KR20220072008A - Vehicle rear detection device and method - Google Patents

Abstract

The present invention relates to an apparatus and method for detecting the rear of a vehicle, the apparatus comprising: a front camera module for photographing the front of a vehicle and detecting a driving lane of the vehicle; a side camera module installed on each of both side mirrors and receiving a shooting start signal to capture a rear side image while driving in the rear outward direction of the vehicle for a first specific time; a side vehicle detection module installed on the rear side of the vehicle and receiving a detection start signal to detect the presence of a side vehicle approaching from outside the rear of the vehicle for a second specific time; and a vehicle that generates the sensing start signal by detecting a departure of the driving lane or detecting a direction indication operation of the vehicle through the front camera module, and generating the shooting start signal when the presence of the side vehicle is detected Includes a control module.

Description

VEHICLE REAR DETECTION DEVICE AND METHOD

The present invention relates to a vehicle rear detection technology, and more particularly, to a vehicle rear detection apparatus and method for assisting a driver in driving by visualizing information obtained through a detection device mounted on a vehicle side mirror and outputting it to a terminal inside the vehicle. it's about

Various systems mounted on the vehicle have improved the driver's convenience and made it possible to further protect the driver while driving. However, despite the driver's convenience, still driving a vehicle may create various situations that may endanger the life of the driver.

Accordingly, various technologies that can assist a driver in driving have been developed, and specifically, the following technologies have been recently applied.

Blind Spot Detection (BSD) is a system installed in recent car models, and when a vehicle is detected from behind, it is implemented to alert the driver or light the indicator light on the side mirror. Blind-spot View Monitor is a system installed in latest car models such as BMW and Hyundai, and it is implemented to output a screen in the corresponding direction when the driver turns on the turn signal through a high-resolution camera mounted on the rear view mirror of the vehicle. .

However, these technologies are applied only to the latest car models and have a problem in that they are difficult to apply to existing vehicles and require a lot of cost to install.

Korean Patent Registration No. 10-0775369 (2007.11.05)

An embodiment of the present invention is to provide an apparatus and method for detecting the rear of a vehicle that assists a driver's driving by visualizing information obtained through a sensing device mounted on a vehicle side mirror and outputting it to a terminal inside the vehicle.

An embodiment of the present invention provides an apparatus and method for detecting the rear of a vehicle that can be easily applied to not only newer models but also older vehicles, and can help the driver's decision by providing visualized information by measuring the distance from the side and rear vehicles would like to provide

In embodiments, the vehicle rear detection device includes a front camera module for photographing the front of the vehicle and detecting a driving lane of the vehicle; a side camera module installed on each of both side mirrors and receiving a shooting start signal to capture a rear side image while driving in the rear outward direction of the vehicle for a first specific time; a side vehicle detection module installed on the rear side of the vehicle and receiving a detection start signal to detect the presence of a side vehicle approaching from outside the rear of the vehicle for a second specific time; and a vehicle that generates the sensing start signal by detecting a departure of the driving lane or detecting a direction indication operation of the vehicle through the front camera module, and generating the shooting start signal when the presence of the side vehicle is detected Includes a control module.

The side camera module may determine the first specific time to be in inverse proportion to the driving speed of the vehicle.

Even when the first specific time has elapsed, the side camera module may continuously capture the rear side image while driving if the approach of the side vehicle is getting closer.

The side camera module may enlarge the rear side image when the side vehicle approaches within a specific distance.

The side vehicle detection module may be implemented as a Time of Flight (ToF) sensor and may further detect a distance to and an approach speed of a side vehicle approaching from outside the rear of the vehicle during the second specific time period.

The side vehicle detection module may determine the second specific time to be inversely proportional to the driving speed of the vehicle.

Even when the second specific time has elapsed, the side vehicle detection module may continue to detect the presence, distance, and approach speed of the side vehicle when the side vehicle approaches gradually.

The side vehicle detection module may not extend the second specific time when the side vehicle exists in a next lane rather than an adjacent adjacent lane.

When the vehicle control module detects the departure of the driving lane, the vehicle control module may simultaneously generate the detection start signal and the photographing start signal and provide a lane departure alarm.

The vehicle control module may visualize and display the movement direction of the vehicle while outputting the presence and image of the side vehicle to an AVN (Audio Video Navigation) device of the vehicle in an around-view manner.

When the presence of the side vehicle is detected within a possible collision distance, the vehicle control module may generate a virtual around view before generating the shooting start signal and provide it to the AVN device of the vehicle.

In embodiments, the method for detecting the rear of the vehicle may include detecting a departure from a driving lane of the vehicle or detecting a direction indication operation of the vehicle through a front camera module; When a shooting start signal is received through the side camera module, capturing a rear side image while driving in the rear and outward direction of the vehicle for a first specific time; detecting the presence of a side vehicle approaching from outside the rear of the vehicle for a second specific time when a detection start signal is received through the side vehicle detection module; and generating a visualized image of the side vehicle when the presence of the side vehicle is detected through the vehicle control module.

The generating may include simultaneously generating the detection start signal and the photographing start signal and providing a lane departure alarm when the departure of the driving lane is detected.

The generating may include visualizing and displaying the moving direction of the vehicle while outputting the presence and image of the side vehicle to an AVN (Audio Video Navigation) device of the vehicle in an around-view manner.

The generating may include generating a virtual around view before generating the capturing start signal and providing the virtual around view to an AVN device of the vehicle when the presence of the side vehicle is detected within a collision possible distance.

The disclosed technology may have the following effects. However, this does not mean that a specific embodiment should include all of the following effects or only the following effects, so the scope of the disclosed technology should not be understood as being limited thereby.

The vehicle rear detection apparatus and method according to the present invention can assist the driver's driving by visualizing information obtained through the detection apparatus mounted on the vehicle side mirror and outputting it to a terminal inside the vehicle.

The device and method for detecting the rear of a vehicle according to the present invention can be easily applied to not only newer models but also older ones, and can help the driver in judgment by providing visualized information by measuring the distance from the side and rear vehicles.

1 is a view for explaining a vehicle rear detection system according to the present invention.
FIG. 2 is a view for explaining a system configuration of the rear sensing device of FIG. 1 .
FIG. 3 is a view for explaining a functional configuration of the rear sensing device of FIG. 1 .
4 is a flowchart illustrating a vehicle rear detection process according to the present invention.
5 is a diagram for explaining an embodiment of a system configuration diagram according to the present invention.
6 is a view for explaining an embodiment of a system operation according to the present invention.
7 is a view for explaining an embodiment of the configuration and operation of the present invention.

Since the description of the present invention is merely an embodiment for structural or functional description, the scope of the present invention should not be construed as being limited by the embodiment described in the text. That is, since the embodiment may have various changes and may have various forms, it should be understood that the scope of the present invention includes equivalents capable of realizing the technical idea. In addition, since the object or effect presented in the present invention does not mean that a specific embodiment should include all of them or only such effects, it should not be understood that the scope of the present invention is limited thereby.

On the other hand, the meaning of the terms described in the present application should be understood as follows.

Terms such as “first” and “second” are for distinguishing one component from another, and the scope of rights should not be limited by these terms. For example, a first component may be termed a second component, and similarly, a second component may also be termed a first component.

When a component is referred to as being “connected to” another component, it may be directly connected to the other component, but it should be understood that other components may exist in between. On the other hand, when it is mentioned that a certain element is "directly connected" to another element, it should be understood that the other element does not exist in the middle. Meanwhile, other expressions describing the relationship between elements, that is, "between" and "between" or "neighboring to" and "directly adjacent to", etc., should be interpreted similarly.

The singular expression is to be understood as including the plural expression unless the context clearly dictates otherwise, and terms such as "comprises" or "have" refer to the embodied feature, number, step, action, component, part or these It is intended to indicate that a combination exists, and it should be understood that it does not preclude the possibility of the existence or addition of one or more other features or numbers, steps, operations, components, parts, or combinations thereof.

In each step, identification numbers (eg, a, b, c, etc.) are used for convenience of description, and identification numbers do not describe the order of each step, and each step clearly indicates a specific order in context. Unless otherwise specified, it may occur in a different order from the specified order. That is, each step may occur in the same order as specified, may be performed substantially simultaneously, or may be performed in the reverse order.

The present invention can be embodied as computer-readable codes on a computer-readable recording medium, and the computer-readable recording medium includes all types of recording devices in which data readable by a computer system is stored. . Examples of the computer-readable recording medium include ROM, RAM, CD-ROM, magnetic tape, floppy disk, optical data storage device, and the like. In addition, the computer-readable recording medium is distributed in a computer system connected to a network, so that the computer-readable code can be stored and executed in a distributed manner.

All terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which the present invention belongs, unless otherwise defined. Terms defined in general used in the dictionary should be interpreted as having the meaning consistent with the context of the related art, and cannot be interpreted as having an ideal or excessively formal meaning unless explicitly defined in the present application.

1 is a view for explaining a vehicle rear detection system according to the present invention.

Referring to FIG. 1 , the vehicle rear detection system 100 may include a vehicle 110 , a rearward detection device 130 , and a database 150 .

The vehicle 110 is a transportation means for transporting passengers or cargo using power produced by an engine, and may correspond to a vehicle as a representative example. Also, the vehicle 110 is not limited to a vehicle, and may be understood as a concept including various transportation means that can move using power, such as a ship and an airplane. In an embodiment, the vehicle 110 may be connected to the rearward sensing device 130 through a network. In this case, the detection module and the camera module installed in the vehicle 110 may be defined as logical components of the rear detection device 130 , respectively, and the rear detection device 130 may be connected to the detection module and the camera through the vehicle 110 . It may be understood as communicating with the module, but is not necessarily limited thereto.

In an embodiment, the vehicle 110 may include an autonomous driving function and, in this case, may include various sensors for autonomous driving. For example, the vehicle 110 may include an accelerator pedal sensor, a brake pedal sensor, a wheel acceleration sensor, a vehicle body acceleration sensor, a vehicle body vibration sensor, a global positioning system (GPS) sensor, and a steering angle sensor.

The rear sensing device 130 may be implemented as a server corresponding to a computer or program capable of supporting the driver's safe driving by generating and providing information about the rear region of the vehicle 110 to the driver. The rear sensing device 130 may be connected to the vehicle 110 through a wireless network, and may transmit/receive data to and from the vehicle 110 through the network. In addition, the rear sensing device 130 may be implemented by including an independent server for providing additional functions as needed. In this case, the rear sensing device 130 may be implemented as a portable or mountable computing device, and may perform a related operation through interworking with a server.

The database 150 may correspond to a storage device for storing various types of information required in the operation process of the rear sensing device 130 . The database 150 may store data necessary for driving the vehicle 110 , and may store data for analyzing a rear or rear side image of the vehicle 110 , but is not limited thereto, and the rear detection device 130 . ) may store information collected or processed in various forms in the process of generating useful information provided to the driver of the vehicle 110 .

FIG. 2 is a view for explaining a system configuration of the rear sensing device of FIG. 1 .

Referring to FIG. 2 , the rear sensing device 130 may be implemented to include a processor 210 , a memory 230 , a user input/output unit 250 , and a network input/output unit 270 .

The processor 210 may execute a procedure for processing each step in the process of the operation of the rear sensing device 130 , and manage the memory 230 read or written throughout the process, and the memory 230 ) can schedule the synchronization time between volatile and non-volatile memory in The processor 210 may control the overall operation of the rear sensing device 130 , and is electrically connected to the memory 230 , the user input/output unit 250 and the network input/output unit 270 to control the flow of data therebetween. can The processor 210 may be implemented as a central processing unit (CPU) of the rear sensing device 130 .

The memory 230 is implemented as a non-volatile memory, such as a solid state drive (SSD) or a hard disk drive (HDD), and may include an auxiliary storage device used to store overall data required for the rear sensing device 130, It may include a main memory implemented as a volatile memory such as random access memory (RAM).

The user input/output unit 250 may include an environment for receiving a user input and an environment for outputting specific information to the user. For example, the user input/output unit 250 may include an input device including an adapter such as a touch pad, a touch screen, an on-screen keyboard, or a pointing device, and an output device including an adapter such as a monitor or a touch screen. In an embodiment, the user input/output unit 250 may correspond to a computing device connected through a remote connection, and in such a case, the rearward sensing device 130 may be implemented as an independent server.

The network input/output unit 270 includes an environment for connecting with an external device or system through a network, for example, a local area network (LAN), a metropolitan area network (MAN), a wide area network (WAN), and a VAN (Wide Area Network) (VAN). It may include an adapter for communication such as Value Added Network).

FIG. 3 is a view for explaining a functional configuration of the rear sensing device of FIG. 1 .

Referring to FIG. 3 , the rear detection device 130 may include a front camera module 310 , a side camera module 330 , a side vehicle detection module 350 , a vehicle control module 370 , and a control module 390 . can

The front camera module 310 may photograph the front of the vehicle 110 and detect a driving lane of the vehicle 110 . The front camera module 310 may photograph a front image in conjunction with a front camera installed toward the front of the vehicle 110 , detect a lane through image analysis, and determine whether or not to deviate from a driving lane. The front camera module 310 may generate a detection signal regarding lane departure when a departure from a driving lane is detected. Meanwhile, the front camera module 310 may utilize various lane detection algorithms to detect a lane from the image, and may perform a pre-processing operation on the image before performing the lane detection operation.

The side camera module 330 is installed on each of both side mirrors and receives a shooting start signal to capture a rear side image while driving in the rear/outward direction of the vehicle 110 for a first specific time. The side camera module 330 may operate in conjunction with a camera installed on each of both side mirrors, and may start an operation according to a shooting start signal. In addition, the side camera module 330 may be installed in a direction opposite to the progress of the vehicle 110 to capture an image of the rear or rear side of the vehicle 110 . That is, the rear side image may correspond to an image relating to a rearward direction with respect to the vehicle 110 , and in particular, may correspond to an image relating to an outward direction with respect to the side surface of the vehicle 110 . Accordingly, in the rear side image, vehicles driving in the immediately adjacent lane rather than the lane in which the vehicle 110 is driving may be mainly photographed.

In an embodiment, the side camera module 330 may determine the first specific time to be inversely proportional to the driving speed of the vehicle 110 . The side camera module 330 may be implemented to operate all the time, but here it may be implemented to temporarily operate only for a first specific time. In particular, the first specific time may be set to be shorter as the driving speed of the vehicle 110 increases. This is in consideration of the fact that the faster the driving speed of the vehicle 110 is, the more effective it is to take images frequently and update the information at shorter intervals.

In an embodiment, the side camera module 330 may continuously capture a rear side image while driving if the approach of the side vehicle is getting closer even after the first specific time has elapsed. On the other hand, the side camera module 330 may basically capture a rear side image for a first preset time whenever each shooting start signal is received. However, even when the first specific time has elapsed, if there is a side vehicle, that is, a vehicle 110 approaching from a lane next to the driving vehicle 110, and the distance from the side vehicle is gradually increasing, the You can continue shooting.

In an embodiment, the side camera module 330 may enlarge the rear side image when the side vehicle approaches within a specific distance. For example, when the distance from the side vehicle continues to decrease within a preset threshold distance, the side camera module 330 may enlarge the rear side image to automatically adjust the focus so that the corresponding side vehicle is located in the center of the image.

The side vehicle detection module 350 is respectively installed on the rear side of the vehicle 110 and receives a detection start signal to detect the presence of a side vehicle approaching from outside the rear of the vehicle 110 for a second specific time. The side vehicle detection module 350 may serve to collect information about the rear side of the vehicle 110 being driven together with the side camera module 330 . That is, the side vehicle detection module 350 may detect the presence of a side vehicle in the rear side direction of the vehicle 110 being driven, and for this purpose, it operates in conjunction with various sensors installed in the rear side direction of the vehicle 110 . can do.

In one embodiment, the side vehicle detection module 350 is implemented as a Time of Flight (ToF) sensor and can further detect a distance and an approach speed from a side vehicle approaching from outside the rear of the vehicle 110 for a second specific time. can It can be implemented through infrared or laser-based Time of Flight (ToF) sensors. The ToF sensor may correspond to a sensor that measures the distance to the subject by measuring the time it takes to receive a signal that is reflected from a specific object after transmitting infrared or laser wavelength. The side vehicle detection module 350 may calculate the side vehicle distance based on the measurement value received from the ToF sensor, and calculate the approach speed of the side vehicle based on the speed of the vehicle 110 and the change in distance from the side vehicle can do.

In an embodiment, the side vehicle detection module 350 may determine the second specific time to be inversely proportional to the driving speed of the vehicle 110 . The side vehicle detection module 350 may operate periodically to detect the presence of a side vehicle, and when the presence of the side vehicle is detected, calculate a distance and an approach speed from the side vehicle. That is, the second specific time may correspond to the operation period of the side vehicle detection module 350 , and may be automatically set by the vehicle control module 370 or preset by the rear detection device 130 . In addition, the second specific time may be dynamically changed in synchronization with the first specific time, and on the other hand, may be automatically changed in inverse proportion to the driving speed of the vehicle 110 .

In an embodiment, the side vehicle detection module 350 may continue to detect the presence, distance, and approach speed of the side vehicle even when the second specific time has elapsed if the approach of the side vehicle is getting closer. The side vehicle detection module 350 may basically perform an operation to detect the presence of a side vehicle for each detection start signal. can continue to be performed. That is, if the side vehicle continues to approach, it may act as a risk factor for the driving vehicle 110 , and it is necessary to continuously collect detailed information on this.

In an embodiment, the side vehicle detection module 350 may not extend the second specific time when the side vehicle exists in the next lane instead of the adjacent next lane. Here, the adjacent adjacent lane may correspond to a lane immediately adjacent to the lane in which the vehicle 110 is currently driving, and the adjacent lane may correspond to neighboring lanes based on the lane in which the vehicle 110 is currently driving. The side vehicle detection module 350 terminates the detection operation after the lapse of the second specific time and sends the next detection start signal if the side vehicle is driving in the next lane rather than the adjacent next lane, even if the side vehicle is getting closer. can wait

The vehicle control module 370 generates a detection start signal by detecting a departure from a driving lane or detecting a direction indicating operation of the vehicle 110 through the front camera module 310, and photographing when the presence of a side vehicle is detected An initiation signal may be generated. The vehicle control module 370 may determine to start an operation for capturing a rear side image of the vehicle or detecting the presence of a side vehicle approaching the rear side, and may generate a start command to execute the corresponding operations. The vehicle control module 370 is a state in which the probability of occurrence of a dangerous situation is high during driving of the vehicle 110 , for example, when a direction indication operation is performed to change a lane or a lane departure occurs, the surrounding situation of the vehicle 110 . A detection start signal or a photographing start signal may be generated to collect information about the .

In an embodiment, when detecting departure of a lane while driving, the vehicle control module 370 may simultaneously generate a detection start signal and a photographing start signal and provide a lane departure alarm. When lane departure occurs, the situation in the rear side is very important for the driving of the vehicle 110 . In order to collect information about this, a detection start signal and a shooting start signal are simultaneously generated to obtain a rear side image and a side vehicle from the rear side. control to detect the presence of

In one embodiment, the vehicle control module 370 visualizes and displays the movement direction of the vehicle 110 while outputting the presence and image of the side vehicle to the AVN (Audio Video Navigation) device of the vehicle 110 in an around view method. can The vehicle control module 370 may provide information obtained through the side camera module 330 and the side vehicle detection module 350 to the driver through the user terminal. In this case, the user terminal may include a smartphone used by the user or a terminal installed in the vehicle 110 . In particular, the vehicle control module 370 may provide information visualized in an around view method on the navigation screen using the AVN system of the vehicle 110 . In this case, the moving direction of the vehicle 110 or the approaching direction of the side vehicle from the rear side may be displayed as visualized information, rather than simply playing the rear side image as it is.

In an embodiment, when the presence of a side vehicle is detected within a collision-probable distance, the vehicle control module 370 may generate a virtual around view before generating a shooting start signal and provide it to the AVN device of the vehicle 110 . . Meanwhile, the possible collision distance may be dynamically calculated based on the speed of the vehicle 110 and the approach speed of the side vehicle. The vehicle control module 370 may generate a shooting start signal to shoot a rear side image when the presence of a side vehicle is suddenly detected within the collision possible distance, and the current situation of the vehicle 110 in an emergency situation. It is possible to virtually create an around view for the AVN device and display it on the screen of the AVN device. That is, the virtual around view may correspond to preliminary visualization information provided for a moment before the actually captured rear-side image is displayed in order to focus the driver's attention.

The control module 390 controls the overall operation of the rear detection device 130 , and a control flow between the front camera module 310 , the side camera module 330 , the side vehicle detection module 350 , and the vehicle control module 370 . Or you can manage the data flow.

4 is a flowchart illustrating a vehicle rear detection process according to the present invention.

Referring to FIG. 4 , the rear detection device 130 may detect a departure from a driving lane of the vehicle 110 or detect a direction indication operation of the vehicle 110 through the front camera module 310 (step) S410). When a photographing start signal is received through the side camera module 330 , the rear detection device 130 may photograph the rear side image while driving in the rear outward direction of the vehicle 110 for a first specific time (step S430 ).

In addition, when a detection start signal is received through the side vehicle detection module 350 , the rear detection device 130 may detect the presence of a side vehicle approaching from outside the rear of the vehicle 110 for a second specific time (step S450). When the presence of a side vehicle is detected through the vehicle control module 370, the rear sensing device 130 may generate a visualized image of the side vehicle (step S470).

5 is a view for explaining an embodiment of a system configuration diagram according to the present invention.

Referring to FIG. 5 , the rear side detection device 410 may correspond to the side vehicle detection module 350 , and the rear side camera 430 may correspond to the side camera module 330 . Also, the user terminal 450 may correspond to the rearward sensing device 130 , and the output display may correspond to the AVN device of the vehicle 110 .

In FIG. 5 , the sensing device 410 and the camera 430 attached to the rear side may continuously transmit data to the user terminal 450 through wireless communication. The visualization system inside the user terminal 450 may be operated by being divided into a data pre-processing module and a visualization module, and the data pre-processing module removes unnecessary data for data visualization and combines detection data and camera data to visualize data It can be sent to the visualization module according to the form. In addition, the data visualization module may reconstruct the received data to construct the visualized information and output it to the screen of the user terminal 450 .

6 is a diagram for explaining an embodiment of a system operation according to the present invention.

Referring to FIG. 6 , the rear sensing device 130 may repeatedly perform a process of periodically transmitting and outputting sensing data. That is, the rear sensing device 130 can efficiently transmit information to the user by checking whether a direction indicator is present in the process of visualizing the pre-processed information.

More specifically, the rear detection device 130 may determine whether to detect a side and rear vehicle (or a side vehicle) based on the detection data. If a side and rear vehicle is detected, information about the side and rear vehicle may be generated and provided. The rear detection device 130 may output a warning message and a warning sound when the turn indicator lamp operates in a state in which the side and rear vehicles are detected (S610). If the turn signal lamp does not operate in a state in which the side and rear vehicles are detected, the rear detection device 130 may update only the visualized information and output it as visualization information (S630).

7 is a view for explaining an embodiment of the configuration and operation of the present invention.

Referring to FIG. 7 , the rear detection device 130 continuously provides information on the currently driving vehicle 710 and surrounding conditions through the side vehicle detection module 350 and the side camera module 330 mounted on the side mirror. can be visualized as or periodically. In the case of Figure (a), information visualized by the rear detection device 130 through the user terminal (or AVN device) may be displayed.

At this time, as the side vehicle 730 accelerates and approaches from behind the left side of the driving vehicle 710, it can be detected by the side vehicle detection module 350 and the side camera module 330 mounted on the left side mirror, Distance information to the side vehicle 730 may be displayed on the display screen. In addition, the rear detection device 130 displays information visualized up to the distance from the left rear side vehicle 730 on the display screen of the user terminal (or AVN device) through the vehicle control module 370 as shown in Figure (b). can be printed out.

In addition, the rear detection device 130 may output a warning sound and a warning message to focus the driver's attention when the left turn signal is turned on in a situation in which the side vehicle 730 is driving on the left rear side of the driving vehicle 710 . have. Therefore, the rear detection device 130 does not merely reproduce the rear side image, but provides a visual and provides distance information with the side vehicle 730, and the possibility of an accident with the side vehicle 730, such as a lane change, is reduced. It can detect high situations and provide useful visual and auditory information to the driver.

According to an embodiment, the rear sensing device 130 may operate in conjunction with a vibration module mounted on the driver's seat. That is, the rear sensing device 130 may detect a dangerous situation and start the operation of the vibration module to provide a physical notification to the driver. In this case, the vibration module may be installed at an appropriate place to provide a physical vibration to the driver. Preferably, it may be installed in a driver's seat, a steering wheel, a seat belt, etc. that can be in physical contact with the driver's body, but is not necessarily limited thereto, and may be installed in various ways and methods.

Although the above has been described with reference to preferred embodiments of the present invention, those skilled in the art can variously modify and change the present invention within the scope without departing from the spirit and scope of the present invention as set forth in the claims below. You will understand that it can be done.

100: vehicle rear detection system
110: vehicle 130: rear detection device
150: database
210: processor 230: memory
250: user input/output unit 270: network input/output unit
310: front camera module 330: side camera module
350: side vehicle detection module 370: vehicle control module
390: control module
410: rear-facing detection device 430: rear-facing camera
450: user terminal
710: driving vehicle 730: side vehicle

Claims (15)

a front camera module for photographing the front of the vehicle and detecting a driving lane of the vehicle;
a side camera module installed on each of both side mirrors and receiving a shooting start signal to take a rear side image while driving in the rear outward direction of the vehicle for a first specific time;
a side vehicle detection module installed on the rear side of the vehicle and receiving a detection start signal to detect the presence of a side vehicle approaching from outside the rear of the vehicle for a second specific time; and
A vehicle control that generates the detection start signal by detecting a departure from the driving lane or detecting a direction indication operation of the vehicle through the front camera module, and generates the shooting start signal when the presence of the side vehicle is detected A vehicle rear detection device comprising a module.
According to claim 1, wherein the side camera module
Vehicle rear sensing device, characterized in that determining the first specific time to be in inverse proportion to the traveling speed of the vehicle.
The method of claim 2, wherein the side camera module is
Even when the first specific time has elapsed, if the approach of the side vehicle is getting closer, the rear side image is continuously captured during the driving.
The method of claim 3, wherein the side camera module
If the approach of the side vehicle is getting closer within a specific distance, the rear side image is enlarged.
According to claim 1, wherein the side vehicle detection module
The vehicle rearward sensing device, which is implemented as a Time of Flight (ToF) sensor and further detects a distance and an approach speed to a side vehicle approaching from outside the rear of the vehicle during the second specific time.
The method of claim 5, wherein the side vehicle detection module is
Vehicle rear sensing device, characterized in that determining the second specific time to be in inverse proportion to the traveling speed of the vehicle.
The method of claim 6, wherein the side vehicle detection module is
Even when the second specific time has elapsed, if the approach of the side vehicle is getting closer, the vehicle rearward sensing device according to claim 1, wherein the presence, distance, and approach speed of the side vehicle are continuously detected.
The method of claim 7, wherein the side vehicle detection module is
The second specific time period is not extended when the side vehicle exists in a side lane other than the adjacent side lane.
According to claim 1, wherein the vehicle control module
When the departure of the driving lane is detected, the detection start signal and the photographing start signal are simultaneously generated and a lane departure alarm is provided.
10. The method of claim 9, wherein the vehicle control module
The device for detecting the rear of a vehicle, characterized in that the presence and image of the side vehicle are visualized and displayed while outputting the presence and image of the side vehicle to an AVN (Audio Video Navigation) device of the vehicle in an around-view manner.
According to claim 1, wherein the vehicle control module
When the presence of the side vehicle is detected within a possible collision distance, a virtual around view is generated and provided to an AVN device of the vehicle prior to the generation of the shooting start signal.
detecting a departure from a driving lane of the vehicle or detecting a direction indication operation of the vehicle through a front camera module;
When a shooting start signal is received through the side camera module, capturing a rear side image while driving in the rear outward direction of the vehicle for a first specific time;
detecting the presence of a side vehicle approaching from outside the rear of the vehicle for a second specific time when a detection start signal is received through the side vehicle detection module; and
and generating a visualized image of the side vehicle when the presence of the side vehicle is detected through a vehicle control module.
13. The method of claim 12, wherein the generating step
and generating the detection start signal and the photographing start signal at the same time and providing a lane departure alarm when the departure of the driving lane is detected.
13. The method of claim 12, wherein the generating step
and outputting the presence and image of the side vehicle to an AVN (Audio Video Navigation) device of the vehicle in an around-view manner while visualizing and displaying the moving direction of the vehicle.
13. The method of claim 12, wherein the generating step
and when the presence of the side vehicle is detected within a collision-probable distance, generating a virtual around view before generating the shooting start signal and providing the virtual around view to an AVN device of the vehicle.

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