurality of warning areas, the warning device for warning of vehicle attention 100, according to mode switching for the black box, May insert a distance and an angle of the measured target vehicle in association with the arbitrary warning area or may issue a warning alert to the target vehicle entering the arbitrary warning area . In other words, the vehicle-state warning signaling apparatus 100 can use the angle of the target vehicle to issue a warning alarm for an arbitrary warning area in which the target vehicle has entered, or to insert information on the target vehicle.

According to the embodiment, when the vehicle does not travel, the alarm apparatus 100 can measure the distance and the angle of the moving object with reference to the vehicle through the radar. That is, when the vehicle is in a stationary state, the vehicle state warning notification device 100 can measure the distance and angle of the moving object when a moving object (e.g., a person, an automobile, etc.), which is an object moving in front, is detected.

According to the embodiment, when the vehicle is sensed that the moving object enters the attention warning area by the camera, the vehicle alert notification device 100 extracts an image related to the moving object from the forward image, Together with the positional information identified by the angle, can be retained in the storage means. In other words, when there is a moving object entering the warning area of interest, the vehicle attention warning signaling device 100 can maintain the position information and the forward image with respect to the moving object in the storage means. At this time, the warning device 100 for the vehicle attention alert may extract the photographed image while the moving object enters the warning region of interest, protect the image, and maintain the image in the storage means. The protected image can not be deleted unless there is a separate process (for example, deletion selection by the user).

The vehicle alert notification method detects the position of the target vehicle using the information obtained from the radar and the camera and issues a warning alert to the target vehicle entering the warning area in the forward image, Thereby allowing the user to safely drive the vehicle.

In addition, in the vehicle alert notification method, the moving object is detected using the information obtained from the radar and the camera in the stopped vehicle, and the moving object separately stores and protects the detected image, thereby shortening the time for searching the stored image .

The method according to an embodiment of the present invention may be implemented in the form of a program command that can be executed through various computer means and recorded in a computer-readable medium. The computer-readable medium may include program instructions, data files, data structures, and the like, alone or in combination. The program instructions to be recorded on the medium may be those specially designed and configured for the embodiments or may be available to those skilled in the art of computer software. Examples of computer-readable media include magnetic media such as hard disks, floppy disks and magnetic tape; optical media such as CD-ROMs and DVDs; magnetic media such as floppy disks; Magneto-optical media, and hardware devices specifically configured to store and execute program instructions such as ROM, RAM, flash memory, and the like. Examples of program instructions include machine language code such as those produced by a compiler, as well as high-level language code that can be executed by a computer using an interpreter or the like. The hardware devices described above may be configured to operate as one or more software modules to perform the operations of the embodiments, and vice versa.

While the present invention has been particularly shown and described with reference to exemplary embodiments thereof, it is to be understood that the invention is not limited to the disclosed exemplary embodiments. For example, it is to be understood that the techniques described may be performed in a different order than the described methods, and / or that components of the described systems, structures, devices, circuits, Lt; / RTI > or equivalents, even if it is replaced or replaced.

Therefore, other implementations, other embodiments, and equivalents to the claims are also within the scope of the following claims.

100: Vehicle warning alert device
110:
120:
130:

Claims (14)

A determination unit that determines at least a part of the plurality of warning areas in the forward image as a warning area of interest;
A measuring unit for measuring a distance and an angle of the target vehicle with respect to the vehicle through the radar; And
When the target vehicle is detected by the camera to enter the attention warning area,
When the position information identified by the distance and the angle is on the same driving lane as the vehicle,
Lt; / RTI >
If the angle of the target vehicle is not measured,
Wherein,
And as the positional information, identifying the distance information according to the distance
Vehicle alert notification device. The method according to claim 1,
When any one of the center line and the outline of the road is not detected from the image by the camera,
Wherein,
Determining, as the attention warning area, an area including at least a part of the driving lane among the plurality of warning areas
Vehicle alert notification device. The method according to claim 1,
When the target vehicle enters the attention warning area and there are a plurality of target vehicles on the same driving lane,
Wherein,
The warning alarm is issued to the nearest target vehicle that is the shortest distance among the plurality of target vehicles,
And for each of the plurality of target vehicles, issuing the alert alert in a manner different from each other
Vehicle alert notification device. The method according to claim 1,
Wherein,
And a description syntax is inserted in association with the determined attention warning area on the display means in which the forward image is displayed
Vehicle alert notification device. The method according to claim 1,
When it is detected that the target vehicle is entering from the plurality of warning regions to the proximity warning region closest to the vehicle,
Wherein,
According to the mode switching for the black box,
Inserting a distance and an angle of the measured target vehicle in association with the proximity warning area in the display means in which the front image is displayed,
Warning alarm is issued to the target vehicle that has entered the proximity warning area
Vehicle alert notification device. The method according to claim 1,
When it is detected that the target vehicle is entering into an arbitrary warning area from among the plurality of warning areas,
Wherein,
According to the mode switching for the black box,
Inserting a distance and an angle of the measured target vehicle in association with the arbitrary warning area in the display means in which the forward image is displayed,
And a warning alarm is issued to the target vehicle entering the arbitrary warning area
Vehicle alert notification device. delete The method according to claim 1,
If the vehicle does not travel,
Wherein the measuring unit comprises:
Measuring a distance and an angle of the moving object with respect to the vehicle through the radar,
When it is detected by the camera that the moving object is entering the attention warning area,
Wherein,
Extracts an image relating to the moving object from the forward image, and holds the image together with the position information identified by the distance and the angle in the storage means
Vehicle alert notification device. Determining at least a portion of the plurality of warning regions in the forward image as a region of interest warning;
Measuring a distance and an angle of the target vehicle with respect to the vehicle through the radar;
When the target vehicle is detected by the camera to enter the attention warning area,
Issuing a caution alarm for the target vehicle if the positional information identified by the distance and the angle is on the same driving lane as the vehicle; And
If the angle of the target vehicle is not measured, identifying the distance information according to the distance as the position information
Wherein the warning signal is a warning signal. 10. The method of claim 9,
When the target vehicle enters the attention warning area and there are a plurality of target vehicles on the same driving lane,
Issuing the alert for the nearest target vehicle that is the shortest of the plurality of target vehicles; or
For each of the plurality of target vehicles, issuing the alert alert in a manner different from each other
Further comprising the steps of: 10. The method of claim 9,
Inserting a description phrase in association with the determined interest warning area on the display means in which the forward image is displayed
Further comprising the steps of: 10. The method of claim 9,
When it is detected that the target vehicle is entering from the plurality of warning regions to the proximity warning region closest to the vehicle,
According to the mode switching for the black box,
Inserting a distance and an angle of the measured target vehicle with respect to the proximity warning area on the display means in which the front image is displayed; or
And issuing a caution alarm to the target vehicle entering the proximity warning area
Further comprising the steps of: 10. The method of claim 9,
When it is detected that the target vehicle is entering into an arbitrary warning area from among the plurality of warning areas,
According to the mode switching for the black box,
Inserting a distance and an angle of the measured target vehicle with respect to the warning area in the display means in which the front image is displayed; or
And issuing a caution alarm for the target vehicle entering the arbitrary warning area
Further comprising the steps of: 10. The method of claim 9,
If the vehicle does not travel,
Measuring a distance and an angle of the moving object with respect to the vehicle through the radar; And
When it is detected by the camera that the moving object is entering the attention warning area,
Extracting an image related to the mobile body from the forward image and storing the extracted image in the storage means together with the positional information identified by the distance and the angle;
Further comprising the steps of:

Images