The present invention relates to a forward collision warning device and method for detecting a preceding vehicle and warning of a collision with the preceding vehicle. The forward collision warning method according to the present invention comprises the steps of: (a) extracting candidate outline points of an object, which is supposedly a preceding vehicle, from an image captured by a camera; (b) tracing the movement of the candidate outline points according to the lapse of time; (c) determining whether or not the candidate outline points belong to the vehicle; (d) determining the candidate outline points as the vehicular outline points of the preceding vehicle if the candidate outline points are determined to belong to the vehicle in step (c); (e) estimating the height of the vehicular outline points from the ground; (f) calculating a relative distance from the preceding vehicle; and (g) calculating an estimated time-to-collision by using the relative distance.

    La présente invention concerne un dispositif et un procédé d'avertissement de collision avant permettant de détecter un véhicule précédent et d'avertir d'une collision avec le véhicule précédent. Le procédé d'avertissement de collision avant selon la présente invention comprend les étapes consistant à: (a) extraire des points de contour candidats d'un objet, qui est supposé être un véhicule précédent, à partir d'une image capturée par une caméra; (b) tracer le mouvement des points de contour candidats en fonction du temps; (c) déterminer si oui ou non les points de contour candidats appartiennent au véhicule; (d) déterminer les points de contour candidats en tant que points de contour de véhicule du véhicule précédent si les points de contour candidats sont déterminés comme appartenant au véhicule dans l'étape c); (e) estimer la hauteur des points de contour du véhicule à partir du sol; (f) calculer une distance relative par rapport au véhicule précédent; et (g) calculer un temps estimé avant la collision au moyen de la distance relative.

    본 발명은 선행차량을 검출하고 선행차량과의 추돌을 경보하는 선행차량 추돌 경보 장치 및 방법에 관한 것으로서, 본 발명에 따른 선행차량 추돌 경보 방법은, (a) 카메라로 촬영된 영상으로부터 선행차량으로 추정되는 물체의 윤곽 후보지점을 추출하는 단계; (b) 시간의 경과에 따른 상기 윤곽 후보지점의 이동을 추적하는 단계; (c) 상기 윤곽 후보지점이 차량에 속하는지 여부를 판단하는 단계; (d) 상기 단계(c)에서 상기 윤곽 후보지점이 차량에 속하는 것으로 판단되면, 해당 윤곽 후보지점을 상기 선행차량의 차량 윤곽점으로 결정하는 단계; (e) 상기 차량 윤곽점의 지면으로부터의 높이를 추정하는 단계; (f) 상기 선행차량과의 상대거리를 연산하는 단계; 및 (g) 상기 상대거리를 이용하여 추돌 예상 시간을 산출하는 단계를 포함한다.


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    Title :

    FORWARD COLLISION WARNING DEVICE AND METHOD


    Additional title:

    DISPOSITIF ET PROCÉDÉ D'AVERTISSEMENT DE COLLISION AVANT
    선행차량 추돌 경보 장치 및 방법


    Contributors:

    Publication date :

    2016-12-01


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Korean


    Classification :

    IPC:    B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion / B60R Fahrzeuge, Fahrzeugausstattung oder Fahrzeugteile, soweit nicht anderweitig vorgesehen , VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR / G06V



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