The present invention relates to a method and an apparatus for avoiding collision between a vehicle and a front object. The method comprises the steps of: receiving a front image acquired in a driving process of the vehicle and detecting the front object belonging to the received front image; applying a predefined optical flow algorithm to the front image to which the detected front object belongs to determine a movement vector of the front object; predicting whether a collision occurs between the vehicle and the front object based on the determined movement vector of the front object and a driving speed of the vehicle; and executing a predefined collision avoidance control logic to avoid collision when the collision between the vehicle and the front object is predicted. According to the present invention, operation processing time required from human detection to execution of the collision avoidance control logic can be more effectively reduced.

    본 발명은 차량 및 전방 객체 간의 충돌을 회피하기 위한 충돌 회피 방법 및 장치, 컴퓨터 프로그램에 관한 것으로서, 상기 차량이 주행하는 과정에서 획득되는 전방 영상 이미지를 입력받고, 입력받은 전방 영상 이미지에 속한 전방 객체를 탐지하는 단계; 상기 탐지된 전방 객체가 속한 전방 영상 이미지에 미리 정의된 광학 흐름(Optical Flow) 알고리즘을 적용하여 상기 전방 객체의 이동 벡터를 결정하는 단계; 상기 결정된 전방 객체의 이동 벡터와 상기 차량의 주행 속도에 기초하여 상기 차량 및 상기 전방 객체 간의 충돌 여부를 예측하는 단계; 및 상기 차량 및 상기 전방 객체 간의 충돌이 예측된 경우, 그 충돌을 회피하기 위해 미리 정의된 충돌 회피 제어 로직을 실행하는 단계;를 포함하는 것을 특징으로 한다.


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    Title :

    METHOD AND APPARATUS FOR AVOIDING COLLISION BETWEEN VEHICLE AND OBJECT COMPUTER PROGRAM


    Additional title:

    차량 및 객체 간의 충돌 회피 방법 및 장치, 컴퓨터 프로그램


    Contributors:
    KIM JINPYUNG (author) / JANG GYUJIN (author) / KIM YOUNGMIN (author) / BAE HYUNJAE (author) / KIM YOUNGNAM (author) / JEE HYONG LEE (author)

    Publication date :

    2023-01-17


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Korean


    Classification :

    IPC:    B61L Leiten des Eisenbahnverkehrs , GUIDING RAILWAY TRAFFIC




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