KR102670844B1 - A camera system for ADAS and driving Assistance System by using the same - Google Patents

Abstract

A camera system and a driving assistance system using the same according to an embodiment of the present invention are provided. A vehicle camera system includes a lens for photographing the front of a vehicle, a lens barrel for accommodating the lens in an internal space, a lens holder coupled to the lens barrel, an image sensor for sensing an image captured by the lens, and the image sensor. It includes an image processor for receiving and processing image data from and a camera MCU for communicating with the image processor to receive data processed by the image processor. The driving assistance system includes an ECU (electronic control unit) that determines the risk of collision with surrounding vehicles based on the status of the vehicle at an intersection, a rear radar installed in the vehicle to recognize surrounding vehicles, and a collision risk determination by the ECU. It further includes a driver warning controller that warns of a risk of collision between the own vehicle and surrounding vehicles based on the results, and the camera system recognizes signals from a traffic light in front of the own vehicle and transmits them to the ECU.

Description

Camera system for ADAS and driving assistance system using the same {A camera system for ADAS and driving assistance system by using the same}

The present invention relates to ADAS (Advanced Driving Assistance System), and specifically to a camera system for ADAS and a driving assistance system that uses the camera system to warn the driver.

ADAS (Advanced Driving Assistance System) is an advanced driver assistance system to assist the driver in driving. It senses the situation ahead, judges the situation based on the sensed results, and controls the vehicle's behavior based on the situation judgment. It consists of For example, ADAS sensor devices detect vehicles in front and recognize lanes. Afterwards, once the target lane, target speed, and target ahead are determined, the vehicle's ESC (Electrical Stability Control), EMS (Engine Management System), and MDPS (Motor Driven Power Steering) are controlled. Typically, ADAS can be implemented as an automatic parking system, a low-speed city driving assistance system, and a blind spot warning system. Sensor devices for sensing the situation ahead in ADAS include GPS sensors, laser scanners, front radar, and Lidar, but the most representative one is the front camera for filming the front of the vehicle.

Vehicles entering an intersection are highly likely to collide with surrounding vehicles. If your vehicle slows down or stops as it enters an intersection, the risk of collision may increase because the vehicle traveling behind your vehicle does not recognize the intersection signal and does not slow down. To prepare for such cases, research has recently been actively conducted on control systems or warning systems that can help drivers avoid the possibility of a collision.

The purpose of the present invention is to provide voltage logic and memory logic that can be used in a front camera system for ADAS.

Additionally, the purpose of the present invention is to provide a method for combining a lens barrel and a lens holder in a front camera system for ADAS.

The technical task of the present invention is to provide a driving assistance system that determines the possibility of a collision between the own vehicle and surrounding vehicles and warns the driver of this.

A vehicle camera system according to an embodiment of the present invention is provided. A vehicle camera system includes a lens for photographing the front of a vehicle, a lens barrel for accommodating the lens in an internal space, a lens holder coupled to the lens barrel, an image sensor for sensing an image captured by the lens, and the image sensor. It includes an image processor for receiving and processing image data from and a camera MCU for communicating with the image processor to receive data processed by the image processor.

By one example, the vehicle camera system further includes a first converter unit that receives an ignition voltage and outputs at least one voltage, and a regulator unit that receives the voltage output from the first converter unit and outputs at least one voltage. do.

By one example, the camera MCU receives a first voltage from the first converter unit as an operating power source,

The image processor receives a first voltage from the first converter unit as an operating power source.

By one example, the first voltage output from the first converter unit is 3.3 V.

By one example, the image processor receives a second voltage from the first converter unit, the image sensor receives a fifth voltage from the regulator unit, and the second voltage and the fifth voltage are equal to each other. .

By one example, the second voltage and the fifth voltage are 1.8 V.

In one example, the image sensor receives a sixth voltage from the regulator unit as a core power source, and the sixth voltage is 2.8 V.

By one example, the first converter unit is configured to include at least one DC-DC converter, and the regulator unit is configured to include at least one low drop out (LDO).

By one example, the camera MCU communicates with a first memory.

By one example, the image processor communicates with a second memory and a third memory.

In one example, the capacity of the second memory is determined according to the number of ADAS functions supported by the vehicle camera system.

By one example, the camera system includes Road Boundary Departure Prevention Systems (RBDPS), Cooperative Adaptive Cruise Control Systems (CACC), Vehicle/roadway warning systems, Partially Automated Parking Systems (PAPS), and Partially Automated Lane Change Systems (PALS). , Cooperative Forward Vehicle Emergency Brake Warning Systems (C-FVBWS), Lane Departure Warning Systems (LDWS), Pedestrian Detection and Collision Mitigation Systems (PDCMS), Curve Speed Warning Systems (CSWS), Lane Keeping Assistance Systems (LKAS), ACC( Adaptive Cruise Control systems), FVCWS (Forward Vehicle Collision Warning Systems), MALSO (Manoeuvring Aids for Low Speed Operation systems), LCDAS (Lane Change Decision Aid Systems), LSF (Low Speed Following systems), FSRA (Full Speed Range Adaptive cruise) control systems), FVCMS (Forward Vehicle Collision Mitigation Systems), ERBA (Extended Range Backing Aids systems), CIWS (Cooperative Intersection Signal Information and Violation Warning Systems), and TIWS (Traffic Impediment Warning Systems). It is used.

A driving assistance system according to an embodiment of the present invention is provided. The driving assistance system includes a camera system, an ECU (electronic control unit) that determines the risk of collision with surrounding vehicles based on the status of the own vehicle at an intersection, a rear radar installed in the own vehicle to recognize the surrounding vehicles, and and a driver warning controller that warns of a risk of collision between the own vehicle and surrounding vehicles based on the collision risk determination result of the ECU, and the camera system recognizes a signal from a traffic light in front of the own vehicle and transmits it to the ECU. do.

In one example, the camera system recognizes that the traffic light changes from a driving signal to a yellow signal or a red signal.

In one example, the ECU uses data measured by the rear radar to calculate the presence or absence of the surrounding vehicle, the distance to the surrounding vehicle, the speed of the surrounding vehicle, and the proceeding angle of the surrounding vehicle, and Determine the risk of collision.

For example, when the traffic light changes from a driving signal to a yellow signal or a red signal, when the rear radar recognizes that the surrounding vehicle is accelerating or driving at a constant speed, the ECU warns the driver of a risk of collision through the driver warning controller. warns.

In one example, the driver warning controller warns the driver in at least one of video, audio, and steering wheel vibration.

According to the present invention, voltage logic and memory logic that can be used in a front camera system for ADAS can be implemented.

Additionally, according to the present invention, a method for combining a lens barrel and a lens holder in a front camera system for ADAS can be provided.

According to an embodiment of the present invention, data about the surrounding situation of the own vehicle can be acquired through a camera system and a rear radar, and the ECU can determine the risk of collision between the own vehicle and surrounding vehicles through the data.

According to an embodiment of the present invention, when the ECU determines that there is a possibility of a collision between the own vehicle and surrounding vehicles, it can warn the driver so that he can avoid the collision. Through this, accidents that may occur when entering an intersection can be prevented.

1 is an exploded perspective view schematically showing a camera system according to an embodiment of the present invention.
Figure 2 is a diagram showing the camera system according to the present invention being mounted on a car.
Figure 3 is a diagram showing components of a car equipped with a camera system according to the present invention.
Figure 4a is a diagram showing components of a camera system according to the present invention.
Figure 4b is a diagram showing components of a camera system according to the present invention.
Figure 5 is an exploded perspective view for explaining the coupling relationship between the lens barrel and the lens holder according to the present invention.
Figure 6 is a diagram showing the host vehicle recognizing the surrounding situation at an intersection according to an embodiment of the present invention.
Figure 7 is a flowchart showing warning to the driver according to surrounding conditions of the own vehicle according to an embodiment of the present invention.

Hereinafter, with reference to the attached drawings, embodiments of the present invention will be described in detail so that those skilled in the art can easily implement the present invention. The present invention may be implemented in many different forms and is not limited to the embodiments described herein.

In order to clearly explain the present invention, parts that are not relevant to the description are omitted, and identical or similar components are given the same reference numerals throughout the specification.

Throughout the specification, when a part is said to be "connected" to another part, this includes not only cases where it is "directly connected," but also cases where it is "electrically connected" with another element in between. . Additionally, when a part "includes" a certain component, this means that it may further include other components rather than excluding other components, unless specifically stated to the contrary.

When a part is referred to as being “on” another part, it may be directly on top of the other part or it may be accompanied by another part in between. In contrast, when a part is said to be "directly above" another part, it does not entail any other parts in between.

Terms such as first, second, and third are used to describe, but are not limited to, various parts, components, regions, layers, and/or sections. These terms are used only to distinguish one part, component, region, layer or section from another part, component, region, layer or section. Accordingly, the first part, component, region, layer or section described below may be referred to as the second part, component, region, layer or section without departing from the scope of the present invention.

The terminology used herein is only intended to refer to specific embodiments and is not intended to limit the invention. As used herein, singular forms include plural forms unless phrases clearly indicate the contrary. As used in the specification, the meaning of "comprising" refers to specifying a particular characteristic, area, integer, step, operation, element and/or ingredient, and the presence or presence of another characteristic, area, integer, step, operation, element and/or ingredient. This does not exclude addition.

Terms indicating relative space, such as “below” and “above,” may be used to more easily describe the relationship of one part shown in the drawing to another part. These terms are intended to include other meanings or operations of the device in use along with the meaning intended in the drawings. For example, if the device in the drawing is turned over, some parts described as being “below” other parts will be described as being “above” other parts. Accordingly, the exemplary term “down” includes both upward and downward directions. The device can be rotated 90° or at other angles, and terms indicating relative space are interpreted accordingly.

Although not defined differently, all terms including technical and scientific terms used herein have the same meaning as those generally understood by those skilled in the art in the technical field to which the present invention pertains. Terms defined in commonly used dictionaries are further interpreted as having meanings consistent with related technical literature and currently disclosed content, and are not interpreted in ideal or very formal meanings unless defined.

Hereinafter, with reference to the attached drawings, embodiments of the present invention will be described in detail so that those skilled in the art can easily implement the present invention. However, the present invention may be implemented in many different forms and is not limited to the embodiments described herein.

1 is an exploded perspective view schematically showing a camera system according to an embodiment of the present invention.

Referring to Figure 1, the camera system 1 is coupled to the lens 10, the lens holder 20 on which the lens 10 is installed, and the lens holder 20 to sense the image of the subject captured by the lens 10. It includes an image sensor 31 that The image sensor 31 is disposed on the image PCB 30 and includes an image array sensor composed of pixels. For example, the image sensor 31 includes a CMOS photosensor array or a CCD photosensor array. This image sensor 31 is arranged parallel to the lens 10. Additionally, the lens 10 and the lens holder 20 may be coupled to each other using an active alignment method.

In addition, the camera system 1 includes a main PCB 40, and an image processor 41 and a camera micro control unit (MCU) 42 are disposed on the main PCB 40. The image processor 41 receives image data from the image sensor 31, and for this purpose, the image processor 41 and the image sensor 31 may be connected through a connector (not shown). For example, connectors can be made of FPCB (flexible PCB) to maximize use of the internal space of the camera system. Electrical signals, power, control signals, etc. can be transmitted and received through these connectors. The communication method between the image processor 41 and the image sensor 31 may be I2C, for example. The camera MCU 42 and the image processor 41 communicate with each other, and the communication method may be, for example, UART (universal asynchronous receiver/transmitter) or SPI (serial peripheral interface).

The camera MCU 42 receives image data processed by the image processor 41 and can transmit the image data to an electrical control unit (ECU) (not shown) in the vehicle. The communication method between the camera MCU 42 and the vehicle's ECU may be, for example, Chassis CAN (controller area network). Additionally, the camera MCU 42 receives data processed by the image processor 41, including, for example, data about vehicles in front, data about lanes in front, data about cyclists in front, traffic signs, etc. data, data about active high beam control (AHBC), data about wheel detection (e.g., data for faster vehicle recognition through vehicle wheel recognition for Close Cut-in vehicles entering the camera FOV) ), data on traffic lights, data on road markings (e.g. arrows on the road), data on VD at any angle (data for recognizing a vehicle with respect to the overall driving direction or angle of the vehicle in front), road profile (e.g., data to improve ride comfort through suspension control by recognizing the shape of the road ahead (bends, speed bumps, or holes)), data about semantic free space (e.g., boundary labeling), and general objects. Data for (side vehicles, etc.), data for advanced path planning (e.g., data to predict the vehicle's expected driving path using Deep Learning through the surrounding environment even on roads with no lanes or on polluted roads) , data on odometry (e.g., data for recognizing driving road landmarks and fusing them with GPS recognition information), etc.

Camera system 1 also includes a housing 50 , where housing 50 includes an upper housing 52 and a lower housing 54 . Specifically, a predetermined receiving space is formed inside the housing 50 where the upper housing 52 and the lower housing 54 are combined, and the lens 10, the lens holder 20, and the image PCB (30) are placed in this receiving space. ) and the main PCB 40 are accommodated.

When manufacturing such a camera system 1, the lens 10 may be installed in the lens holder 20 and then the lens holder 20 may be coupled to the image PCB 30. For example, the lens holder 20 and the image PCB 30 may be coupled through screws 23.

Next, the upper housing 52 may be coupled while the lens holder 20 and the image PCB 30 are coupled. At this time, the upper housing 52 and the lens holder 20 may be coupled by a screw 25.

Meanwhile, the number of lenses 10 used may vary depending on the type of camera system 10, the number of pixels of the image sensor, or the requirements of the function implemented by the camera system 10. For example, when one lens 10 is used, the lens may be 52 deg, for example, if 1.3 MP is required, or 100 deg, for example, if 1.7 MP is required. Alternatively, two lenses 10 may be used. Alternatively, when three lenses 10 are used, three imager sensors 31 are required, and the lenses may be 28 deg, 52 deg, and 150 deg, or 50 deg, 100 deg, and 150 deg, respectively.

The type of the camera system 10 is determined depending on the number or type of ADAS functions supported by the camera system 10. For example, if only some of the ADAS functions are supported (the data processed by the image processor 41 is data about the vehicle in front, data about the lane in front, data about cyclists in front, data about traffic signs, and active high beam control) Data on (AHBC), data on wheel detection (e.g., data for faster vehicle recognition through vehicle wheel recognition for Close Cut-in vehicles entering the camera FOV), data on traffic lights , in the case of data for road markings (e.g., arrows on the road), a single lens may be used, and in the case of supporting more functions (data processed by the image processor 41, in addition to the examples described above, VD Suspension control by recognizing data at any angle (data to recognize the vehicle with respect to the overall driving direction or angle of the vehicle in front), road profile (e.g., shape of the road ahead (bends, speed bumps or holes)) Data for improving riding comfort through data), data for semantic free space (e.g., boundary labeling), data for general objects (side vehicles, etc.), data for advanced path planning (e.g. For example, data to predict the expected vehicle driving path through deep learning through the surrounding environment even on roads without lanes or on polluted roads), data on odometry (e.g., GPS recognition by recognizing driving road landmarks) In the case of data to be fused with information), three lenses can be used.

Figure 2 is a diagram showing the camera system 1 according to the present invention being mounted on a car.

As shown in FIG. 2 , the camera system 1 may be mounted inside the vehicle under the windshield 220 and adjacent to the rearview mirror 210 . Accordingly, the camera system 1 is used to photograph the front view of the vehicle and is used to recognize objects present in the front view. Additionally, in preparation for rainy situations or situations where dust is present, the camera system 1 is mounted inside the vehicle in response to an area being cleaned by a wiper driven outside the windshield 220. It is desirable to be Meanwhile, the location where the camera system 1 is mounted is not limited to this. The camera system 1 may be installed in different locations to capture images of the front, sides, and rear of the vehicle.

Meanwhile, a radar device (not shown), which is a sensor device that uses electromagnetic waves to measure the distance, speed, and angle of an object, is typically located on the front grill of a car and can cover even the lower front part of the car. The reason for placing the radar device on the front grill, that is, outside the vehicle, in other words, the reason for not transmitting or receiving through the windshield 220 of the vehicle, is because of the reduced sensitivity when passing through the glass due to the characteristics of electromagnetic waves. am. According to the present invention, the radar device is located inside the vehicle, specifically, under the windshield 220 in the interior space of the vehicle, but can prevent electromagnetic waves from passing through the windshield. For this purpose, the radar device is configured to transmit and receive electromagnetic waves through an opening provided at the top of the front glass 220. Additionally, a cover is placed at a position corresponding to the opening for the radar device. This cover is intended to prevent loss (eg, inflow of air, etc.) due to the opening. In addition, it is desirable that the cover be made of a material that is easy to penetrate for electromagnetic waves of the frequency used by the radar device. As a result, the radar device is located inside the vehicle, but transmits and receives electromagnetic waves through an opening provided in the windshield 220. A cover is provided in response to the opening to prevent loss due to the opening, and electromagnetic waves are transmitted and received through the cover. . These radar devices can use beam aiming, beam selection, digital beam forming, and digital beam steering. Additionally, the radar device may include an array antenna or a phased array antenna.

The above-described camera system 1 and radar device (not shown) can be linked to each other to improve the performance of detecting objects in front. For example, the image processor 41 and the radar processor (not shown) can work together to enlarge or focus an object of interest in the front. In this case, when the radar and the front camera are interconnected, the image sensor 31 and the radar device may be placed on the same board (for example, the image PCB 30).

Additionally, a device or system for detecting objects in the front field of view, such as a camera system 1 or a radar device (not shown), may be used for ADAS technology such as adaptive cruise control (ACC). It can also be used to recognize potentially dangerous situations ahead, for example, other cars in front, people in front, or animals in front. In addition, a device or system for detecting objects in the front view, such as a camera system 1 or a radar device (not shown), is called a lane departure warning system or object detection system. , traffic sign recognition system, lane keeping assistance system, lane change assistance system, blind spot warning system, automatic headlamp control system It can be used in automatic headlamp control system, collision avoidance system, etc.

Figure 3 is a diagram showing components of a car on which the camera system 1 according to the present invention is mounted.

Car components can be divided into MCU level, ECU level, and controller level.

At the MCU level, there is a camera MCU (42), Lidar MCU, Radar MCU, GPS MCU, navigation MCU, and V2X MCU. MCUs belonging to the MCU level control sensing devices connected to them or devices connected to the sensing devices (eg, processors), and receive data from these sensing devices or devices connected to the sensing devices.

For example, with respect to the camera MCU 42, the image sensor 31 senses an image of a subject captured through the lens 10, and the image processor 41 receives the data from the image sensor 31 and processes it. And the camera MCU 42 receives the data from the image processor 41. The camera MCU 42 controls the image sensor 31 and the image processor 41, and these controls include, for example, power supply control, reset control, clock (CLK) control, data communication control, power control, and memory control. Includes. Meanwhile, the image processor 41 can process data sensed and output by the image sensor 31, and this processing includes enlarging the sensed object in front or focusing on the object area among the entire viewing area. .

For example, regarding the Lidar MCU 311, the Lidar MCU 311 is connected to a Lidar device, which is a sensor. The Lidar device may be composed of a laser transmission module, a laser detection module, a signal collection and processing module, and a data transmission/reception module, and the laser light source may have a wavelength in the wavelength range of 250 nm to 11 μm or have a tunable wavelength. It is used. In addition, Lidar devices are divided into TOF (time of flight) method and phase shift method depending on the signal modulation method. The Lidar MCU 311 controls the Lidar device and other devices connected to the Lidar device (eg, a Lidar processor (not shown) that processes Lidar sensing output). These controls include, for example, power supply control, reset control, clock (CLK) control, data communication control, memory control, etc. Meanwhile, Lidar devices are used to sense the front area of the car. This Lidar device is located on the inside front of the car, specifically under the windshield 220, and transmits and receives a laser light source through the windshield.

For example, about the Radar MCU 312, the Radar MCU 312 is connected to a Radar device, which is a sensor. A radar device is a sensor device that uses electromagnetic waves to measure the distance, speed, or angle of an object. The radar device can detect objects up to 150 meters in front at a horizontal angle of 30 degrees using the Frequency Modulation Carrier Wave (FMCW) or Pulse Carrier method. The Radar MCU 312 controls the Radar device and other devices connected to the Radar device (e.g., a Radar processor (not shown) that processes Radar sensing output). These controls include, for example, power supply control, reset control, clock (CLK) control, data communication control, memory control, etc. Meanwhile, radar devices typically use 77GHz band radar or other suitable bands and sense the area in front of the car. Information obtained from radar devices can be used for ADAS technologies such as adaptive cruise control (ACC). Meanwhile, the radar processor can process data sensed and output by the radar device, and this processing includes enlarging the sensed object in front or focusing on the object area out of the entire viewing area.

For example, regarding the GPS MCU 313, the GPS MCU 313 is connected to a GPS device, which is a sensor. A GPS device is a device that can measure the location, speed, and time of a car using communication with satellites. Specifically, a GPS device is a device that measures the delay time of radio waves emitted from satellites and determines the current location from the distance from orbit. The GPS MCU 313 controls the GPS device and other devices connected to the GPS device (eg, a GPS processor (not shown) that processes GPS sensing output). These controls include, for example, power supply control, reset control, clock (CLK) control, data communication control, memory control, etc.

For example, regarding the navigation MCU 314, the navigation MCU 314 is connected to a navigation device that is a sensor. A navigation device is a device that displays map information through a display device installed on the front part of a car interior. Specifically, map information is stored in a memory device, and the current location of the car measured through a GPS device is displayed in the map data. The navigation MCU 314 controls the navigation device and other devices connected to the navigation device (eg, a navigation processor (not shown) that processes navigation sensing output). These controls include, for example, power supply control, reset control, clock (CLK) control, data communication control, memory control, etc.

For example, regarding the V2X MCU 315, the V2X MCU 315 is connected to a V2X device, which is a sensor. Specifically, V2X devices are devices that perform vehicle-to-vehicle communication (V2V), vehicle-to-infrastructure communication (V2I), and vehicle-to-mobile communication (V2N). The V2X MCU 315 controls the V2X device and other devices connected to the V2X device (e.g., a V2X processor (not shown) that processes V2X sensing output). These controls include, for example, power supply control, reset control, clock (CLK) control, data communication control, memory control, etc.

The electrical control unit (ECU) 320, which belongs to the ECU level, is a device that comprehensively controls multiple electronic devices used in automobiles. For example, the ECU 320 can control both MCUs belonging to the MCU level and controllers belonging to the controller level. The ECU 320 receives sensing data from MCUs, generates control commands to control the controller according to the situation, and transmits the control commands to the controllers. Meanwhile, in this specification, for convenience of explanation, the ECU level is described as a level higher than the MCU level. However, one MCU among the MCUs belonging to the MCU level may perform a role as an ECU, and two MCUs may be combined to It can also perform a role as an ECU.

The controller level includes driver warning controller (331), headlamp controller (332), vehicle stability control controller (333), steering controller (334), engine control controller (335), suspension controller (336), brake controller (337), etc. There is. The controller controls the components of the vehicle based on control commands received from the ECU 320 or MCUs at the MCU level.

For example, the driver warning controller 331 generates an audio, video, or haptic warning signal to warn the driver of a specific dangerous situation. For example, to output a warning sound, the driver warning controller 331 may output a warning sound using the car's sound system. Alternatively, to display a warning message, the driver warning controller 331 may output the warning message through a HUD display or a side mirror display. Alternatively, the driver warning controller 331 may operate a vibration motor mounted on the steering wheel to generate warning vibration.

Regarding the headlamp controller 332, for example, the headlamp controller 332 is located at the front of the car and controls the headlamp that ensures the driver's view of the front of the car at night. For example, the headlamp controller 332 performs high beam control, low beam control, left and right auxiliary light control, adaptive headlamp control, etc.

Regarding the vehicle stability control controller 333, for example, the vehicle stability control controller 333 is referred to as VDC (vehicle dynamic control) or ESP (electrical stability control). In cases where the car's behavior becomes rapidly unstable, electronic equipment intervenes and performs control to correct the car's behavior. For example, sensors such as wheel speed sensor, steering angle sensor, yaw rate sensor, and cylinder pressure sensor sense steering wheel operation, and when the direction of movement of the steering wheel and wheels are misaligned, the vehicle posture control controller (333) ) performs control to distribute the braking force to each wheel using the anti-lock brake function (ABS).

For example, the steering controller 334 controls the electric power steering system (MPDS) that drives the steering wheel. For example, when a car is expected to collide, the steering controller 334 controls the steering of the car in a direction to avoid the collision or minimize damage.

Regarding the engine control controller 335, for example, when the ECU 32 receives data from the oxygen sensor, air mass sensor, and manifold absolute pressure sensor, the engine control controller 335 operates the injector, throttle, and It plays a role in controlling the configuration of spark plugs, etc.

For example, regarding the suspension controller 336, the suspension controller 336 is a device that performs motor-based active suspension control. Specifically, the suspension controller 336 variably controls the damping force of the shock-up shock absorber to provide a soft ride during normal driving, and provides a hard ride during high-speed driving and posture changes to ensure ride comfort and driving stability. Additionally, the suspension controller 336 may perform height control, posture control, etc. in addition to damping force control.

Regarding the brake controller 337, for example, the brake controller 337 controls whether the brakes of a car are operated and controls the pedal force of the brakes. For example, when a frontal collision is expected, the brake controller 337 automatically controls the emergency brake to operate according to a control command from the ECU 320, regardless of whether the driver operates the brake.

Meanwhile, as described above using this drawing, the MCU, ECU, and controller are each described as independent components, but it should be understood that they are not necessarily limited thereto. Two or more MCUs can be integrated into one MCU, two or more MCUs can interoperate with each other, two or more MCUs and an ECU can be integrated into one device, and two or more controllers can be integrated into one controller. can be integrated, two or more controllers can interoperate with each other, and two or more controllers and an ECU can be integrated into one device.

For example, the radar processor processes the output of the radar device, and the image processor 41 processes the output of the image sensor 31, and the output of the radar device and the output of the image sensor 31 are processed by one processor (Radar It may be linked by a processor, image processor 41, integrated processor, or ECU 320). For example, the radar processor processes the data sensed and output by the radar device, and based on the information about the object in front derived as a result of the processing, the image processor 41 senses and outputs the data. Processing can be performed to enlarge or focus on one piece of data. Conversely, the image processor 41 processes the data sensed and output by the image sensor 31, and based on the information about the object in front derived as a result of the processing, the radar processor processes the data sensed and output by the radar device. You can perform processing to enlarge or focus. For this purpose, the radar MCU can control the radar device to perform beam aiming or beam selection. Alternatively, the radar processor may perform digital beam forming or digital beam steering in an array antenna or phased array antenna system. In this case, when the radar and the front camera are interconnected, the image sensor 31 and the radar device may be placed on the same board (for example, the image PCB 30).

Figure 4a is a diagram showing the components of the camera system 1 according to the present invention.

Referring to FIG. 4A, the camera system 1 includes a lens 10, an image sensor 31, an image processor 41, and a camera MCU 42.

In addition, the camera system 1 includes a first converter unit 421 that receives the ignition voltage 410 and converts it into the first voltage 411, the second voltage 412, and the third voltage 413. A second converter unit 422 that receives (413) and converts it into the fourth voltage (414), a regulator unit that receives the first voltage (411) and converts it into the fifth voltage (415) and the sixth voltage (416). Includes (423). The first converter unit 421 may be composed of one 3ch DC-DC converter as shown in FIG. 4A, but is not limited to this and may be composed of a 1ch DC-DC converter and a 2ch DC-DC converter, or 3 It can be composed of two 1ch DC-DC converters. The regulator unit 423 may be composed of a 2ch LDO (Low Drop Out) as shown in FIG. 4A, but is not limited to this and may be composed of two 1ch LDOs. The reason why the regulator unit 423 is implemented as an LDO is because the current level required by the image sensor 31 is not large.

The ignition voltage 410 is a voltage generated when a driver manually turns the key to start the vehicle or uses a button to start the vehicle, and may generally be 14V. The first voltage 411 is a voltage that the first converter unit 421 receives and converts the ignition voltage 410 and may be 3.3V. The first voltage 411 may be input to the camera MCU 42 and used as an operating power source for the camera MCU 42. Additionally, the first voltage 411 may be used as an operating power source for the monitoring module 441 and the first memory 431. Additionally, the first voltage 411 may be used as an operating power source for the image processor 41. The reason why the first voltage 411, which is the same operating power, is applied to the camera MCU 42 and the image processor 41 is to match the communication level (IO voltage) between the two communication components. The second voltage 412 is a voltage that the first converter unit 421 receives and converts the ignition voltage 410, and may be 1.8V. Meanwhile, as will be described later, a fifth voltage (eg, 1.8V) is applied to the image sensor 31, and this voltage is the same as the second voltage. The reason why the second voltage 412 applied to the image processor 41 and the fifth voltage 215 applied to the image sensor 31 are the same is because the communication level between the image processor 41 and the image sensor 31 ( This is to adjust the IO voltage). The third voltage 413 is a voltage that the first converter unit 421 receives and converts the ignition voltage 410 and may be 5V. The third voltage 413 is applied to the second converter unit 422, and the second converter unit 422 can output the fourth voltage 414. The fourth voltage 414 is applied to the image processor 41 and operates as a core power source of the image processor 41. For example, the fourth voltage 414 may be 1.2V. Meanwhile, although it is possible for the first converter unit 421 to directly output the fourth voltage 414, the first converter unit 421 outputs the third voltage 413 and the third voltage 413 The reason why the second converter unit 422 receives the output the fourth voltage 414 is to satisfy the allowable current required by the image processor 41. In addition, the reason is that the third voltage 413 is used as an operating power source in other components (eg, HS-CAN TRx, etc.).

Meanwhile, the first voltage 411 is applied to the regulator unit 423, and the regulator unit 423 outputs the fifth voltage 415 and the sixth voltage 416. The fifth voltage 415 may be 1.8V, and the sixth voltage 416 may be 2.8V. The fifth voltage 415 is applied to the image sensor 31 and operates to adjust the communication level with the image processor 41. The sixth voltage 416 is applied to the image sensor 31 and operates as a core power source of the image sensor 31. Ultimately, the camera MCU 42 and the image processor 41 set the communication level to the first voltage 411, and the image processor 41 and the image sensor 31 set the communication level to the second voltage 412 and the fifth voltage equal to the second voltage. The communication level is adjusted by voltage 415.

In addition, the camera system 1 receives the first voltage 411 and includes a first memory 431 connected to the camera MCU 42, a second memory 432 connected to the image processor 41, and an image processor ( It includes a third memory 433 connected to the image processor 41) and a fourth memory 434 connected to the image processor 41. The first memory 431 may be EEPROM, the second memory 432 may be LPDDR2, the third memory 433 may be LPDDR2, and the fourth memory 434 may be Flash memory. The first memory 431 is connected to the camera MCU 42 and contains MCU logic data (algorithm for controlling the controller), MCU basic software (startup algorithm for driving the image processor 41, image sensor 31, etc.) ) and save it. The second memory 432 is connected to the image processor 41 and executes the function implementation algorithm stored in the fourth memory 434 according to instructions from the image processor 41. The third memory 433 is connected to the image processor 41 and executes the function implementation algorithm stored in the fourth memory 434 according to instructions from the image processor 41. The fourth memory 434 is connected to the image processor 41 and stores algorithm data (eg, LD, PD, VD, TSR, etc.) that implements functions in the image processor 41. Meanwhile, the capacity of the second memory 432 and the third memory 433 may be determined depending on the number of functions supported by the camera system 1. For example, if only some of the functions are supported (the data processed by the image processor 41 may include data about the vehicle in front, data about the lane in front, data about cyclists in front, data about traffic signs, active high beam control ( Data on AHBC), data on wheel detection (e.g., data for faster vehicle recognition through vehicle wheel recognition for Close Cut-in vehicles entering the camera FOV), data on traffic lights, In the case of data about road marking (e.g., arrows on the road), the second memory 432 and the third memory 433 may each be 128 MB, and in the case of supporting more functions (image processor 41) In addition to the examples described above, the data processed is data for VD at any angle (data for recognizing a vehicle with respect to the overall driving direction or angle of the vehicle in front), road profile (e.g., shape of the road ahead (bends, speed bumps) or data to improve ride comfort through suspension control by recognizing holes), data for semantic free space (e.g., boundary labeling), data for general objects (side vehicles, etc.), advanced Data on advanced path planning (e.g., data for predicting the expected vehicle driving path through deep learning through the surrounding environment even on roads with no lanes or on polluted roads), data on odometry ( For example, in the case of data for recognizing driving road landmarks and fusing them with GPS recognition information, the second memory 432 and the third memory 433 may each be 256 MB. And the third memory 33 may be integrated into one memory depending on the number of lenses 10, including the second memory 432 and the third memory 433 when only one lens 10 is used. A total of two memories (e.g., 2 can be used Additionally, when three lenses 10 are used, two memories with large capacities (eg, 2 x 512MB) can be used. That is, the number and capacity of the second memory 432 and the third memory 433 may change depending on the number of lenses.

In addition, the camera system 1 includes a monitoring module 441 connected to the camera MCU 42, a high-speed CAN transceiver (HS-CAN_TRx) 442 connected to the camera MCU 42 and performing chassis CAN communication, and a camera. A high-speed CAN transceiver 443 is connected to the MCU 42 to perform local CAN communication, an external input device 444 is connected to the camera MCU 42 to receive wiper operation input, and an external input device 444 is connected to the camera MCU 42. It includes an external input device 445 that receives an off-switching input, and an external output device 446 that is connected to the camera MCU 42 and outputs an LED signal. The reason why the camera MCU (42) receives the wiper operation input is that when the wiper ON signal is received, the recognition of the front through the camera system (1) is deteriorated due to rain, so the operation of the camera MCU (42) is turned off. This is because it is necessary to turn off a specific function of the camera MCU (42).

Figure 4b is a diagram showing the components of the camera system 1 according to the present invention.

Referring to FIG. 4B, the camera system 1 includes a lens 10, an image sensor 31, an image processor 41, and a camera MCU 42.

In addition, the camera system 1 includes a first converter unit that receives the ignition voltage 510 and converts it into a first voltage 511, a second voltage 512, a third voltage 513, and a fourth voltage 514. (421), and includes a regulator unit 523 that receives the first voltage 511 and converts it into the fifth voltage 515, the sixth voltage 516, and the seventh voltage 517. The first converter unit 521 may be composed of one 4ch DC-DC converter as shown in FIG. 4B, but is not limited to this and may be composed of a 1ch DC-DC converter and a 3ch DC-DC converter, or 2 It can consist of two 2ch DC-DC converters or four 1ch DC-DC converters. Alternatively, the first converter unit 521 may be composed of a 4ch PMIC (Power Management Integrated Circuit). When using a PMIC, it has the advantage of being able to support USB functions as it is equipped with multiple buck regulators and boost regulators, and also providing I2C functions for power settings. The regulator unit 523 may be composed of a 3ch LDO (Low Drop Out) as shown in FIG. 4B, but is not limited to this and may be composed of three 1ch LDOs. The reason why the regulator unit 523 is implemented as an LDO is because the current level required by the image sensor 31 is not large.

The ignition voltage 510 is a voltage generated when a driver manually turns the key to start the vehicle or uses a button to start the vehicle, and may generally be 14V. The first voltage 511 is a voltage that the first converter unit 521 receives and converts the ignition voltage 510 and may be 3.3V. The first voltage 511 may be input to the camera MCU 42 and used as an operating power source for the camera MCU 42. Additionally, the first voltage 511 may be used as an operating power source for the monitoring module 541 and the first memory 531. Additionally, the first voltage 511 may be used as an operating power source for the image processor 41. The reason why the same operating power source, the first voltage 511, is applied to the camera MCU 42 and the image processor 41 is to match the communication level (IO voltage) between the two communication components. The second voltage 512 is a voltage that the first converter unit 521 receives and converts the ignition voltage 510, and may be 1.8V. Meanwhile, as will be described later, a fifth voltage 515 (eg, 1.8V) is applied to the image sensor 31, and this voltage is the same as the second voltage 512. The reason why the second voltage 512 applied to the image processor 41 and the fifth voltage 515 applied to the image sensor 31 are the same is because the communication level between the image processor 41 and the image sensor 31 ( This is to adjust the IO voltage). The third voltage 513 is a voltage that the first converter unit 521 receives, converts, and outputs the ignition voltage 510, and may be 5V. The third voltage 513 can be used as a driving power source for components that the camera MCU 42 uses for communication (eg, S-CAN communication module, C-CAN communication module, High Side Driver). The fourth voltage 514 is a voltage that the first converter unit 521 receives, converts, and outputs the ignition voltage 510, and may be 2.8V. The fourth voltage 514 can be converted to 1.1V through a converter and applied to the image processor 41. The 1.1V voltage operates as the core power supply of the image processor 41. Meanwhile, although it is possible for the first converter unit 521 to directly output the core power (1.1V) of the image processor, the fourth voltage 514 (2.8V) is converted to the core power (1.1V) through a separate converter. ) is lowered to satisfy the allowable current required by the image processor 41.

Meanwhile, the first voltage 511 is applied to the regulator unit 523, and the regulator unit 523 outputs the fifth voltage 515, the sixth voltage 516, and the seventh voltage 517. The fifth voltage 515 may be 1.8V, the sixth voltage 516 may be 2.8V, and the seventh voltage 517 may be 1.2V. The fifth voltage 515 is applied to the image sensor 31 and operates to adjust the communication level with the image processor 41. The sixth voltage 516 is applied to the image sensor 31 and operates as a core power source of the image sensor 31. Ultimately, the camera MCU 42 and the image processor 41 set the communication level to the first voltage 511, and the image processor 41 and the image sensor 31 set the communication level to the second voltage 512 and the fifth voltage equal to the second voltage. The communication level is adjusted by voltage 515.

In addition, the camera system 1 receives the first voltage 511 and includes a first memory 531 connected to the camera MCU 42, a second memory 532 connected to the image processor 41, and an image processor ( It includes a third memory 533 connected to 41). The first memory 531 may be EEPROM, the second memory 532 may be LPDDR4, and the third memory 533 may be Flash memory. The first memory 531 is connected to the camera MCU 42 and contains MCU logic data (algorithm for controlling the controller), MCU basic software (startup algorithm for driving the image processor 41, image sensor 31, etc.) ) and save it. The second memory 532 is connected to the image processor 41 and executes the function implementation algorithm stored in the third memory 533 according to instructions from the image processor 41. The third memory 533 is connected to the image processor 41 and stores algorithm data (eg, LD, PD, VD, TSR, etc.) that implements functions in the image processor 41. Meanwhile, the capacity of the second memory 532 may be determined depending on the number of functions supported by the camera system 1. For example, if only some of the functions are supported (the data processed by the image processor 41 may include data about the vehicle in front, data about the lane in front, data about cyclists in front, data about traffic signs, active high beam control ( Data on AHBC), data on wheel detection (e.g., data for faster vehicle recognition through vehicle wheel recognition for Close Cut-in vehicles entering the camera FOV), data on traffic lights, In the case of data for road marking (e.g., arrows on the road), the second memory 532 may be 128 MB, and in the case of supporting more functions (the data processed by the image processor 41 is the above example) In addition, data for VD at any angle (data to recognize the vehicle with respect to the overall driving direction or angle of the vehicle in front), road profile (e.g., recognition of the shape of the road ahead (bends, speed bumps or holes)) data for improving ride comfort through suspension control), data for semantic free space (e.g., boundary labeling), data for general objects (side vehicles, etc.), and advanced path planning. Data on (e.g., data for predicting the vehicle's expected driving path using Deep Learning through the surrounding environment even on roads with no lanes or on polluted roads), data on odometry (e.g., recognizing driving road landmarks) Therefore, in the case of data to be fused with GPS recognition information), the second memory 532 may be 256MB.

In addition, the camera system 1 includes a monitoring module 541 connected to the camera MCU 42, a high-speed CAN transceiver (HS-CAN_TRx) 542 connected to the camera MCU 42 and performing chassis CAN communication, and a camera. High-speed CAN transceiver (543) connected to the MCU (42) to perform local CAN communication, High Side Driver (544) connected to the camera MCU (42) to output an LED signal, and connected to the camera MCU (42) It includes an external input device 545 that receives an off-switching input. In addition, it may include an external input receiver (not shown) that is connected to the camera MCU 42 and receives a wire input. The reason why the camera MCU 42 receives the wiper operation input is that when the wiper ON signal is received, This is because the recognition of the front through the camera system 1 is deteriorated due to rain, so it is necessary to turn off the operation of the camera MCU 42 or turn off a specific function of the camera MCU 42.

The aforementioned camera system (1) includes Road Boundary Departure Prevention Systems (RBDPS), Cooperative Adaptive Cruise Control Systems (CACC), Vehicle/roadway warning systems, Partially Automated Parking Systems (PAPS), Partially Automated Lane Change Systems (PALS), and C -Cooperative Forward Vehicle Emergency Brake Warning Systems (FVBWS), Lane Departure Warning Systems (LDWS), Pedestrian Detection and Collision Mitigation Systems (PDCMS), Curve Speed Warning Systems (CSWS), Lane Keeping Assistance Systems (LKAS), Adaptive Cruise (ACC) Control systems), FVCWS (Forward Vehicle Collision Warning Systems), MALSO (Manoeuvring Aids for Low Speed Operation systems), LCDAS (Lane Change Decision Aid Systems), LSF (Low Speed Following systems), FSRA (Full Speed Range Adaptive cruise control systems) ), FVCMS (Forward Vehicle Collision Mitigation Systems), ERBA (Extended Range Backing Aids systems), CIWS (Cooperative Intersection Signal Information and Violation Warning Systems), and TIWS (Traffic Impediment Warning Systems). there is.

Figure 5 is an exploded perspective view for explaining the coupling relationship between the lens barrel and the lens holder according to the present invention.

The lens 10 according to the present invention is inserted into the lens barrel 15, and the lens barrel 15 includes a flange 15-1. The lens barrel 15 and the lens holder 20 are coupled to each other in such a way that the body of the lens barrel 15 including the lens 10 and the flange 15-1 is inserted into the lens holder 20. Additionally, the lens barrel 15 and the lens holder 20 may be coupled to each other using an active alignment method.

Figure 6 is a diagram showing the host vehicle recognizing the surrounding situation at an intersection according to an embodiment of the present invention. For brevity of explanation, description of overlapping content is omitted.

Referring to FIGS. 3 and 6 , there is a host vehicle 1000 entering an intersection and a surrounding vehicle 1200 traveling in a lane behind or next to the host vehicle 1000. The host vehicle 1000 may be equipped with a camera system 1 that detects the front of the vehicle's direction of travel and a rear radar 1030 that detects the rear and sides of the vehicle's direction of travel. In general, the camera system 1 may be placed in the front of the host vehicle 1000, and the rear radar 1030 may be placed at the rear of the host vehicle 1000. However, the rear radar 1030 may be placed on the side of the own vehicle 1000, and the positions of the camera system 1 and the rear radar 1030 may not be particularly limited.

The camera system 1 may detect that the signal of the traffic light 1100 changes from a green signal to a yellow or red signal. That is, the camera system 1 can detect that the signal of the traffic light 1100 changes from a driving signal to a stop signal and transmit the detected signal data to the ECU 320. The driver recognizes the yellow or red signal of the traffic light 1100 and slows down the vehicle 1000.

The rear radar 1030 can recognize surrounding vehicles 1200 that may collide with the own vehicle 1000. The rear radar 1030 may be the radar device described in FIG. 3. The rear radar 1030 can measure the presence or absence of a surrounding vehicle 1200, the distance of the surrounding vehicle 1200, the speed of the surrounding vehicle 1200, and the moving angle of the surrounding vehicle 1200. The proceeding angle may refer to the direction in which the surrounding vehicle 1200 actually moves based on the direction of the lane in which the surrounding vehicle 1200 is located. The rear radar 1030 can detect objects up to 150 m ahead in a horizontal angle range of 30 degrees using a frequency modulation carrier wave (FMCW) or pulse carrier method.

The ECU (320) receives the signal data of the traffic light (1100) detected by the camera system (1) and the data of the surrounding vehicle (1200) detected by the rear radar (1030) to identify the own vehicle (1000) and the surrounding vehicle (1200). The risk of collision can be determined. According to one example, when the host vehicle 1000 decelerates or drives at a constant speed and a surrounding vehicle 1200 located behind the host vehicle 1000 accelerates toward the host vehicle 1000, the ECU 320 uses a rear radar. The risk of collision can be determined through data on the distance between the own vehicle 1000 and surrounding vehicles 1200 measured by 1030. According to another example, when the host vehicle 1000 decelerates or drives at a constant speed and the surrounding vehicle 1200 located on the side of the host vehicle 1000 changes steering to proceed toward the host vehicle 1200, the ECU 320 ) can determine the risk of collision through data on the distance between the own vehicle 1000 and the surrounding vehicles 1200 measured by the rear radar 1030 and data on the proceeding angle of the surrounding vehicles 1200. According to another example, when the host vehicle 1000 is decelerating and the surrounding vehicles 1200 are accelerating toward the host vehicle 1000, the ECU 320 determines the degree of deceleration of the host vehicle 1000 and the surrounding vehicles ( The risk of collision can be determined through the degree of acceleration of the vehicle 1200 and the distance between the own vehicle 1000 and the surrounding vehicles 1200. The method by which the ECU 320 determines the risk of collision is not limited to the above-described example and can be determined in various ways by combining data provided by the camera system 1 and the rear radar 1030.

If the ECU 320 determines that there is a possibility of a collision between the own vehicle 1000 and surrounding vehicles 1200, it can control the driver warning controller 331 to warn the driver of the risk of collision. The driver warning controller 331 can warn the driver in at least one of video, audio, and steering wheel vibration. For example, if there is a possibility of a collision between the own vehicle 1000 and surrounding vehicles 1200, the ECU 320 warns the driver in a video manner through the instrument panel or head-up display, or generates a warning sound to warn the driver. It can warn the driver by generating a warning or vibration of the steering wheel above a certain intensity. A certain intensity can be defined as an intensity greater than the normal vibration of the steering wheel that a driver can feel while driving.

Figure 7 is a flowchart showing warning to the driver according to surrounding conditions of the own vehicle according to an embodiment of the present invention. In Figure 7, the description will focus on the case of recognizing a rear vehicle.

Referring to FIG. 7, a traffic light located in front of the vehicle can be recognized through a camera system mounted on the vehicle. Through the camera system, it is possible to recognize that the traffic light signal changes from green (readable signal) to yellow or red (stop signal) (S10). When the traffic light turns yellow or red, the rear vehicle can be recognized through the rear radar. At this time, the rear radar can detect the presence or absence of a rear vehicle, the speed of the rear vehicle, the distance between the own vehicle and the rear vehicle, and the proceeding angle of the rear vehicle (S20). The ECU can determine the possibility of a collision between the own vehicle and the vehicle behind it by combining the data detected by the camera system and the rear radar. When determining the possibility of a collision, the ECU can focus on comparing the speed of the own vehicle and the speed of the vehicle behind. In addition, the ECU can determine the possibility of a collision by comparing the data on the rear vehicle detected by the rear radar and the speed of the own vehicle (S35). If there is no possibility of collision, the vehicle can stop or proceed under the driver's control, and can recognize traffic lights when entering the intersection again. If a collision is possible, the ECU can warn the driver that a collision is possible. By issuing a warning to the driver, the driver can control his/her own vehicle to help avoid a collision with the rear vehicle (S40).

In one or more example embodiments, the functions described may be implemented in hardware, software, firmware, or any combination thereof. If implemented in software, these functions may be stored or transmitted over as one or more instructions or code on a computer-readable medium. Computer-readable media includes both computer storage media and communication media including any medium that facilitates transfer of a computer program from one place to another. A storage medium can be any available medium that can be accessed by a computer. By way of example, and not limitation, such computer-readable media may include RAM, ROM, EEPROM, CD-ROM or other optical disk storage, magnetic disk storage or other magnetic storage devices, or may carry or carry desired program code in the form of instructions or data structures. It can be used for storage and can include any other media that is accessible by a computer. Any connection is also properly termed a computer-readable medium. For example, if the Software is transmitted from a website, server or other remote source using coaxial cable, fiber optic cable, twisted pair, digital subscriber line (DSL), or wireless technologies such as infrared, radio and microwave, then coaxial cable; Included in the definition of media are fiber optic cable, twisted pair, DSL, or wireless technologies such as infrared, radio, and microwave. Disk and disc, as used herein, include compact disc (CD), laser disc, optical disc, digital versatile disc (DVD), floppy disk, and Blu-ray disc, and disks usually store data. On the other hand, discs reproduce data optically using a laser. Combinations of the above should also be included within the scope of computer-readable media.

When embodiments are implemented as program code or code segments, the code segment may be a procedure, function, subprogram, program, routine, subroutine, module, software package, class, or instructions, data structures, or program statements. It should be recognized that any combination of these can be represented. Code segments may be connected to other code segments or hardware circuits by passing and/or receiving information, data, arguments, parameters, or memory contents. Information, arguments, parameters, data, etc. may be conveyed, dispatched, or transmitted using any suitable means, including memory sharing, message passing, token passing, network transmission, etc. Additionally, in some aspects the steps and/or operations of a method or algorithm may be carried out as one or more of codes and/or instructions on a machine-readable medium and/or computer-readable medium that can be incorporated into a computer program product. It can reside as any combination or set of .

In an implementation in software, the techniques described herein may be implemented as modules (e.g., procedures, functions, etc.) that perform the functions described herein. Software codes can be stored in memory units and executed by processors. The memory unit may be implemented within the processor or external to the processor, in which case the memory unit may be communicatively coupled to the processor by various means as known in the art.

In a hardware implementation, the processing units may include one or more application-specific integrated circuits (ASICs), digital signal processors (DSPs), digital signal processing devices (DSPDs), programmable logic devices (PLDs), field-programmable gate arrays (FPGAs), processors, It may be implemented in a controller, microcontroller, microprocessor, other electronic unit designed to perform the functions described herein, or a combination thereof.

What has been described above includes examples of one or more embodiments. Of course, not all possible combinations of components or methods can be described for the purposes of describing the above-described embodiments, and those skilled in the art will recognize that many additional combinations and permutations of the various embodiments are possible. Accordingly, the described embodiments are intended to include all alternatives, modifications and alterations that fall within the spirit and scope of the appended claims. Moreover, to the extent the term “comprises” is used in the description or claims, such term shall be similar to “consisting of” as the term “consisting of” is interpreted when used as a transitional word in the claims. It is included in this way.

As used herein, the terms "infer" or "inference" generally refer to the process of making a judgment or inference about the state of a system, environment, and/or user from a set of observations captured by events and/or data. says Inference can be used to identify specific situations or actions, or can generate probability distributions over states, for example. The inference may be probabilistic, that is, a calculation of a probability distribution over the states of interest based on consideration of data and events. Inference may also refer to techniques used to construct higher level events from a set of events and/or data. These inferences determine whether new events or actions come from a set of observed events and/or stored event data, whether the events are closely correlated in time, and whether the events and data come from one or multiple event and data sources. Let us estimate.

Moreover, as used in this application, the terms "component", "module", "system", etc. refer to computer-related components such as, but not limited to, hardware, firmware, a combination of hardware and software, software, or software running on the computer. It contains entities. For example, but not limited to, a component may be a process running on a processor, a processor, an object, an executable thread of execution, a program, and/or a computer. As an example, both an application running on a computing device and the computing device may be components. One or more components may reside within a process and/or thread of execution, and a component may be centralized on one computer and/or distributed between two or more computers. Additionally, these components can execute from various computer-readable media storing various data structures. Components follow a signal with one or more data packets (e.g., data from a local system, another component of a distributed system, and/or a component that interacts via a network, such as the Internet, with other systems by signal). etc. can be communicated by local and/or remote processes.

Claims (17)

A vehicle camera system placed in the front of the vehicle;
ECU (electronic control unit) that determines the risk of collision with surrounding vehicles based on the status of the vehicle at an intersection;
a rear radar installed in the vehicle to recognize the surrounding vehicles; and
It includes a driver warning controller that warns of the risk of collision between the own vehicle and the surrounding vehicles based on the collision risk determination result of the ECU,
The camera system recognizes signals from traffic lights in front of the vehicle and transmits them to the ECU,
When the traffic light changes from a yellow signal to a red signal and the rear radar recognizes that the surrounding vehicle is accelerating or driving at a constant speed, the ECU warns the driver of the risk of collision through the driver warning controller.
Driving assistance system. According to claim 1,
The camera system recognizes that the traffic light changes from a driving signal to a yellow signal or a red signal,
Driving assistance system. According to claim 1,
The ECU determines the risk of collision with the surrounding vehicle by calculating the presence or absence of the surrounding vehicle, the distance to the surrounding vehicle, the speed of the surrounding vehicle, and the proceeding angle of the surrounding vehicle using the data measured by the rear radar. doing,
Driving assistance system. delete According to claim 1,
The driver warning controller warns the driver in at least one of video, audio, and vibration of the steering wheel,
Driving assistance system. The vehicle camera system of claim 1, wherein:
A lens (10) for photographing the front of the vehicle;
a lens barrel (15) for accommodating the lens in an internal space;
A lens holder (20) coupled to the lens barrel;
an image sensor 31 for sensing the image captured by the lens;
an image processor 41 for receiving and processing image data from the image sensor; and
Comprising a camera MCU 42 that communicates with the image processor and receives data processed by the image processor,
Driving assistance system. According to claim 6,
The vehicle camera system:
a first converter unit 521 that receives the ignition voltage 510 and outputs at least one voltage; and
Further comprising a regulator unit 523 that receives the voltage output from the first converter unit 521 and outputs at least one voltage.
Driving assistance system. According to claim 7,
The camera MCU 42 receives the first voltage 511 from the first converter unit 521 as an operating power source,
The image processor 41 receives the first voltage 511 from the first converter unit 521 as an operating power source,
Driving assistance system. According to claim 8,
The first voltage 511 output from the first converter unit 521 is 3.3 V,
Driving assistance system. According to claim 8,
The image processor 41 receives the second voltage 512 from the first converter unit 521,
The image sensor 31 receives the fifth voltage 515 from the regulator unit 523,
The second voltage 512 and the fifth voltage 515 are equal to each other,
Driving assistance system. According to claim 10,
The second voltage and the fifth voltage 515 are 1.8 V,
Driving assistance system. According to claim 8,
The image sensor 31 receives the sixth voltage 516 from the regulator unit 523 as a core power source,
The sixth voltage 516 is 2.8 V,
Driving assistance system. According to claim 8,
The first converter unit 521 is configured to include at least one DC-DC converter,
The regulator unit 523 is configured to include at least one LDO (Low Drop Out),
Driving assistance system. According to claim 6,
The camera MCU 42 communicates with the first memory 531,
Driving assistance system. According to claim 14,
The image processor 41 communicates with the second memory 532 and the third memory 533.
Driving assistance system. According to claim 15,
The second memory 532 has a capacity determined according to the number of ADAS functions supported by the vehicle camera system.
Driving assistance system. According to claim 8,
The camera system is,
Road Boundary Departure Prevention Systems (RBDPS), Cooperative Adaptive Cruise Control Systems (CACC), Vehicle/roadway warning systems, Partially Automated Parking Systems (PAPS), Partially Automated Lane Change Systems (PALS), Cooperative Forward Vehicle Emergency Brake (C-FVBWS) Warning Systems), Lane Departure Warning Systems (LDWS), Pedestrian Detection and Collision Mitigation Systems (PDCMS), Curve Speed Warning Systems (CSWS), Lane Keeping Assistance Systems (LKAS), Adaptive Cruise Control systems (ACC), Forward Vehicle (FVCWS) Collision Warning Systems (MALSO) (Manoeuvring Aids for Low Speed Operation systems), LCDAS (Lane Change Decision Aid Systems), LSF (Low Speed Following systems), FSRA (Full Speed Range Adaptive cruise control systems), FVCMS (Forward Vehicle Collision Mitigation) Systems), ERBA (Extended Range Backing Aids systems), CIWS (Cooperative Intersection Signal Information and Violation Warning Systems), and TIWS (Traffic Impediment Warning Systems).
Driving assistance system.

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