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公开(公告)号：KR1020090027385A
公开(公告)日：2009-03-17
申请号：KR1020070092567
申请日：2007-09-12
Applicant: 현대자동차주식회사
Inventor： 정호철
Abstract: A system for controlling a vehicle to be maintained in a traffic lane and a method thereof are provided to improve reliability of automatic driving and prevent an accident caused when a driver gets out the traffic lane of the vehicle. A system for controlling a vehicle to be maintained in a traffic lane comprises the followings: a image input unit(100) inputting images of a road; a sensor unit(200) sensing a heading angle of the vehicle and measuring distance between the vehicle and the lane; a control unit(300) calculating a steering angle for keeping the lane of the vehicle and authorizing a control signal; a steering driving unit(400) having a steering actuator to control the steering angle according to the control signal.
Abstract translation: 提供一种用于控制车辆保持在行车道中的系统及其方法，以提高自动驾驶的可靠性，并防止驾驶员离开车辆的行车道时引起的事故。 用于控制在行车道中保持的车辆的系统包括：图像输入单元（100），输入道路的图像; 传感器单元（200），其感测所述车辆的行进角度并且测量所述车辆与所述车道之间的距离; 计算用于保持车辆的车道并授权控制信号的转向角的控制单元（300） 转向驱动单元（400），其具有根据控制信号来控制转向角的转向致动器。
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公开(公告)号：KR1020080088675A
公开(公告)日：2008-10-06
申请号：KR1020070031198
申请日：2007-03-30
Applicant: 현대자동차주식회사
Inventor： 정호철
IPC: B60W30/12
CPC classification number: B62D15/029 , B62D15/025 , G08G1/167
Abstract: A lane departure prevention method for a vehicle is provided to simplify calculation logic by reducing parameters needed to compute the departure distance of the lane and to prevent an accident by estimating the time to lane departure on the basis of lane departure distance and vehicle speed. A lane departure prevention method for a vehicle comprises the steps of: calculating the actual coordinates of the lane by three-dimensionally mapping the lanes extracted from left and right images of the rear part input by cameras installed at both side mirrors; calculating left and right directional angles at a point where a straight line comprising the actual coordinates of the lane and the directional line of a vehicle body cross each other, and left and right lateral distances between the straight line comprising the actual coordinates of the lane and the vehicle; and warning a driver of lane departure according to the lane departure distance by calculating the lane departure distance by geometrically analyzing the computed directional angle and lateral distance.
Abstract translation: 提供了一种用于车辆的车道偏离预防方法，以通过减少计算车道的出发距离所需的参数并且基于车道离开距离和车辆速度估计到车道偏离的时间来防止事故来简化计算逻辑。 一种用于车辆的车道偏离预防方法包括以下步骤：通过三维地映射从安装在两个侧视镜处的照相机输入的后部输入的左图像和右图像提取的车道来计算车道的实际坐标; 在包括车道的实际坐标和车身的方向线的直线交叉的点处计算左右方向角度，以及包括车道的实际坐标的直线和在车道的实际坐标之间的左右横向距离，以及 机动车; 并通过几何分析计算出的方向角和横向距离来计算车道离开距离，根据车道离开距离来警告车道偏离的驾驶员。
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公开(公告)号：KR1020080053995A
公开(公告)日：2008-06-17
申请号：KR1020060125990
申请日：2006-12-12
Applicant: 현대자동차주식회사
Inventor： 정호철
IPC: B60W30/06
CPC classification number: B62D15/0285 , B60W2050/0031
Abstract: A parking trace recognition apparatus and an automatic parking system are provided to park a vehicle exactly by checking whether a vertical parking line is parallel to a vehicle body line at the parking finish timing or not, by image processing. A parking trace recognition apparatus for recognizing the parking trace that a vehicle follows is composed of: a parking line extracting unit(101) extracting a parking line by receiving an image signal about the rear part of the vehicle from a camera(10c) installed at the vehicle; a three-dimensional mapping unit(103) calculating a first linear equation in real coordinates for the parking line, by three-dimensional mapping; a direction angle calculating unit(105) computing the coordinates of an intersection point of the parking line and the vehicle body line on the basis of the first linear equation and a second linear equation in real coordinates for the vehicle body line and calculating the direction angle of the vehicle body line for the parking line on the basis of the calculated coordinates of an intersection point and the first and second linear equations; and a parking trace calculating unit(107) computing the parking trace from the parking start position and the direction angle set at the rear part of the vehicle.
Abstract translation: 通过图像处理，提供停车追踪识别装置和自动驻车系统，通过在停车停止定时时检查垂直停车线是否平行于车体线路来准确地停放车辆。 用于识别车辆跟随的停车轨迹的停车轨迹识别装置包括：停车线提取单元，其通过从安装在车辆上的照相机（10c）接收关于车辆后部的图像信号来提取停车线 机动车; 通过三维映射计算停车线的实际坐标中的第一线性方程的三维映射单元（103）; 方位角计算单元，基于第一线性方程和车体线的实际坐标中的第二线性方程计算停车线与车体线的交点的坐标，并计算方向角度 基于计算出的交点的坐标和第一和第二线性方程的停车线的车体线; 以及停车轨迹计算单元，从停车开始位置和设置在车辆后部的方向角度计算停车轨迹。
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公开(公告)号：KR1020080034720A
公开(公告)日：2008-04-22
申请号：KR1020060101015
申请日：2006-10-17
Applicant: 현대자동차주식회사
Inventor： 정호철
IPC: G06T3/00
CPC classification number: G06T5/50 , G06T7/149 , G06T2201/0601 , G06T2207/20004 , H04N5/217
Abstract: A method of image distortion by using direct linear transform algorithm is provided to correct the distortion of the screen image provided by a camera by using the actually measured data obtained by the camera. A grid is displayed in the real video to map Xw, Yw and Zw which are coordinate values of X, Y, and Z of the real images on X and Y coordinates of the screen images(S101). The actually measured data, which is the grid node value of the X and Y shafts is obtained by obtaining the image from the generated grid and regenerating a distance reference line(S102,103). The X and Y coordinates are obtained from the actually measured data to fix the Y shaft and to calculate the function pitted to the X shaft direction(S106). The pixel function is generated by generating the total function of the pixel X function(S107). The factor function is obtained by calculating the Polynomial factor value, and the pixel Y function is generated by generating the total function of the pixel Y(S113).
Abstract translation: 提供了一种使用直接线性变换算法进行图像失真的方法，通过使用由相机获得的实际测量数据来校正由相机提供的屏幕图像的失真。 在实际视频中显示网格以将Xw，Yw和Zw映射为屏幕图像的X和Y坐标上的真实图像的X，Y和Z的坐标值（S101）。 通过从生成的网格获取图像并再生距离基准线，获得实际测量的数据，即X轴和Y轴的网格节点值（S102,103）。 从实际测量的数据中获得X和Y坐标，固定Y轴并计算出垂直于X轴方向的功能（S106）。 通过生成像素X函数的总函数来生成像素函数（S107）。 通过计算多项式因子值获得因子函数，并且通过生成像素Y的总函数来生成像素Y函数（S113）。
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公开(公告)号：KR102200522B1
公开(公告)日：2021-01-11
申请号：KR1020150150420
申请日：2015-10-28
Applicant: 현대자동차주식회사
IPC: B60R1/00 , B60R21/0132 , B60K35/00 , B60K37/02
Abstract: 본발명은차량의카메라영상제공방법에관한것으로, 더욱상세하게는전방차량이제공하는영상을이용하여후방차량(자차량)의주변장애물등을파악할수 있으며, 후방차량에게후측방영상이제공될수 있도록전방차량이제공하는영상을고정버츄얼카메라영상으로변환시켜후방차량의사각지대영상을제공하고, 후방의주변장애물들을명확하게인지할수 있도록하는차량의카메라영상제공방법을제공한다. 본발명의일시시예에따른차량의카메라영상제공방법은전방차량과후방차량간 상대위치를판단하는단계, 상기후방차량에위치한가상의버추얼카메라의위치및 파라미터를계산하는단계, 상기전방차량의카메라의장착위치및 파라미터를수신하는단계, 상기전방차량의카메라에서영상을수신하는단계, 상기전방차량의카메라에서수신한영상을버추얼카메라영상으로변환하는단계및 상기변환된버추얼카메라영상을운전자에게제공하는단계를포함한다.
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Patent Agency Ranking
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公开(公告)号：KR1020170143387A
公开(公告)日：2017-12-29
申请号：KR1020160077598
申请日：2016-06-21
Applicant: 현대자동차주식회사
CPC classification number: G06K9/00845 , A61B5/163 , A61B5/18 , B60K28/066 , B60K35/00 , B60W2040/0818 , B60W2540/22 , B60W2540/26 , B60Y2302/03 , B60Y2400/90 , B60Y2400/92 , G06K9/00604 , B60W40/08 , A61B5/168 , B60K28/06 , B60W50/14 , B60W2040/0827
Abstract: 본발명은차량주행중의주요정보가변경된시점에운전자의집중도가떨어지면경보를제공하기위하여, 차량주행중 운전자의시선을추적해주요한정보를집중하여얻고있는지를감시할수 있는운전자집중도감시장치및 방법에관한것이다.
Abstract translation: 本发明涉及一种驾驶员的浓度监测装置与方法，以跟踪车辆的注视而驱动的驱动程序可以监视如何通过在以提供对驾驶员的报警浓度集中在密钥信息获取在时间落入当车辆在驾驶时的主信息已经改变 会的。
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公开(公告)号：KR1020170070708A
公开(公告)日：2017-06-22
申请号：KR1020150178554
申请日：2015-12-14
Applicant: 현대자동차주식회사
IPC: B60W40/08 , B60W10/20 , B60W40/072 , B60W50/14 , B60K28/02
Abstract: 본발명은운전자상태검출장치및 방법에관한것으로, 차량에장착된각종센서들을통해차량데이터를측정하는측정부, 상기차량데이터를이용하여조향에의한횡속도및 곡률에의한횡속도를연산하는연산부, 및상기조향에의한횡속도및 상기곡률에의한횡속도를분석하여운전자의부주의운전여부를판정하는제어부를포함한다.
Abstract translation: 使用本发明的操作部，安装在车辆上，用于在各种传感器测量车辆数据的测定部，其中，关于所述驾驶员状态检测装置和用于计算横向速度的横向速度的方法和转向的曲率的车辆数据 以及控制单元，用于通过转向分析横向速度和通过曲率分析横向速度以确定驾驶员是否无意中操作。
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公开(公告)号：KR1020170030255A
公开(公告)日：2017-03-17
申请号：KR1020150127571
申请日：2015-09-09
Applicant: 현대자동차주식회사
IPC: G08B21/02 , G08B21/06 , B60K28/06 , G08B21/18 , G08B3/10 , G08B25/08 , B60W50/14 , B60W40/06 , B60W40/08
Abstract: 본발명은차량에전방카메라가구비되지않고, 조향각, 차속또는횡가속도를포함하는차량데이터를이용하여차량의이동정도를계산하되, 차량의이동정도에따라일정시간동안운전조작이없는경우에운전자에게경보하는운전상태감지장치및 방법을제공한다. 본발명의일실시예에따른운전상태감지장치는차량데이터를측정하는센서부, 상기차량데이터를이용하여차량의횡변위와운전자의운전판단기준을비교하여상기운전자의부주의한운전여부를판단하는판단부및 상기운전조작행위에서상기운전자의부주의한운전여부를판단하여경보음을통해상기운전자에게알리는경보부를포함한다.
Abstract translation: 在本发明的情况下，驾驶员不具有不设置在车辆中的前置摄像头，但是通过使用车辆数据包括转向角度，车辆速度或横向加速度，在预定的时间根据所述车辆的移动量的驾驶操作来计算车辆的移动量 本发明提供一种用于警示驾驶员的驾驶状况感测装置和方法。 根据本发明的一个实施例的操作状态检测装置被确定为确定的误操作的操作者是否比较操作被确定基于车辆通过使用传感器部分，所述车辆数据，来测量车辆数据与一个驱动器的横向位移 以及用于确定驾驶员是否在驾驶操作中无意中操作并通过警报声通知驾驶员的警报单元。
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公开(公告)号：KR101684032B1
公开(公告)日：2016-12-07
申请号：KR1020140191661
申请日：2014-12-29
Applicant: 현대자동차주식회사
Abstract: 본발명은운전자상태감시장치및 그의카메라위치보정방법에관한것으로, 본발명에따른운전자상태감시장치는운전대에장착되어운전자의영상을촬영하는카메라와, 상기카메라의위치를보정하는각도조절부와, 상기영상에서얼굴검출불가시 모션정보를이용하여부분얼굴영역을추출하고상기부분얼굴영역을이용하여얼굴잘림량을산출하여그 산출한얼굴잘림량에따라상기각도조절부를제어하는제어부를포함한다.
Abstract translation: 本发明涉及一种驾驶员状态监视装置及其相机的位置校正方法。 驾驶员状态监视装置包括：照相机，其安装在方向盘中以拍摄驾驶员的图像; 角度调节部，其校正摄像机的位置; 以及控制部，其在图像中不可能检测到脸部的情况下使用运动信息提取部分脸部区域，并且使用部分脸部区域计算面部的切割量，以根据计算的切割量来控制角度调节部 的脸。 因此，本发明通过调整方向盘的倾斜角来校正照相机的位置。
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