KR20170079096A - Intelligent black-box for vehicle - Google Patents

Abstract

The present invention can be applied to at least any one of an emergency braking operation, a lane departure operation, a front collision operation, and a preceding vehicle departure operation mode by using image information generated from a camera sensor and speed information of a vehicle calculated using an acceleration sensor and a gyro sensor It is possible to provide an intelligent driving assistance service corresponding to the driving assistance service.

Description

{INTELLIGENT BLACK-BOX FOR VEHICLE}

BACKGROUND OF THE INVENTION 1. Field of the Invention [0001] The present invention relates to an intelligent vehicle black box, and more particularly to an intelligent vehicle black box, And more particularly, to an intelligent vehicle black box that provides an intelligent driving assistance service according to the present invention.

In recent years, the combination of advanced technology in vehicles has resulted in the safety, convenience, and fuel economy of drivers such as multimedia devices (Audio Visual System), active echo / sport mode configurator, various stabilizers and Advanced Driver Assistance Systems There are many equipment (parts) to save.

For example, the ADAS function may include an adaptive control system (ACC / SCC), a lane maintenance assist system, a blind warning system, a crash prevention system, an intelligent speed adaptation system, a night vision system, a pedestrian protection system, , A ramp run control system, and the like.

However, since the conventional ADAS function is developed based on only a single sensor, it causes many problems due to restriction of recognition range, measurement error, and erroneous recognition. In addition, there are radar, lane and camera for vehicle position estimation to estimate the position and state of the vehicle in front and rear, and there are limitations according to the characteristics of such single sensors.

Also, the external device of the vehicle including the conventional ADAS function has to be connected to the external device of the GPS and OBD module in order to detect the speed, and there is inconvenience that additional cost is incurred to connect with the external device, and the OBD module There is a limit to the existence of vehicles that are not compatible with each other and can not be used.

In addition, since the external device of the vehicle including the conventional ADAS function uses the GPS which can not be received in the shadow area, the GPS can not be used in the shadow area such as the tunnel and the underground and the vehicle speed can not be detected, There is a limitation that the ADAS function can not be executed.

Korean Patent No. 10-0503303 entitled " Black Box Device of Vehicle " Korean Patent No. 10-1455847 (entitled " vehicle driving recorder combined with black box and lane departure warning function "

An object of the present invention is to provide an intelligent vehicle black box capable of calculating speed information of a vehicle from the acceleration information of a vehicle without using the shade area, weather, and compatibility of each vehicle by using an acceleration sensor.

Also, the present invention provides an intelligent vehicle black box capable of reducing an error that may occur in calculating the speed information of a vehicle by using acceleration information and moving direction information of the vehicle measured using the acceleration sensor and the gyro sensor do.

Further, the present invention detects at least any one of an operation mode of emergency braking, lane departure, lane keeping, front collision and starting of a preceding vehicle by using image information generated using a camera sensor and speed information of the vehicle, And to provide an intelligent vehicle black box capable of providing a corresponding intelligent driving assistance service to a driver.

 An intelligent vehicle black box according to an embodiment of the present invention includes an image information generation unit for shifting an image from a camera sensor to the front or rear of the vehicle and generating image information corresponding thereto, A speed calculating unit for calculating speed information of the vehicle on the basis of the measured acceleration information, a speed calculating unit for calculating speed information of the vehicle based on the measured acceleration information, An operation mode determination unit for determining an operation mode of the vehicle using the generated image information, and a control unit for controlling the driving of the vehicle on the basis of the determined operation mode, To the driver.

Also, the intelligent vehicle black box according to an embodiment of the present invention may include a notification unit for providing alert information including at least one of a warning message, alarm, voice, light and vibration according to the intelligent driving assistance service to the driver, And a communication unit for transmitting the intelligent driving assistance service corresponding to the determined operation mode to a terminal possessed by the driver.

The speed calculating unit may calculate a rate of change of the acceleration of the vehicle based on the measured acceleration information, determine the motion state of the vehicle based on the calculated rate of change, and calculate the speed information indicating the speed.

The operation mode determination unit may determine at least any one of the emergency braking, the lane departure, the front collision, and the preceding vehicle departure of the vehicle using the calculated speed information and the generated image information.

The operation mode determination unit may determine whether the vehicle is running based on the calculated speed information, and determine whether the vehicle is in an operation mode of the lane departure of the vehicle based on the position of the lane recognized from the generated image information Wherein the control unit controls the driver to provide the intelligent driving assistance service corresponding to the lane departure operation mode to the driver when the lane departure operation mode of the vehicle is determined, can do.

The operation mode determination unit may determine whether the vehicle is stopped based on the calculated speed information and determine whether the vehicle is in the operation mode of the preceding vehicle departure based on the preceding vehicle detected from the generated image information And the control unit may control the driver to provide the intelligent driving assistance service corresponding to the operation mode of the preceding vehicle when the operation mode of the preceding vehicle is determined.

The operation mode determination unit may determine a distance to the nearby vehicle based on the calculated speed information and a predetermined distance value based on the position of the surrounding vehicle detected from the generated image information, Wherein the control unit determines whether at least one of the emergency braking and the forward collision is in an operating mode, and when the at least one of the emergency braking and the forward collision of the vehicle is determined, To provide the intelligent driving assistance service corresponding to the operation mode of the driver to the driver, and to control the speed of the vehicle.

An intelligent vehicle black box according to an embodiment of the present invention includes an image information generation unit for shifting an image from a camera sensor to the front or rear of the vehicle and generating image information corresponding thereto, A speed calculating section for calculating speed information of the vehicle on the basis of the obtained acceleration information and the moving direction information, a speed calculating section for calculating speed information of the vehicle based on the obtained acceleration information and the traveling direction information, An operation mode determination unit for determining an operation mode of the vehicle using the generated image information, and a controller for controlling driving of the vehicle based on the determined operation mode, To the driver.

The intelligent vehicle black box according to an embodiment of the present invention may further include a notification unit for providing the driver with notification information including at least one of a warning message, an alarm, an audio, a light and a vibration according to the intelligent driving assistance service, And a communication unit for transmitting the intelligent driving assistance service corresponding to the determined operation mode to the terminal owned by the driver.

Wherein the vehicle running state sensing unit measures the acceleration information from the acceleration sensor that measures at least one of a longitudinal acceleration, a lateral acceleration, and a vertical acceleration of the vehicle, and calculates a roll rate, a pitch rate ) And a yaw rate from the gyro sensor that measures at least one of the yaw rate and the yaw rate.

According to the embodiment of the present invention, there is provided an intelligent vehicle black box capable of calculating speed information of a vehicle from the acceleration information of the vehicle without using the shade region, the weather, and compatibility of each vehicle by using the acceleration sensor.

According to the embodiment of the present invention, by using the acceleration information and the moving direction information of the vehicle measured using the acceleration sensor and the gyro sensor, it is possible to reduce the errors that may occur in calculating the speed information of the vehicle, I want to provide a black box.

In addition, according to the embodiment of the present invention, at least any one of an operation mode of at least one of emergency braking, lane departure, lane keeping, front collision, and preceding vehicle departure using image information generated using a camera sensor and vehicle speed information And to provide an intelligent vehicle black box that can provide an intelligent driving assistance service corresponding to the detected intelligent driving assistance service to the driver.

1 is a block diagram illustrating a configuration of an intelligent vehicle black box according to an embodiment of the present invention.
2 is an exemplary diagram for judging the operation of the lane departure of the vehicle.
3 is an exemplary diagram for judging the operation of starting the preceding vehicle of the vehicle.
4 is an exemplary diagram for determining the operation of the emergency braking and front collision by sensing a certain distance between the vehicle and the surrounding vehicle.
5 is a block diagram illustrating the configuration of an intelligent vehicle black box according to an embodiment of the present invention.

Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings and accompanying drawings, but the present invention is not limited to or limited by the embodiments.

The terminology used herein is for the purpose of illustrating embodiments and is not intended to be limiting of the present invention. In the present specification, the singular form includes plural forms unless otherwise specified in the specification. It is noted that the terms "comprises" and / or "comprising" used in the specification are intended to be inclusive in a manner similar to the components, steps, operations, and / Or additions.

As used herein, the terms "embodiment," "example," "side," "example," and the like should be construed as advantageous or advantageous over any other aspect or design It does not.

Also, the term 'or' implies an inclusive or 'inclusive' rather than an exclusive or 'exclusive'. That is, unless expressly stated otherwise or clear from the context, the expression 'x uses a or b' means any of the natural inclusive permutations.

Also, the phrase "a" or "an ", as used in the specification and claims, unless the context clearly dictates otherwise, or to the singular form, .

Furthermore, the terms first, second, etc. used in the specification and claims may be used to describe various elements, but the elements should not be limited by the terms. The terms are used only for the purpose of distinguishing one component from another.

Unless defined otherwise, all terms (including technical and scientific terms) used herein may be used in a sense commonly understood by one of ordinary skill in the art to which this invention belongs. Also, commonly used predefined terms are not ideally or excessively interpreted unless explicitly defined otherwise.

In the following description of the present invention, a detailed description of known functions and configurations incorporated herein will be omitted when it may make the subject matter of the present invention rather unclear. The terminology used herein is a term used for appropriately expressing an embodiment of the present invention, which may vary depending on the user, the intent of the operator, or the practice of the field to which the present invention belongs. Therefore, the definitions of these terms should be based on the contents throughout this specification.

1 is a block diagram illustrating a configuration of an intelligent vehicle black box according to an embodiment of the present invention.

Referring to FIG. 1, an intelligent vehicle black box 100 according to an exemplary embodiment of the present invention determines an operation mode of a vehicle using generated image information and speed information according to a speed change measured from an acceleration sensor, And provides an intelligent driving assistance service corresponding to the operation mode.

The black box 100 for an intelligent vehicle according to an embodiment of the present invention includes an image information generating unit 110, a vehicle driving state detecting unit 120, a speed calculating unit 130, an operation mode determining unit 140, And a control unit 150.

The image information generating unit 110 implements imaging with respect to the front or rear of the vehicle from the camera sensor, and generates image information corresponding thereto.

Here, the camera sensor may be mounted inside the intelligent vehicle black box 100 according to the embodiment of the present invention, or may be located inside the vehicle depending on the embodiment.

According to the embodiment, the image information generating unit 110 may include a front camera sensor for photographing the front of the vehicle, a rear camera sensor for photographing the rear of the vehicle, and a lateral camera sensor for photographing the left and right directions of the vehicle, The imaging in all directions can be performed and the image information can be generated accordingly. The types, the number, and the positions of the camera sensors are not limited.

The camera sensor may include a front camera sensor fixedly installed or a front camera sensor connected to the front camera sensor, or a side camera sensor connected to the front camera sensor and the rear camera sensor, And the image information generating unit 110 may generate the image information from the omnidirectional camera sensor capable of taking the front, back, left, and right directions of the vehicle at one time.

The image information generating unit 110 may store the image information photographed by the camera sensor in a rewritable memory including a RAM, an EEPROM, an SD memory, a NAND memory, an SSD, a hard disk, ) Of the storage medium And the memory module may convert the photographed image information into a set resolution and size and store the photographed image information. The memory module may store data including photographing position and time information of the vehicle, have.

According to an embodiment, the memory module may include an event generation and storage module that can separately store a captured image for a predetermined period of time according to the occurrence of an event from the controller 150.

Also, the image information generating unit 110 may generate image information using at least one of a RADAR, a lidar, and a camera sensor, and is not limited to the type and number of devices.

The vehicle running state sensing unit 120 measures the acceleration of the vehicle by sensing one of acceleration, vibration, and impact of the vehicle from the acceleration sensor.

For example, the vehicle driving state sensing unit 120 may measure acceleration information including inclination information of the vehicle from the acceleration sensor. Here, the acceleration sensor may be mounted inside the intelligent vehicle black box 100 according to the embodiment of the present invention, and may be located in the vehicle depending on the embodiment, but the type, number, and position of the acceleration sensor are not limited Do not.

Also, the acceleration sensor may be a three-axis acceleration sensor capable of calculating acceleration in the X, Y, and Z axes based on the vehicle. According to the embodiment, the vehicle running state detection unit 120 can detect the acceleration and deceleration of the vehicle by calculating the accelerations in the X, Y, and Z axes using the acceleration sensor.

The speed calculator 130 calculates speed information of the vehicle based on the measured acceleration information.

The speed calculating unit 130 calculates the rate of change of the acceleration of the vehicle based on the change in the measured speed, determines the motion state of the vehicle based on the calculated rate of change, and calculates the speed information of the vehicle indicating the speed .

For example, the speed calculation unit 130 may integrate the acceleration information including the inclination information of the vehicle to calculate the speed information of the vehicle.

According to the embodiment, the speed calculating unit 130 samples the measured acceleration information for a predetermined time period to measure the standard deviation (A) of the acceleration change rate of the vehicle and the current acceleration information and the immediately preceding acceleration information can do.

According to the embodiment, the speed calculating unit 130 determines the speed of the vehicle at the constant speed if the deviation of the current acceleration information is greater than the measured previous acceleration information, And the speed information of the vehicle including the constant-speed state.

Here, if the speed calculator 130 checks if less than the standard deviation of the acceleration threshold (A _TH) (A) is pre-set for the measured acceleration rate of change, and the group is smaller than the set acceleration threshold (A _TH), the speed of the vehicle The stop mode, that is, the acceleration in the speed and the traveling direction of the vehicle, can all be set to "0 ".

If the absolute value J of the current acceleration information and the immediately preceding acceleration information is smaller than the threshold value J _TH of the predetermined acceleration difference value in the case that the current acceleration information is not smaller than the preset acceleration threshold value A _TH , And if it is larger than the threshold value (J _TH ) of the predetermined acceleration difference value, the speed information of the vehicle can be calculated from the acceleration change rate of the vehicle.

Here, the threshold value J _TH of the predetermined acceleration difference value may mean a set value for determining whether the vehicle is slowing down. Therefore, the speed calculating unit 130 can calculate the speed information of the predetermined slow speed or more by comparing the acceleration speed absolute value J of the current acceleration information and the immediately preceding acceleration information with the predetermined constant speed specified in the past .

Also, according to the embodiment, the speed calculating unit 130 may calculate the difference between the first closing speed and the second closing speed measured from the first acceleration sensor and the second acceleration sensor of the vehicle running condition detector 120, 1 rotation angle of the vehicle can be inferred from the distance value between the acceleration sensor and the second acceleration sensor and the speed information with high accuracy can be calculated based on the rotation angle of the vehicle and the change rate of the acceleration according to the change in the measured acceleration It is possible.

The operation mode determination unit 140 determines the operation mode of the vehicle using the calculated speed information and the generated image information.

The operation mode determination unit 140 may determine at least one of the operation modes of the vehicle, such as emergency braking, lane departure, front collision, and preceding vehicle departure, using the calculated speed information and the generated image information.

For example, since the lane departure operation mode indicates that the vehicle leaves the lane during driving, the operation is judged only when the vehicle is running, and the operation is not judged when the vehicle travels slowly in a predetermined speed range have. That is, the operation mode of the lane departure can be determined only when the vehicle is traveling at a speed higher than a predetermined speed.

In addition, since the preceding vehicle start operation mode indicates a case where the preceding vehicle moves (departs) during a stop, the operation is not determined at the time of driving, and the operation can be determined only when the vehicle is stopped.

Hereinafter, the operation mode of the lane departure of the vehicle will be described in detail with reference to FIG.

2 is an exemplary diagram for judging the operation of the lane departure of the vehicle.

2, it can be seen that the vehicle 10a travels safely between the first lane 11b and the second lane 11a, and the vehicle 10b travels after the vehicle 10a travels a certain distance , And is located on the first lane 11b, and indicates the lane departure operation of the vehicle 10b.

The operation mode determination unit 140 of the black box for an intelligent vehicle according to an embodiment of the present invention determines the operation mode of the vehicle 10b located on the first lane 11b using the image information generated from the camera sensor and the speed information of the vehicle Of the lane departure direction of the lane departing from the lane departure direction.

For example, the operation mode determination unit 140 of the intelligent vehicle black box according to an embodiment of the present invention determines whether the vehicle is lane departure based on the position of the lanes 11a and 11b using the image information generated from the camera sensor And it is possible to detect whether the vehicle is traveling by sensing the current traveling speed of the vehicle based on the speed information of the vehicle. Accordingly, the operation mode determination unit 140 can determine the current lane departure operation of the vehicle.

Referring again to FIG. 1, the operation mode determination unit 140 may determine an operation mode of the preceding vehicle departure of the vehicle based on the speed information and the image information.

Hereinafter, the operation mode of starting the preceding vehicle of the vehicle will be described in detail with reference to FIG.

3 is an exemplary diagram for judging the operation of starting the preceding vehicle of the vehicle.

3 shows an operation in which the peripheral vehicle 30a located in front of the vehicle 20 moves from the stopped state to the running state based on the vehicle 20. [

More specifically, FIG. 3 shows a state in which the vehicle 20 and the surrounding vehicle 30a are stopped (during a stop) due to a stop signal of traffic lights or a traffic jam situation, The operation mode determination unit 140 of the intelligent vehicle black box according to an embodiment of the present invention may display the image information generated from the camera sensor of the vehicle 20, It is possible to recognize the vehicle 30b to be driven. Also, the operation mode determination unit 140 can determine whether the current vehicle is stopped based on the speed information of the vehicle, and thus can determine the operation of starting the preceding vehicle of the current vehicle.

Referring again to FIG. 1, the operation mode determination unit 140 may determine an operation mode of the emergency braking and the front collision of the vehicle based on the speed information and the image information.

Hereinafter, the operation modes of the emergency braking and the front collision of the vehicle will be described in detail with reference to FIG.

4 is an exemplary diagram for determining the operation of the emergency braking and front collision by sensing a certain distance between the vehicle and the surrounding vehicle.

Referring to Fig. 4, there is shown a vehicle 40 and peripheral vehicles 41 and 42 located at any of front, rear, left, and right of the vehicle 40. Fig.

The operation mode determination unit 140 of the intelligent vehicle black box according to an embodiment of the present invention determines the operation mode of the intelligent vehicle black box based on the image information generated for the front, It is possible to recognize the distance from the surrounding vehicles 41 and 42 using the information.

For example, the operation mode determination unit 140 of the black box for an intelligent vehicle according to an embodiment of the present invention determines the position of the preceding vehicle 41 and the distance value thereof from the image information generated from the camera sensor of the vehicle 40 And it can be determined that the mode is the forward collision mode when the distance to the preceding vehicle 41 is suddenly decreased in a short time (in seconds) based on the predetermined distance value.

Also, the operation mode determination unit 140 of the intelligent vehicle black box according to an embodiment of the present invention determines the position of the vehicle 42 in the next lane based on the speed information and the generated image information, And it can be determined that the mode is the emergency braking mode when the distance value of the side lane to the vehicle 41 is suddenly decreased in a short time (in seconds) based on the preset distance value.

1, the control unit 150 of the intelligent vehicle black box 100 according to the embodiment of the present invention controls driving of the vehicle based on the determined operation mode, and performs intelligent operation corresponding to the operation mode And controls the auxiliary service to be provided to the driver.

The control unit 150 can control the driver of the vehicle to provide a notification, reduce the speed of the vehicle, and provide the driver's terminal with an intelligent driving assistance service including notification information according to the operation mode.

For example, the control unit 150 may provide the intelligent driving assistance service corresponding to at least one of the determined emergency braking, lane departure, front collision, and preceding vehicle departure to the driver or provide the intelligent driving assistance service to the driver's terminal And can control the speed of the vehicle based on intelligent driving assistance services.

For example, when an operation mode of the lane departure and front collision of the vehicle is determined by the operation mode determination unit 140, the control unit 150 may control the intelligent driving assistance service including the lane departure warning and the front collision warning have. That is, the control unit 150 can control the intelligent driving assistance service to operate in response to the lane departure and front collision modes of operation, repeatedly provide alert notification information to the driver driving the vehicle, And can provide notification information of at least one of a warning message, alarm, and vibration.

In addition, the control unit 150 may control the vehicle speed to be reduced within a predetermined range based on the intelligent driving assistance service corresponding to the lane departure and front collision modes of operation.

According to the embodiment, since the operation mode of the lane departure and the front collision occurs in a situation where the vehicle is running, the controller 150 controls the speed of the vehicle by the intelligent driving assistance service including the lane departure warning and the front- It can be controlled to be reduced or abruptly stopped within a certain range.

Therefore, when the lane departure operation mode is selected, the control unit 150 can control the driver to provide notification information until the positions of both lanes are constant on the basis of the vehicle, thereby maintaining the lane.

In addition, when the operation mode determination unit 140 determines the operation mode of the emergency braking of the vehicle, the control unit 150 may control the intelligent driving assistance service including the emergency braking alarm. That is, the control unit 150 can control the intelligent driving assistance service to operate in response to the operation mode of the emergency braking. Accordingly, the control unit 150 repeatedly provides alert notification information to the driver driving the vehicle, , Alarm, and / or vibration.

For example, the control unit 150 can control the vehicle to stop based on the intelligent driving assistance service corresponding to the operation mode of the emergency braking.

According to the embodiment, since the operation mode of the emergency braking can be generated by the vehicle that is pinched in the next lane around the vehicle, the control unit 150 controls the vehicle to stop by the intelligent driving assistance service including the emergency braking alarm can do.

In addition, the control unit 150 may control the peripheral vehicle to provide notification information through the communication unit 170, or may inform the driver of the surrounding vehicle of the alert from at least one of the alarm, voice, and light .

The control unit 150 may control the intelligent driving assistance service including the preceding vehicle departure alarm when the operation mode of the preceding vehicle is determined to be the vehicle from the operation mode determination unit 140. That is, the control unit 150 can control the intelligent driving assistance service to operate in response to the operation mode of the preceding vehicle, thereby providing warning notice information repeatedly to the driver driving the vehicle, Message, alarm, and / or vibration.

According to the embodiment, since the operation mode of the preceding vehicle start occurs due to the situation in which the peripheral vehicle located in the front, left, or right of the vehicle departs in a state where the vehicle is stopped, the intelligent operation The control unit 150 can provide alarm notification information to the driver by the auxiliary service.

In addition, the controller 150 may sense the brightness of the image from the image information generated by the image information generator 110 to generate a signal for determining the lighting timing of the lighting, and may control the lighting of the vehicle. Here, the control unit 150 may control the rotating member for adjusting the angle of illumination to make the angle different from that of the lens receiving the subject according to the embodiment.

In addition, the intelligent vehicle black box 100 according to an embodiment of the present invention may further include a notification unit 160 and a communication unit 170.

The notification unit 160 may provide the driver with notification information including at least one of a warning message, alarm, voice, light, and vibration according to the intelligent driving assistance service determined by the operation mode determination unit 140. [

Also, the warning message may include at least one of the type of the determined operation mode, the distance to the surrounding vehicle, the generated image information, the speed information, and the warning information. May provide the driver with a mixture of two or more of the warning message, alarm, voice, light and vibration.

In addition, when the notification unit 160 receives the start of the safe running from the control unit 150, it is a natural function to stop the notification information.

The communication unit 170 can transmit the intelligent driving assistance service corresponding to the operation mode determined by the operation mode determination unit 140 to the terminal carried by the driver and can transmit the intelligent driving assistance service to the terminal of the driver or the external server have.

According to an embodiment, the external server may be at least one of a public entity (hospital, police station, etc.), an insurance company, and a maintenance factory.

5 is a block diagram illustrating the configuration of an intelligent vehicle black box according to an embodiment of the present invention.

Referring to FIG. 5, the intelligent vehicle black box 200 according to the embodiment of the present invention determines the operation mode of the vehicle using the generated image information and the speed information according to the speed change measured from the acceleration sensor and the gyro sensor And provides an intelligent driving assistance service corresponding to the operation mode.

The intelligent vehicle black box 200 according to the embodiment of the present invention includes an image information generating unit 210, a vehicle driving state sensing unit 220, a speed calculating unit 230, an operation mode determining unit 240, And a control unit 250.

The image information generating unit 210 implements imaging with respect to the front or rear of the vehicle from the camera sensor, and generates image information corresponding thereto.

Here, the camera sensor may be mounted inside the intelligent vehicle black box 200 according to the embodiment of the present invention, or may be located inside the vehicle depending on the embodiment.

According to the embodiment, the image information generating unit 210 may include a front camera sensor for photographing the front of the vehicle, a rear camera sensor for photographing the rear of the vehicle, and a lateral camera sensor for photographing the left and right directions of the vehicle, The imaging in all directions can be performed and the image information can be generated accordingly. The types, the number, and the positions of the camera sensors are not limited.

The camera sensor may include a front camera sensor fixedly installed or a front camera sensor connected to the front camera sensor, or a side camera sensor connected to the front camera sensor and the rear camera sensor, And the image information generating unit 210 may generate image information from an omnidirectional camera sensor capable of capturing the front, back, left, and right directions of the vehicle at one time.

Also, the image information generating unit 210 may generate image information using at least one of a RADAR, a lidar, and a camera sensor, and is not limited to the type of device.

The vehicle running state detection unit 220 obtains the acceleration information of the vehicle from the acceleration sensor and obtains the direction information of the vehicle from the gyro sensor.

The vehicle running state detection unit 220 detects an acceleration (acceleration) including at least one of a closing speed, a lateral acceleration and a vertical acceleration of the vehicle from an acceleration sensor, which is a three-axis acceleration sensor capable of calculating all the accelerations of X, Y, Information can be measured and movement direction information including at least one of a roll rate, a pitch rate, and a yaw rate of the vehicle can be measured from the gyro sensor of the vehicle.

Here, the acceleration sensor and the gyro sensor may be mounted inside the intelligent vehicle black box 200 according to the embodiment of the present invention. In some embodiments, the acceleration sensor and the gyro sensor may be located inside the vehicle, The number and position are not limited.

The speed calculator 230 calculates the speed information of the vehicle based on the obtained acceleration information and the travel direction information.

The speed calculating unit 230 may obtain acceleration information from the acceleration sensor, measure the rate of change of the azimuth angle of the vehicle, and integrate the direction information for outputting the azimuth change rate information to obtain the speed information of the vehicle. Further, the speed calculating section 230 can calculate the speed information of the vehicle more accurately by considering both the acceleration information obtained from the acceleration sensor and the traveling direction information obtained from the gyro sensor.

According to the embodiment, the speed calculating unit 230 can estimate the slave and lateral speeds of the vehicle through the fusion of the kinematic model and the physical model, and can estimate the speed of the vehicle on the basis thereof.

In addition, the speed calculator 230 can measure the speed of the vehicle by assigning weights to the kinematic model-based dependency and lateral speed, the physical model-based lateral speed, and the wheel speed-based dependency depending on the driving situation. For example, the speed calculator 230 assigns a high weight to the dependency and lateral speed based on the kinematic model when the vehicle is traveling in a nonlinear tire friction section, and if the driving situation of the linear tire friction section is dependent on the physical model, The speed of the vehicle can be measured by increasing the weight.

The velocity calculator 230 may measure the standard deviation, the current acceleration information, and the immediately preceding acceleration information of the acceleration change rate of the vehicle indicating the acceleration change by sampling the acceleration information measured from the acceleration sensor for a preset predetermined time . Accordingly, the speed calculating unit 230 determines the speed of the vehicle at a constant speed if the deviation of the current acceleration information is greater than the measured previous acceleration information, The speed information of the included vehicle may be calculated.

Further, the speed calculating unit 230 can increase the accuracy of the speed information of the vehicle by calculating the rotational angular speed measured from the gyro sensor.

The operation mode determination unit 240 determines the operation mode of the vehicle using the calculated speed information and the generated image information.

The operation mode determination unit 240 can determine at least one of the operation modes of the vehicle, such as emergency braking, lane departure, front collision, and preceding vehicle departure, using the calculated speed information and the generated image information.

According to the embodiment, the lane departure operation mode indicates a case where the vehicle leaves the lane while the vehicle is running, so that the operation is judged only when the vehicle is running, and when the vehicle is running slowly in the stunned speed range, And it can be determined only at a high speed running at a constant speed or more.

In addition, since the preceding vehicle start operation mode indicates a case where the preceding vehicle moves (departs) during a stop, the operation is not determined at the time of driving, and the operation can be determined only when the vehicle is stopped.

The control unit 250 controls the driving of the vehicle based on the determined operation mode and controls the driver to provide the intelligent driving assistance service corresponding to the operation mode.

The control unit 250 can control the driver of the vehicle to provide a notification, reduce the speed of the vehicle, and provide the driver's terminal with an intelligent driving assistance service including notification information according to the operation mode.

For example, the control unit 250 may provide the intelligent driving assistance service corresponding to at least one of the determined emergency braking, lane departure, front collision, and preceding vehicle departure to the driver or provide the intelligent driving assistance service to the driver's terminal And can control the speed of the vehicle based on intelligent driving assistance services.

In addition, the intelligent vehicle black box 200 according to the embodiment of the present invention may further include a notification unit 260 and a communication unit 270.

The notification unit 260 can provide the driver with the notification information including at least one of a warning message, alarm, voice, light and vibration according to the intelligent driving assistance service.

Also, the warning message may include at least one of the type of the determined operation mode, the distance to the surrounding vehicle, the generated image information, the speed information, and the warning information. May provide the driver with a mixture of two or more of the warning message, alarm, voice, light and vibration.

The communication unit 270 may transmit the intelligent driving assistance service corresponding to the determined operation mode to the terminal held by the driver and may transmit the intelligent driving assistance service to the terminal of the driver or the external server.

According to an embodiment, the external server may be at least one of a public entity (hospital, police station, etc.), an insurance company, and a maintenance factory.

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.

10a, 10b, 20, 40: vehicle
30a, 30b, 41, 42: peripheral vehicles

Claims (10)

An image information generation unit for shifting imaging from the camera sensor toward the front or rear of the vehicle and generating image information corresponding thereto;
A vehicle running state detection unit for measuring acceleration information of the vehicle according to any one of acceleration, vibration and impact of the vehicle from an acceleration sensor;
A speed calculation unit for calculating speed information of the vehicle based on the measured acceleration information;
An operation mode determination unit for determining the operation mode of the vehicle using the calculated speed information and the generated image information; And
A controller for controlling driving of the vehicle on the basis of the determined operation mode and for providing an intelligent driving assistance service corresponding to the operation mode to the driver,
And an intelligent vehicle black box. The method according to claim 1,
A notification unit for providing the driver with notification information including at least one of a warning message, alarm, voice, light and vibration according to the intelligent driving assistance service; And
And a communication unit for transmitting the intelligent driving assistance service corresponding to the determined operation mode to the terminal held by the driver
Further comprising: an intelligent vehicle black box. The method according to claim 1,
The speed calculator
Calculating a rate of change of the acceleration of the vehicle based on the measured acceleration information, determining a motion state of the vehicle based on the calculated rate of change, and calculating the velocity information indicating the velocity, box. The method according to claim 1,
The operation mode determination unit
Wherein the control unit determines the operation mode of at least one of emergency braking, lane departure, front collision, and preceding vehicle departure of the vehicle using the calculated speed information and the generated image information. 5. The method of claim 4,
The operation mode determination unit
It is possible to determine whether or not the vehicle is traveling based on the calculated speed information and to determine whether the vehicle is in the lane departure mode based on the position of the lane recognized from the generated image information,
The control unit
Wherein the control unit controls the driver to provide the intelligent driving assistance service corresponding to the lane departure operation mode to the driver when the lane departure operation mode of the vehicle is determined, Black box. 5. The method of claim 4,
The operation mode determination unit
It is possible to determine whether or not the vehicle is stopped based on the calculated speed information and to determine whether or not the operation mode of the preceding vehicle departure from the preceding vehicle based on the preceding vehicle detected from the generated image information ,
The control unit
And controls the driver to provide the intelligent driving assistance service corresponding to the operation mode of the preceding vehicle when the operation mode of the preceding vehicle is determined. 5. The method of claim 4,
The operation mode determination unit
Calculating a distance between the vehicle and the surrounding vehicle based on the calculated speed information and a predetermined distance value based on the position of the surrounding vehicle detected from the generated image information and determining at least one of the emergency braking and the front collision It is possible to determine whether or not the operation mode is set,
The control unit
And controls the driver to provide the intelligent driving assistance service corresponding to at least one of the emergency braking and the forward collision when the operation mode of at least one of the emergency braking and the front collision of the vehicle is determined, Wherein the control unit controls the speed of the vehicle. An image information generation unit for shifting imaging from the camera sensor toward the front or rear of the vehicle and generating image information corresponding thereto;
A vehicle running state detection unit that obtains acceleration information of the vehicle from an acceleration sensor and obtains information on the moving direction of the vehicle from the gyro sensor;
A speed calculating unit for calculating speed information of the vehicle based on the obtained acceleration information and the moving direction information;
An operation mode determination unit for determining the operation mode of the vehicle using the calculated speed information and the generated image information; And
A controller for controlling driving of the vehicle on the basis of the determined operation mode and for providing an intelligent driving assistance service corresponding to the operation mode to the driver,
And an intelligent vehicle black box. 9. The method of claim 8,
A notification unit for providing the driver with notification information including at least one of a warning message, alarm, voice, light and vibration according to the intelligent driving assistance service; And
And a communication unit for transmitting the intelligent driving assistance service corresponding to the determined operation mode to the terminal held by the driver
Further comprising: an intelligent vehicle black box. 9. The method of claim 8,
The vehicle running state detection unit
Wherein the acceleration information measuring means measures the acceleration information from the acceleration sensor that measures at least one of a longitudinal acceleration, a lateral acceleration and a vertical acceleration of the vehicle, and measures a roll rate, a pitch rate, and a yaw rate wherein the moving direction information is measured from the gyro sensor that measures at least one of a speed, a speed, and a speed of the vehicle.

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