Workshop distance measurement method, workshop distance measurement device, electronic device, computer program, and computer-readable recording medium

Abstract

Disclosed is a method for measuring a distance to another vehicle using a processor. The present invention includes: a step of acquiring a travel image captured by a capturing device of a first vehicle; a step of detecting a second vehicle from the travel image, and calculating a ratio between an image width of the detected second vehicle and an image width of a lane in which the second vehicle is located; a step of determining a size level of the second vehicle among a plurality of size levels based on the calculated ratio; a step of determining a width of the second vehicle based on the determined size level of the second vehicle; and a step of calculating a distance from the capturing device to the second vehicle based on the determined width of the second vehicle, a focal distance of the capturing device, and the image width of the second vehicle.

Description

[0001] This application is a divisional application of the invention patent application with the application date of December 4, 2019, the application number of "201911226519.0", and the invention name of "Vehicle Distance Measurement Method, Vehicle Distance Measurement Device, Electronic Equipment, Computer Program, and Computer Readable Recording Medium". TECHNICAL FIELD

[0002] The present application relates to a vehicle distance measurement method, a vehicle distance measurement device, an electronic equipment, a computer program, and a computer readable recording medium for measuring a vehicle distance using a driving image captured during driving of a vehicle. BACKGROUND

[0003] The most important thing in driving a vehicle is to drive safely and prevent traffic accidents, and for this purpose, various auxiliary devices for performing posture control of the vehicle, function control of the vehicle structure device, and safety devices such as seat belts and airbags are installed on the vehicle.

[0004] Furthermore, recently, there is a trend of installing devices such as black boxes that store driving images of vehicles and data transmitted from various sensors on vehicles, so that the cause of an accident can be found when the vehicle has an accident. Black boxes or navigation application programs can be installed on portable terminals such as smartphones and tablet computers, and thus can be utilized as the above-mentioned vehicle devices.

[0005] For this reason, recently, an advanced driver assistance system (ADAS: Advanced Driver Assistance System) that assists the driving of a vehicle driver using a driving image captured during driving of a vehicle has been developed and popularized, and thus not only enables the driver to drive safely, but also improves convenience.

[0006] Among the functions provided by the ADAS, a forward collision warning function (FCWS: Forward Collision Warning System) is a function that measures the distance between the vehicle and a preceding vehicle located in front of the driving route of the vehicle, and then provides a warning to the driver that there is a risk of collision according to the distance.

[0007] However, according to the existing vehicle distance measurement method, the actual widths of many vehicles (for example, small, medium, and large vehicles) having different widths are not considered, and the vehicle width is processed by a predetermined specific constant value to measure the vehicle distance, and thus there is a problem that the measured vehicle distance value is inaccurate.

[0008] In addition, a small error in a measurement value that becomes a basis for determining a danger in the ADAS can become a large problem in system operation, thereby causing a problem of hindering convenience and stability of the driver. As an example, even if the distance between vehicles is not large enough to require a pre-crash warning of a vehicle ahead, a warning is issued, and thus a case where the ADAS function hinders safe driving of the driver occurs. SUMMARY

[0009] The present application is proposed to solve the above problems, and aims to calculate a ratio between an image width of a vehicle ahead and an image width of a lane in which the vehicle ahead is located, and then determine a size class of the vehicle ahead in a plurality of size classes (e.g., small, medium, and large) based on the calculated ratio.

[0010] In addition, the present application aims to determine a width of the vehicle ahead based on the size class of the vehicle ahead, and measure a measurement distance between a reference vehicle and the vehicle ahead using the determined width of the vehicle ahead.

[0011] In addition, the present application aims to provide an accurate pre-crash warning function of the vehicle ahead using the measured inter-vehicle distance.

[0012] To achieve the above object, a method for measuring an inter-vehicle distance using a processor according to an embodiment of the present application includes the steps of: acquiring a travel image photographed by a photographing device of a first vehicle traveling; detecting a second vehicle from the travel image, and calculating a ratio between an image width of the detected second vehicle and an image width of a lane in which the second vehicle is located; determining a size class of the second vehicle based on the calculated ratio; determining a width of the second vehicle based on the determined size class of the second vehicle; and calculating a distance from the photographing device to the second vehicle based on the determined width of the second vehicle, a focal distance of the photographing device, and the image width of the second vehicle.

[0013] The step of calculating the ratio includes the steps of: detecting the second vehicle as an inter-vehicle distance measurement object among a plurality of vehicles included in the travel image; recognizing a left lane line and a right lane line of a lane in which the second vehicle is traveling in the travel image; and determining an image width between the recognized left lane line and the recognized right lane line as the image width of the lane in which the second vehicle is located.

[0014] Further, the step of calculating the ratio includes a step of identifying a left side boundary and a right side boundary of the second vehicle in the detected image of the second vehicle, and a step of determining an image width between the identified left side boundary and the identified right side boundary as an image width of the second vehicle.

[0015] Then, the step of determining the size class of the second vehicle is based on the calculated ratio, and determines the size class of the second vehicle among a plurality of size classes, the plurality of size classes including at least two of a first size class corresponding to a small vehicle, a second size class corresponding to a medium vehicle, and a third size class corresponding to a large vehicle.

[0016] Further, the step of determining the size class of the second vehicle can include a step of determining the size class of the second vehicle as the first size class when the calculated ratio is less than a first value, a step of determining the size class of the second vehicle as the second size class when the calculated ratio is greater than the first value and less than a second value, and a step of determining the size class of the second vehicle as the third size class when the calculated ratio is greater than the second value.

[0017] Then, further comprising a step of storing a width of a vehicle for each of a plurality of size classes, the step of determining the width of the second vehicle can include a step of detecting a width of a vehicle corresponding to the determined size class of the vehicle among the stored widths of vehicles, and a step of determining the detected width of the vehicle as the width of the second vehicle.

[0018] Further, can further include a step of generating prompt data for prompting a collision danger level corresponding to a difference between the distance between the first vehicle and the second vehicle when the calculated distance is less than a preset distance.

[0019] Then, the step of detecting the second vehicle when the first vehicle is traveling on the lane can be detecting the second vehicle located on the same lane as the first vehicle among a plurality of vehicles included in the traveling image.

[0020] Further, the step of detecting the second vehicle when the first vehicle is departing from the lane can be detecting the second vehicle located on a lane in front of the first vehicle among a plurality of vehicles included in the traveling image.

[0021] Then, the step of calculating the distance can be calculating a distance from the photographing device to the second vehicle based on the following mathematical formula,

[0022] [mathematical formula]

[0023] D = W x (f ÷ w)

[0024] The D is a distance from the photographing device to the second vehicle, the W is a width of the second vehicle, the f is a focal length of the photographing device, and the w is an image width of the second vehicle.

[0025] In one aspect, in order to achieve the above object, a vehicle-to-vehicle distance measuring device according to an embodiment of the present application includes: an image acquisition unit that acquires a travel image photographed by a photographing device of a first vehicle that is traveling; a detection unit that detects a second vehicle from the travel image; a ratio calculation unit that calculates a ratio between an image width of the detected second vehicle and an image width of a lane in which the second vehicle is traveling; a vehicle size class calculation unit that determines a size class of the second vehicle based on the calculated ratio; a vehicle width calculation unit that determines a width of the second vehicle based on the determined size class of the second vehicle; and a distance calculation unit that calculates a distance from the photographing device to the second vehicle based on the determined width of the second vehicle, a focal length of the photographing device, and the image width of the second vehicle.

[0026] Then, the detection unit can detect the second vehicle, which is a distance measurement target, from among a plurality of vehicles included in the travel image, and the ratio calculation unit can identify a left lane line and a right lane line of a lane in which the second vehicle is traveling in the travel image, and determine an image width between the identified left lane line and the identified right lane line as the image width of the lane in which the second vehicle is traveling.

[0027] In addition, the ratio calculation unit can identify a left boundary and a right boundary of the second vehicle in the detected image of the second vehicle, and determine an image width between the identified left boundary and the identified right boundary as the image width of the second vehicle.

[0028] Then, the vehicle size class calculation unit determines the size class of the second vehicle from among a plurality of size classes based on the calculated ratio, and the plurality of size classes can include at least two of a first size class corresponding to a small vehicle, a second size class corresponding to a medium vehicle, and a third size class corresponding to a large vehicle.

[0029] Further, the vehicle size class calculation section can determine the size class of the second vehicle as the first size class when the calculated ratio is less than a first value, as the second size class when the calculated ratio is greater than the first value and less than a second value, and as the third size class when the calculated ratio is greater than the second value.

[0030] Further, the vehicle size class calculation section can determine the size class of the second vehicle as the first size class when the calculated ratio is less than a first value, as the second size class when the calculated ratio is greater than the first value and less than a second value, and as the third size class when the calculated ratio is greater than the second value.

[0031] Further, the vehicle size class calculation section can determine the size class of the second vehicle as the first size class when the calculated ratio is less than a first value, as the second size class when the calculated ratio is greater than the first value and less than a second value, and as the third size class when the calculated ratio is greater than the second value.

[0032] Further, the vehicle size class calculation section can determine the size class of the second vehicle as the first size class when the calculated ratio is less than a first value, as the second size class when the calculated ratio is greater than the first value and less than a second value, and as the third size class when the calculated ratio is greater than the second value.

[0033] Further, the vehicle size class calculation section can determine the size class of the second vehicle as the first size class when the calculated ratio is less than a first value, as the second size class when the calculated ratio is greater than the first value and less than a second value, and as the third size class when the calculated ratio is greater than the second value.

[0034] Further, the distance calculation section can calculate the distance from the imaging device to the second vehicle based on the following mathematical expression,

[0035]

Mathematical Expression

[0036] D = W x (f ÷ w)

[0037] The D is the distance from the imaging device to the second vehicle, the W is the width of the second vehicle, the f is the focal length of the imaging device, and the w is the image width of the second vehicle.

[0038] To achieve the above object, an electronic device for providing a prompt for assisting a driver based on an inter-vehicle distance according to an embodiment of the present application includes an output section that outputs prompt information that the driver can confirm, an image acquisition section that acquires a travel image captured by a camera, a ratio calculation section that detects a preceding vehicle from the travel image and calculates a ratio between an image width of the detected preceding vehicle and an image width of a lane in which the preceding vehicle is located, a vehicle size level calculation section that determines a size level of the preceding vehicle based on the calculated ratio, a vehicle width calculation section that determines a vehicle width of the preceding vehicle based on the determined size level of the preceding vehicle, a distance calculation section that calculates a distance from the camera to the preceding vehicle based on the determined vehicle width of the preceding vehicle, a focal distance of the camera, and the image width of the preceding vehicle, and a control section that controls the output section to output a preceding vehicle collision prompt in accordance with the calculated distance.

[0039] Then, the output section further includes a display section that outputs an augmented reality image by combining the captured travel image with a prompt individual, and the control section can control the display section to generate a prompt individual for the preceding vehicle collision prompt and to overlap and display the generated prompt individual for the preceding vehicle collision prompt with a preceding vehicle display area of the augmented reality image.

[0040] On the other hand, to achieve the above object, a computer-readable recording medium according to an embodiment of the present application can record a program for executing the above inter-vehicle distance measurement method.

[0041] In addition, to achieve the above object, a program according to an embodiment of the present application can record a code for executing the above inter-vehicle distance measurement method.

[0042] According to the above various embodiments of the present application, a size level of a preceding vehicle is calculated and the calculated size level is utilized as an input value at the time of an ADAS (Advanced Driver Assistance System) prompt, so that the performance of the ADAS can be improved.

[0043] In addition, according to the above various embodiments of the present application, by reducing an error of an inter-vehicle distance between a reference vehicle and a preceding vehicle, a preceding collision prompt can be more accurately performed. BRIEF DESCRIPTION OF DRAWINGS

[0044] Figure 1 is a block diagram showing an inter-vehicle distance measurement device according to an embodiment of the present application.

[0045] Figure 2 is a block diagram more specifically showing an inter-vehicle distance measurement device according to an embodiment of the present application.

[0046] Figure 3 is a conceptual diagram for explaining a vehicle-to-vehicle distance measurement method according to an embodiment of the present application.

[0047] Figure 4 is a conceptual diagram for explaining a vehicle-to-vehicle distance measurement method according to an embodiment of the present application.

[0048] Figure 5 is a conceptual diagram for explaining a vehicle-to-vehicle distance measurement method according to an embodiment of the present application.

[0049] Figure 6 is a conceptual diagram for explaining a vehicle-to-vehicle distance measurement method according to an embodiment of the present application.

[0050] Figure 7 is a conceptual diagram for explaining a vehicle-to-vehicle distance measurement method according to an embodiment of the present application.

[0051] Figure 8 is a conceptual diagram for explaining a vehicle-to-vehicle distance measurement method according to an embodiment of the present application.

[0052] Figure 9 is a conceptual diagram for explaining a vehicle-to-vehicle distance measurement method according to an embodiment of the present application.

[0053] Figure 10 is a conceptual diagram for explaining a vehicle-to-vehicle distance measurement method according to an embodiment of the present application.

[0054] Figure 11 is a conceptual diagram for explaining a vehicle-to-vehicle distance measurement method according to an embodiment of the present application.

[0055] Figure 12 is a conceptual diagram for explaining a vehicle-to-vehicle distance measurement method according to an embodiment of the present application.

[0056] Figure 13 is a conceptual diagram for explaining a vehicle-to-vehicle distance measurement method according to an embodiment of the present application.

[0057] Figure 14 is a conceptual diagram for explaining a vehicle-to-vehicle distance measurement method according to an embodiment of the present application.

[0058] Figure 15 is a conceptual diagram for explaining a vehicle-to-vehicle distance measurement method according to an embodiment of the present application.

[0059] Figure 16 FIG. 1 is a schematic diagram illustrating an embodiment of an electronic device according to the present application.

[0060] Figure 17 FIG. 2 is a schematic diagram illustrating an embodiment of an electronic device according to the present application.

[0061] Figure 18 FIG. 3 is a schematic diagram illustrating an embodiment of a HUD (Head-Up Display) according to the present application.

[0062] Figure 19 FIG. 4 is a block diagram illustrating an autonomous driving system according to the present application.

[0063] Figure 20 FIG. 5 is a block diagram illustrating a structure of an autonomous driving vehicle according to the present application.

[0064] Figure 21 FIG. 6 is a block diagram illustrating a detailed structure of a control device according to the present application. DETAILED DESCRIPTION

[0065] The following detailed description is merely exemplary of the principles of the application. Thus, it is not intended that the application be limited to the particular embodiments disclosed in this description or that the application be limited to the specific embodiments described in this description. The application is not limited to the embodiments described in this description, but rather, the application includes all variations falling within the scope of the concepts disclosed and claimed herein. In addition, it is understood that the phraseology and terminology used herein is for the purpose of description and should not be regarded as limiting. Rather, the scope of the application will be delineated by the appended claims and equivalents thereof.

[0066] In addition, it should be understood that all connections between elements or components in the description or illustrations, and in the claims, are not to be interpreted as being exclusive. That is, unless otherwise indicated, additional interconnections can be made, even though not shown in a figure. Furthermore, elements or components separated by a determining line are not to be interpreted as being unrelated. That is, unless otherwise indicated, elements or components separated by any determining line are to be interpreted as being potentially related.

[0067] Accordingly, for example, block diagrams of the application are to be understood as conceptual representations of exemplary circuits embodying the principles of the application. Similarly, it is to be understood that all flow diagrams, state transition diagrams, pseudocode, and the like represent various processes which can be substantially represented in computer readable medium and executed by a computer or processor, regardless of whether such processes are specifically shown in a computer or processor.

[0068] The functions of the various elements shown in the figures, including functional blocks labeled as processors, can be provided through the use of dedicated hardware as well as hardware capable of executing software in association with appropriate software. When provided by a processor, the functions can be provided by a single dedicated processor, by a single shared processor, or by a plurality of individual processors, some of which can be shared.

[0069] Moreover, the explicit use of the term, including a processor, control, or the like, provided as a term of art, should not be construed to refer exclusively to hardware capable of executing software, and without limitation, should be understood to include digital signal processor (DSP) hardware, software defined radios, read only memory (ROM) for storing software, random access memory (RAM), and nonvolatile storage.

[0070] In the claims, the term comprising, as used in the claims, should not be construed as meaning consisting of, to the exclusion of any additional elements. In the claims, the terms comprising and comprising the means are intended to be equivalent to the term including, to the exclusion of any additional elements. In the claims, the term comprising is used to mean including, but not to the exclusion of additional elements. In the claims, the term comprising is used to mean including, but not to the exclusion of additional elements.

[0071] The above objects, features and advantages will become more apparent from the following detailed description taken in conjunction with the accompanying drawings, in which:

[0072] Various embodiments of the present application will be described in detail below with reference to the drawings.

[0073] Figure 1 is a block diagram showing a vehicle distance measuring device according to an embodiment of the present application. Figure 2 is a block diagram showing a vehicle distance measuring device according to an embodiment of the present application in more detail.

[0074] Reference Figure 1 and Figure 2The inter-vehicle distance measuring device 10 can include all or a part of the image acquisition section 11, the detection section 12, the calculation section 13, the storage section 14, the prompt data generation section 15, the travel control data generation section 16, and the control section 17. The calculation section 13 can include all or a part of the scale calculation section 13-1, the vehicle size class calculation section 13-2, the vehicle width calculation section 13-3, and the distance calculation section 13-4.

[0075] The inter-vehicle distance measuring device 10 can measure a distance between a first vehicle that is a reference of distance measurement and a second vehicle that is an object of distance measurement. The first vehicle can be referred to as a reference vehicle, and the second vehicle can be referred to as an object vehicle. The second vehicle can be a vehicle located in the vicinity of the first vehicle, and can include a front vehicle located in front of the first vehicle and a rear vehicle located behind the first vehicle.

[0076] The inter-vehicle distance measuring device 10 can measure an inter-vehicle distance between the first vehicle and the second vehicle using a travel image obtained in the travel of the first vehicle. Specifically, the inter-vehicle distance measuring device 10 can detect the second vehicle from the travel image of the first vehicle, calculate a scale between an image width of the detected object vehicle and an image width of a lane in which the front vehicle is located. Then, the inter-vehicle distance measuring device 10 can determine a size class of the front vehicle in a plurality of size classes based on the calculated scale. Then, the inter-vehicle distance measuring device 10 can determine a width of the front vehicle based on the determined size class of the front vehicle. Then, the inter-vehicle distance measuring device 10 can calculate a distance from the imaging device to the second vehicle based on the determined width of the second vehicle, a focal distance of the imaging device, and an image width of the second vehicle.

[0077] The inter-vehicle distance measuring device 10 can be embodied by software, hardware, or a combination thereof. As an example, according to the hardware embodiment, the inter-vehicle distance measuring device 10 can be embodied by at least one of ASICs (application specific integrated circuits), DSPs (digital signal processors), DSPDs (digital signal processing devices), PLDs (programmable logic devices), FPGAs (field programmable gate arrays), processors, controllers, micro-controllers, micro-processors, other electronic units for performing functions, or the like.

[0078] Hereinafter, for convenience of explanation, a case in which the second vehicle to be a distance measurement object is a front vehicle will be described as an example, and each constituent module constituting the inter-vehicle distance measuring device 10 will be described in more detail.

[0079] The image acquisition unit 11 can acquire a travel image captured by a camera provided on the first vehicle. Specifically, the image acquisition unit 11 can acquire a travel image captured by a camera provided on the first vehicle in real time during travel of the first vehicle. The acquired travel image can include a plurality of lanes distinguished according to a lane, a road formed of the plurality of lanes, and a plurality of vehicles traveling on the road.

[0080] The lane can refer to a line formed on both sides of a lane in which a vehicle is located. In addition, the lane can refer to a one-lane, a two-lane, … an N-lane, or the like formed by the lane and in which a vehicle travels.

[0081] The detection unit 12 can detect the second vehicle from the travel image acquired by the image acquisition unit 11. Specifically, the detection unit 12 can select the second vehicle to be a distance measurement object from among a plurality of vehicles included in the travel image acquired by the image acquisition unit 11, and detect the selected second vehicle. The detection unit 12 can select the second vehicle to be a distance measurement object from among the plurality of vehicles included in the travel image based on travel state information indicating whether the first vehicle is accurately traveling in a specific lane or is deviating from the specific lane.

[0082] As one example, when the first vehicle is traveling in a certain lane, the detection unit 12 can select a second vehicle that is located in the same lane as the first vehicle among a plurality of vehicles included in the travel image, and then detect the selected second vehicle.

[0083] As another example, when the first vehicle is departing from a certain lane, the detection unit 12 can select a second vehicle that is located on a lane in front of the first vehicle that is departing among a plurality of vehicles included in the travel image, and then detect the selected second vehicle.

[0084] The ratio calculation unit 13-1 can calculate a ratio between an image width of the second vehicle detected by the detection unit 12 and an image width of a lane in which the second vehicle is located. Here, the image width can refer to a width of an image of the individual in an image plane. That is, the image width of the second vehicle can be a width of an image of the second vehicle in the travel image acquired by the image acquisition unit 11, and the image width of the lane in which the second vehicle is located can be a width of an image of the lane in which the second vehicle is located in the travel image acquired by the image acquisition unit 11.

[0085] The ratio calculation unit 13-1 can set a reference line for calculating the image width of the second vehicle in the travel image acquired by the image acquisition unit 11, and calculate the image width of the second vehicle based on the set reference line. In addition, the ratio calculation unit 13-1 can set a reference line for calculating the image width of the lane in which the second vehicle is located in the travel image acquired by the image acquisition unit 11, and calculate the image width of the lane in which the second vehicle is located based on the set reference line.

[0086] When calculating the image width of the lane in which the second vehicle is located, the ratio calculation unit 13-1 can recognize a left lane line and a right lane line of the lane in which the second vehicle is traveling in the travel image acquired by the image acquisition unit 11. As one example, the ratio calculation unit 13-1 can convert the travel image into a grayscale image, execute a lane line detection algorithm, and recognize each lane line located on both sides of the second vehicle. Then, the ratio calculation unit 13-1 can determine an image width between the recognized left lane line and the recognized right lane line as the image width of the lane in which the second vehicle is located. As one example, the ratio calculation unit 13-1 can determine a first support point and a second support point, and determine an image width between the first support point and the second support point as the image width of the lane in which the second vehicle is located, the first support point being a support point at which a line indicating an in-lane position of the second vehicle intersects the recognized left lane line, and the second support point being a support point at which the line indicating the in-lane position of the second vehicle intersects the recognized right lane line.

[0087] Then, when calculating the image width of the second vehicle, the ratio calculating section 13-1 can recognize the left side boundary and the right side boundary of the second vehicle in the detected image of the second vehicle. Then, the ratio calculating section 13-1 can determine the image width between the recognized left side boundary and the recognized right side boundary as the image width of the second vehicle. As an example, the ratio calculating section 13-1 can determine the image width between the left side boundary line corresponding to the recognized left side boundary and the right side boundary line corresponding to the recognized right side boundary as the image width of the second vehicle.

[0088] On the other hand, when calculating the image width of the lane where the second vehicle is located and the image width of the second vehicle, the ratio calculating section 13-1 can calculate the ratio between the image width of the second vehicle and the image width of the lane where the second vehicle is located. As an example, the ratio calculating section 13-1 can calculate the ratio between the image width of the second vehicle and the image width of the lane where the second vehicle is located based on the following mathematical formula 1.

[0089] [mathematical formula 1]

[0090] Ratio = (VehicleW / LaneW) x 100

[0091] wherein VehicleW can refer to the image width of the second vehicle, LaneW can refer to the image width of the lane where the second vehicle is located, and Ratio can refer to the ratio between the image width of the second vehicle and the image width of the lane where the second vehicle is located.

[0092] The vehicle size level calculating section 13-2 can determine the size level of the second vehicle in a plurality of size levels based on the ratio calculated in the ratio calculating section 13-1. Wherein the plurality of size levels can include at least two of a first size level corresponding to a small vehicle, a second size level corresponding to a medium vehicle, and a third size level corresponding to a large vehicle.

[0093] In this case, when the calculated ratio is less than a first value, the vehicle size level calculating section 13-2 can determine the size level of the second vehicle as the first size level. Then, when the calculated ratio is greater than the first value and less than a second value, the vehicle size level calculating section 13-2 can determine the size level of the second vehicle as the second size level. Then, when the calculated ratio is greater than the second value, the vehicle size level calculating section 13-2 can determine the size level of the second vehicle as the third size level. As an example, the first value can be 48%, and the second value can be 60%.

[0094] However, this is only one embodiment of the present application, and can be further subdivided according to the embodiment. For example, the plurality of size levels can also be configured to include super-compact cars, compact cars, sub-compact cars, medium cars, medium-large cars, large cars, and super-large cars, and the like, each corresponding to a size level.

[0095] In one aspect, the vehicle width calculation section 13-3 can determine the width of the second vehicle based on the size level of the second vehicle. Specifically, the storage section 14 can store vehicle widths corresponding to a plurality of size levels, respectively. For example, as shown in Table 1 below, the storage section 14 can store vehicle widths corresponding to a plurality of size levels, respectively.

[0096]

Table 1

[0097] First tier size Second tier size Third tier size Vehicle width 1500 mm 1900 mm 2500 mm

[0098] The information of the above Table 1 can be stored in the storage section 14 in advance, can be provided through a communication network connected to the communication section 180, and can be updated.

[0099] In this case, the vehicle width calculation section 13-3 can determine the width of the second vehicle by detecting the vehicle width corresponding to the determined size level from the vehicle widths stored in the storage section 14 in advance.

[0100] In one aspect, the distance calculation section 13-4 can calculate the distance from the imaging device to the second vehicle based on the width of the second vehicle, the focal length of the imaging device, and the image width of the second vehicle. Specifically, the distance calculation section 13-4 can calculate the distance from the imaging device provided on the first vehicle to the second vehicle based on the following mathematical expression 2.

[0101]

Mathematical Expression 2

[0102] D = W x (f ÷ w)

[0103] where D can be the distance from the imaging device provided on the first vehicle to the second vehicle, W can be the width of the second vehicle, f can be the focal length of the imaging device, and w can be the image width of the second vehicle. Here, the image width w of the second vehicle can be the same value as VehicleW of the above mathematical expression 1.

[0104] In one aspect, the distance between the imaging device 20 and the second vehicle 30 is calculated, and the distance calculation section 13-4 can calculate the distance between the first vehicle provided with the imaging device 20 and the second vehicle 30 by appropriately correcting the calculated distance value between the imaging device 20 and the second vehicle 30.

[0105] The control section 17 controls the entire operation of the inter-vehicle distance measuring device 10. Specifically, the control section 17 can control the entire or a part of the image acquisition section 11, the detection section 12, the calculation section 13, the storage section 14, and the prompt data generation section 15 and the travel control data generation section 16.

[0106] Specifically, the control section 17 can control the detection section 12 to detect the second vehicle from the travel image of the first vehicle acquired by the image acquisition section 11. Then, the control section 16 can control the calculation section 13 to calculate a ratio between the image width of the detected second vehicle and the image width of the lane in which the second vehicle is present, and determine the size level of the second vehicle in a plurality of size levels based on the calculated ratio, and then determine the width of the second vehicle based on the determined size level of the second vehicle. In addition, the control section 16 can control the calculation section 13 to calculate the distance from the photographing device to the second vehicle based on the determined width of the second vehicle, the focal distance of the photographing device, and the image width of the second vehicle.

[0107] In addition, when the inter-vehicle distance information between the first vehicle and the second vehicle is acquired, the control section 17 can control the prompt data generation section 15 to generate prompt data based on the information to assist the safe driving of the driver of the first vehicle. Specifically, when the inter-vehicle distance calculated at the distance calculation section 13-4 is less than a predetermined distance, the prompt data generation section 15 can generate prompt data for prompting the difference in distance between the first vehicle and the second vehicle. As an example, the prompt data generated at the prompt data generation section 15 can be data for prompting that it is necessary to pay attention to the inter-vehicle distance through a voice warning or data for prompting through an image.

[0108] As another example, when the inter-vehicle distance calculated at the distance calculation section 13-4 is less than a predetermined distance, the prompt data generation section 15 can generate data for prompting a collision danger level corresponding to the difference in distance between the first vehicle and the second vehicle. As an example, the difference in distance between the first vehicle and the second vehicle is divided into a plurality of levels, when the inter-vehicle distance is less than a first value, data for prompting a first danger level can be generated, when the inter-vehicle distance is greater than the first value and less than a second value, data for prompting a second danger level in which the danger degree is higher than the first danger level can be generated, and when the inter-vehicle distance is greater than the second value, data for prompting a third danger level in which the danger degree is higher than the second danger level can be generated.

[0109] In one aspect, when the inter-vehicle distance information between the first vehicle and the second vehicle is obtained, the control unit 17 can control the travel control data generation unit 16 to generate travel control data based on the information to control the automatic driving of the first vehicle. Specifically, when the first vehicle is driving in the automatic driving mode, and the inter-vehicle distance calculated by the distance calculation unit 13-4 is less than a preset distance, the control unit 17 can control the travel control data generation unit 16 to generate travel control data for controlling the automatic driving of the first vehicle (for example, instruction data for controlling the first vehicle to decelerate from the current speed to a predetermined speed or to stop, etc.). Wherein, the travel control data generated by the travel control data generation unit 16 can be transmitted to an automatic driving control unit for controlling the automatic driving of the first vehicle, and the first vehicle automatic driving control unit can control various units (brake, steering wheel, electric motor, engine, etc.) provided in the first vehicle based on the information to control the first vehicle to automatically drive.

[0110] Hereinafter, with reference to Figures 3 to 8 A more specific description of the inter-vehicle distance measurement method according to an embodiment of the present application.

[0111] Figure 3 is a conceptual diagram for explaining the inter-vehicle distance measurement method according to an embodiment of the present application. As Figure 3 shown, a first vehicle (not shown) can be provided with a photographing device 20 for photographing a travel image of the first vehicle. Wherein, the photographing device 20 can be provided on the first vehicle, and is constituted by a car dash cam or a car video recorder, etc. for photographing the surroundings of the vehicle in the driving, parking, etc. state of the vehicle. Alternatively, the photographing device 20 can also be constituted by a camera formed on a navigator for prompting a route to the driver of the first vehicle.

[0112] The photographing device 20 can include a lens unit 21 and a photographing element 22, although not shown in Figure 3 , can further include all or part of a lens unit driving unit, an aperture, an aperture driving unit, a photographing element control unit 116, and an image processor. Wherein, the lens unit 21 can perform the function of collecting optical signals, and the optical signals passing through the lens unit 21 are optically imaged on the photographing area of the photographing element 22. Wherein, the photographing element 22 can use a CCD (Charge Coupled Device), a CIS (Complementary Metal Oxide Semiconductor Image Sensor), or a high-speed image sensor, etc. for converting optical signals into electrical signals.

[0113] In one aspect, the inter-vehicle distance measuring device 10 can calculate the distance between the camera 20 provided on the first vehicle and the second vehicle 30 based on the above-described mathematical expression 2 using the travel image captured by the camera 20 of the first vehicle. To this end, the inter-vehicle distance measuring device 10 can first calculate the ratio between the image width of the second vehicle 30 and the image width of the lane in which the second vehicle 30 is traveling from the travel image acquired by the camera 20 of the first vehicle, and determine the size level of the second vehicle 30 in a plurality of size levels based on the calculated ratio, and then calculate the width W of the second vehicle 30 based on the determined size level of the second vehicle. Referring to Figures 4 to 8 The operation of the calculating section 13 of the inter-vehicle distance measuring device 10 will be described in more detail.

[0114] Figure 4 is a diagram illustrating the ratio between the image width of the second vehicle and the image width of the lane in which the second vehicle is traveling according to an embodiment of the present application. As shown in Figure 4 The travel image 50 captured by the camera 20 of the first vehicle can include the second vehicle 30 traveling in front of the first vehicle, the lane 40 in which the second vehicle is traveling, the left lane line 41 and the right lane line 42 that distinguish the lane 40 from other lanes.

[0115] In this case, the ratio calculating section 13-1 can calculate the image width VehicleW of the second vehicle 30. Specifically, the ratio calculating section 13-1 can identify the left boundary 31 and the right boundary 32 of the second vehicle 30 in the image of the second vehicle 30. Then, the ratio calculating section 13-1 can determine the image width between the identified left boundary 31 and the identified right boundary 32 as the image width VehicleW of the second vehicle.

[0116] In addition, the ratio calculating section 13-1 can identify the left lane line 41 and the right lane line 42 of the lane 40 in which the second vehicle 30 is traveling in the acquired travel image 50. Then, the ratio calculating section 13-1 can set a line 33 indicating the in-lane position of the second vehicle 30. Here, the line 33 indicating the in-lane position of the second vehicle 30 can be composed of a line extending the lowermost end of the second vehicle 30 in the travel image 50. As an example, it can be composed of lines extending the lowermost ends of the left and right wheels of the second vehicle 30. In one aspect, the ratio calculating section 13-1 can determine a first fulcrum 43 and a second fulcrum 44, determine the image width LaneW between the first fulcrum 43 and the second fulcrum 44 as the image width LaneW of the lane in which the second vehicle 30 is traveling, the first fulcrum 43 being a fulcrum at which the line 33 indicating the in-lane position of the second vehicle 30 and the left lane line 41 intersect, and the second fulcrum 44 being a fulcrum at which the line 33 indicating the in-lane position of the second vehicle 30 and the right lane line 43 intersect.

[0117] In one aspect, the ratio calculating section 13-1 can calculate the ratio between the image width of the second preceding vehicle and the image width of the lane in which the second vehicle is traveling, based on the above-described mathematical expression 1, after calculating the image width of the second vehicle (VehicleW) and the image width of the lane in which the second vehicle is traveling (LaneW).

[0118] Figure 5 is a schematic diagram showing an actual example of calculating the ratio between the image width of the vehicle and the image width of the lane when the preceding vehicle is a small vehicle. As shown, the detection section 12 according to an embodiment of the present application can detect a small vehicle located in front from the traveling image 51 taken during the travel of the first vehicle. Then, the ratio calculating section 13-1 can calculate the ratio (ratio: 40) between the image width of the small vehicle (VehicleW: 46) and the image width of the lane in which the small vehicle is traveling (LaneW: 115). Figure 5

[0119] Figure 6 is a schematic diagram showing an actual example of calculating the ratio between the image width of the vehicle and the image width of the lane when the preceding vehicle is a medium vehicle. As shown, the detection section 12 according to an embodiment of the present application can detect a medium vehicle located in front from the traveling image 52 taken during the travel of the first vehicle. Then, the ratio calculating section 13-1 can calculate the ratio (ratio: 46.1) between the image width of the medium vehicle (VehicleW: 88) and the image width of the lane in which the medium vehicle is traveling (LaneW: 191). Figure 6

[0120] Figure 7 is a schematic diagram showing an actual example of calculating the ratio between the image width of the vehicle and the image width of the lane when the preceding vehicle is a large vehicle. As shown, the detection section 12 according to an embodiment of the present application can detect a large vehicle located in front from the traveling image 53 taken during the travel of the first vehicle. Then, the ratio calculating section 13-1 can calculate the ratio (ratio: 70.4) between the image width of the large vehicle (VehicleW: 184) and the image width of the lane in which the large vehicle is traveling (LaneW: 223). Figure 7

[0121] ​​​As described above, the closer the distance between the first vehicle and the second vehicle, the larger the image width of the second vehicle and the image width of the lane in which the second vehicle is located can be, and the farther the distance between the first vehicle and the second vehicle, the smaller the image width of the second vehicle and the image width of the lane in which the second vehicle is located can be. However, the ratio is not affected by the distance between the first vehicle and the second vehicle, but is proportional to the size of the second vehicle, and thus, according to the present application, it can be used as an index for calculating the size of the second vehicle.

[0122] In one aspect, according to the above example, the ratio between the image width of the second vehicle and the image width of the lane in which the second vehicle is located is calculated, and then the vehicle size level calculation unit 13-2 can determine the size level of the second vehicle among a plurality of size levels. In this regard, reference is made to Figure 8 which will be described more specifically.

[0123] Figure 8 is a conceptual diagram for explaining the process of determining the size level of the second vehicle according to an embodiment of the present application. As Figure 8 indicated, the vehicle size level calculation unit 13-2 divides the ratio value into a plurality of intervals, and for each of the plurality of intervals, the size level of the vehicle can be calculated based on a critical value table matching the size level of the second vehicle.

[0124] As an example, the critical value table can be divided into three intervals based on a first value and a second value, when less than the first value, a first size level corresponding to a small vehicle can be matched, when the calculated ratio is greater than the first value and less than the second value, a second size level corresponding to a medium vehicle can be matched, and when the calculated ratio is greater than the second value, a third size level corresponding to a large vehicle can be matched.

[0125] In this case, when the ratio calculated by the ratio calculation unit 13-1 is less than the first value, the vehicle size level calculation unit 13-2 can determine the size level of the second vehicle as the first size level. Then, when the ratio calculated by the ratio calculation unit 13-1 is greater than the first value and less than the second value, the vehicle size level calculation unit 13-2 can determine the size level of the second vehicle as the second size level. When the ratio calculated by the ratio calculation unit 13-1 is greater than the second value, the vehicle size level calculation unit 13-2 can determine the size level of the second vehicle as the third size level. As an example, the first value can be 48%, and the second value can be 60%.

[0126] In one aspect, referring back to Figure 3, the vehicle width calculating section 13-3 can determine the width of the second vehicle based on the size class of the second vehicle. Specifically, the storage section 14 can store the vehicle width for each of the plurality of size classes, and in this case, the vehicle width calculating section 13-3 can determine the width of the second vehicle VehicleW by detecting the vehicle width corresponding to the determined size class from among the vehicle widths stored in advance in the storage section 14.

[0127] Then, as shown in the above mathematical expression 2, the inter-vehicle distance measuring device 10 can divide the focal distance f of the photographing device 20 by the image width w of the second vehicle 30, and then multiply the width W of the second vehicle 30 calculated by the vehicle width calculating section 13-3, thereby being able to calculate the distance between the photographing device 20 and the second vehicle 30.

[0128] On the other hand, upon calculating the distance between the photographing device 20 and the second vehicle 30, the distance calculating section 13-4 of the inter-vehicle distance measuring device 10 can calculate the distance value between the first vehicle in which the photographing device 20 is installed and the second vehicle 30 by appropriately correcting the distance value between the photographing device 20 and the second vehicle 30 in order to accurately calculate the distance between the vehicles. According to the present application, it is possible to reduce the error of the inter-vehicle distance between the first vehicle and the second vehicle 30, thereby being able to accurately measure the inter-vehicle distance.

[0129] That is, in the case of small cars, medium cars, and large cars that are different in vehicle width from the first vehicle located in front at the same distance, in order to make the respective distance values calculated based on the above mathematical expression 2 the same, it is necessary to know the width of each vehicle. However, in the existing image recognition and detection, it is not possible to confirm all data related to all vehicle types, and thus the prior art measures the inter-vehicle distance by processing the vehicle width using a specific constant value without considering the actual widths of many vehicles (e.g., small cars, medium cars, and large cars) whose widths are different from each other, and thus there is a problem in that the measured inter-vehicle distance value is not accurate.

[0130] However, in order to solve the above problem, the present application can classify the front vehicle into a small car, a medium car, and a large car by using the ratio between the image width of the front vehicle and the lane image width, and then measure the inter-vehicle distance based on the classified result according to the average width matching each of the small car, the medium car, and the large car, thereby being able to reduce the error and more accurately measure the inter-vehicle distance.

[0131] Figure 9 is a conceptual diagram for explaining a method of selecting a second vehicle as a distance measurement object from among a plurality of vehicles included in a travel image according to an embodiment of the present application, as the travel state of a first vehicle changes.

[0132] As Figure 9As shown in (a), the reference vehicle 1, which becomes the distance measurement reference, travels on the first lane, and as the front vehicle, there can be the first front vehicle 2 traveling on the same lane as the reference vehicle 1 and the second front vehicle 3 traveling on a different lane from the reference vehicle 1. In this case, the driver of the reference vehicle 1 only needs to be prompted about the collision danger with the first front vehicle 2 located on the same lane, and does not need to make a judgment about the collision danger with the second front vehicle 3. Therefore, according to an embodiment of the present application, when the reference vehicle 1 travels on a specific lane, the detection unit 12 can select the first front vehicle 2 located on the same lane as the reference vehicle 1 from among the plurality of vehicles included in the travel image as the distance measurement target vehicle, and then detect the selected target vehicle.

[0133] As shown in (a), the reference vehicle 1, which becomes the distance measurement reference, travels on the first lane, and as the front vehicle, there can be the first front vehicle 2 traveling on the same lane as the reference vehicle 1 and the second front vehicle 3 traveling on a different lane from the reference vehicle 1. In this case, the driver of the reference vehicle 1 only needs to be prompted about the collision danger with the first front vehicle 2 located on the same lane, and does not need to make a judgment about the collision danger with the second front vehicle 3. Therefore, according to an embodiment of the present application, when the reference vehicle 1 travels on a specific lane, the detection unit 12 can select the first front vehicle 2 located on the same lane as the reference vehicle 1 from among the plurality of vehicles included in the travel image as the distance measurement target vehicle, and then detect the selected target vehicle. Figure 9 (b), the reference vehicle 1, which becomes the distance measurement reference, travels off the first lane, and as the front vehicle, there can be the first front vehicle 2 traveling on the same lane as the reference vehicle 1 and the second front vehicle 3 traveling on a different lane from the reference vehicle 1. In this case, the driver of the reference vehicle 1 only needs to be prompted about the collision danger with the second front vehicle 3 located in the travel direction, and does not need to make a judgment about the collision danger with the first front vehicle 2. Therefore, according to an embodiment of the present application, when the reference vehicle 1 travels off a specific lane, the detection unit 12 can select the second front vehicle 3 located on the lane toward which the front of the reference vehicle 1 is directed from among the plurality of vehicles included in the travel image as the distance measurement target vehicle, and then detect the selected target vehicle.

[0134] On the one hand, after the target vehicle which becomes the distance measurement target is detected, the distance between the reference vehicle and the target vehicle can be measured based on the distance measurement method described above.

[0135] Figure 10 is a flowchart showing a vehicle-to-vehicle distance measurement method according to an embodiment of the present application. As shown in Figure 10 First, the travel image captured by the imaging device of the first vehicle can be acquired (S100).

[0136] Then, the second vehicle can be detected from the travel image, and the ratio between the image width of the second vehicle and the image width of the lane on which the second vehicle is located can be calculated (S110). Assuming that the first vehicle travels on a lane, the step of detecting the second vehicle can detect the second vehicle located on the same lane as the first vehicle from among the plurality of vehicles included in the travel image. However, when the first vehicle travels off the lane, the step of detecting the second vehicle can detect the second vehicle located on the lane toward which the front of the first vehicle is directed from among the plurality of vehicles included in the travel image.

[0137] Then, a size level of the second vehicle can be determined based on the calculated ratio among a plurality of size levels. The plurality of size levels can include at least two of a first size level corresponding to a small vehicle, a second size level corresponding to a medium vehicle, and a third size level corresponding to a large vehicle.

[0138] Then, a width of the second vehicle can be determined based on the determined size level of the second vehicle (S130). Specifically, the application further includes a step of storing a width of a vehicle for each of a plurality of size levels, and the step of determining the width of the second vehicle (S130) can include detecting a width of a vehicle corresponding to the determined size level among the stored widths of vehicles, and then determining the detected width of the vehicle as the width of the second vehicle.

[0139] Then, a distance from the photographing device to the second vehicle can be calculated based on the determined width of the second vehicle, the focal distance of the photographing device, and the image width of the second vehicle. Specifically, the distance from the photographing device of the first vehicle to the second vehicle can be calculated based on the above mathematical formula 2.

[0140] Figure 11 is a flowchart illustrating a process of calculating a ratio between an image width of a second vehicle and an image width of a lane in which the second vehicle is located according to an embodiment of the application. As shown in Figure 11 The step of calculating the ratio (S110) can include the following steps.

[0141] Specifically, the second vehicle can be detected as a distance measurement object among a plurality of vehicles included in the driving image (S111).

[0142] Then, left and right lane lines of a lane in which the second vehicle is driving can be recognized in the driving image (S112).

[0143] Then, an image width between the recognized left lane line and the recognized right lane line can be determined as the image width of the lane in which the second vehicle is located (S113).

[0144] On the other hand, left and right boundaries of the second vehicle can be recognized in the detected image of the second vehicle (S114).

[0145] Then, an image width between the recognized left boundary and the recognized right boundary can be determined as the image width of the second vehicle (S115).

[0146] On the other hand, according to the above steps, the image width of the second vehicle and the image width of the lane in which the second vehicle is located are determined, and based on this, the ratio between the image width of the second vehicle and the image width of the lane in which the second vehicle is located can be calculated (S116).

[0147] Figure 12 is a flowchart illustrating a method of calculating a vehicle size class according to an embodiment of the present application. As shown in Figure 12 The step of determining the size class of the second vehicle (S120) can be composed of the following steps.

[0148] If the calculated ratio is less than a first value (S121: Y), the size class of the second vehicle can be determined as the first size class (S122).

[0149] If the calculated ratio is greater than the first value (S121: N) and less than a second value (S123: Y), the size class of the second vehicle can be determined as the second size class (S124).

[0150] If the calculated ratio is greater than the second value (S123: N), the size class of the second vehicle can be determined as the third size class (S125).

[0151] On the other hand, the inter-vehicle distance measuring device 10 can be composed of a module of an electronic device that outputs various pieces of prompt information in order to assist a driver in driving or a system for autonomous driving, thereby being able to perform a route prompting function. In this regard, reference is made to Figures 13 to 15 for a more detailed explanation.

[0152] Figure 13 is a block diagram illustrating an electronic device according to an embodiment of the present application. As shown in Figure 13 The electronic device 100 can include all or a part of a storage 110, an input 120, an output 130, an inter-vehicle distance measuring unit 140, an augmented reality providing unit 160, a control unit 170, a communication unit 180, a sensing unit 190, and a power supply unit 195.

[0153] The electronic device 100 can be constituted by a variety of devices such as a smartphone, a tablet, a notebook computer, a PDA (personal digital assistant), a PMP (portable multimedia player), smart glasses, Google Glass, a navigation, a Car dash cam, or a Car video recorder, which can provide a driver of a vehicle with a driving-related prompt, and can be provided on the vehicle.

[0154] The driving-related prompt can include a route prompt, a lane departure prompt, a lane keeping prompt, a preceding vehicle departure prompt, a traffic light change prompt, a preceding vehicle collision prevention prompt, a lane change prompt, a lane prompt, a curve prompt, and various prompts for assisting the driver in driving.

[0155] The route prompt can include an augmented reality route prompt that combines various information such as a position and a direction of a user in a captured image of a front of a vehicle in driving, a 2D (2-Dimensional) or 3D (3-Dimensional) route prompt that combines various information such as a position and a direction of a user in 2D or 3D map data.

[0156] Further, the route prompt can include an aerial map route prompt that combines various information such as a position and a direction of a user in aerial map data. The route prompt can be interpreted to include not only a case in which the user is driving while sitting in a vehicle, but also a case in which the user is moving on foot or running.

[0157] In addition, the lane departure prompt can prompt whether the vehicle in driving departs from a lane.

[0158] In addition, the lane keeping prompt can prompt the vehicle to return to an original lane in driving.

[0159] In addition, the preceding vehicle departure prompt can prompt whether a vehicle located in front of the vehicle in parking departs. The preceding vehicle departure prompt can be performed using an inter-vehicle distance calculated by the inter-vehicle distance measuring unit 140.

[0160] In addition, the traffic light change prompt can prompt whether a signal of a traffic light located in front of the vehicle in parking changes. As an example, when a red light indicating a stop signal is changed to a green light indicating a departure signal, the situation can be prompted.

[0161] In addition, the front vehicle collision prevention prompt is a prompt to prevent a collision with a front vehicle when the distance from the front vehicle located in front of a stopped or running vehicle is within a certain distance. The front vehicle collision prevention prompt can be performed using the inter-vehicle distance calculated by the inter-vehicle distance measuring unit 140.

[0162] In addition, the lane change prompt can be a prompt to change the vehicle from a current lane to another lane in order to prompt a route to a destination.

[0163] In addition, the lane prompt can prompt a lane in which the vehicle is currently located.

[0164] In addition, the curve prompt can be a prompt that the road in which the vehicle is to travel after a certain time is a curve.

[0165] As the front image of the vehicle in which the various prompts can be provided, the driving-related image can be captured by a camera provided on the vehicle or a camera of a smart phone. The camera can be a camera integrated with the electronic device 100 provided on the vehicle to capture the front of the vehicle.

[0166] As another example, the camera can be a camera provided separately from the electronic device 100 on the vehicle to capture the front of the vehicle. In this case, the camera can be another vehicle image capturing device provided to face the front of the vehicle, and the electronic device 100 can input the captured image through wired / wireless communication from the other vehicle image capturing device, or when a storage medium for storing the captured image of the vehicle image capturing device is inserted into the electronic device 100, the electronic device 100 can input the captured image.

[0167] Hereinafter, the electronic device 100 according to an embodiment of the present application will be described in more detail based on the above.

[0168] The storage unit 110 performs a function for storing various data and application programs required when the electronic device 100 operates. In particular, the storage unit 110 can store data required when the electronic device 100 operates, such as an OS, a route exploration application, map data, and the like. In addition, the storage unit 110 can store data generated through the operation of the electronic device 100, such as explored route data, received images, and the like.

[0169] The storage 110 can be constituted not only by memory-form storage elements such as RAM (Random Access Memory), flash memory, ROM (Read Only Memory), EPROM (Erasable Programmable ROM), EEPROM (Electronically Erasable and Programmable ROM), a register, a hard disk, a removable magnetic disk, a memory card, a USIM (Universal Subscriber Identity Module), and the like, but also by detachable-form storage elements such as a USB memory.

[0170] The inputter 120 performs a function of converting a physical input from the outside of the electronic device 100 into a specific electrical signal. Among them, the inputter 120 can include all or a part of the user inputter 121 and the microphone 123.

[0171] The user inputter 121 can receive a user input such as a touch, a push action, and the like. Among them, the user inputter 121 can be constituted by at least one of a variety of button forms, a touch sensor that receives a touch input, and a proximity sensor that receives a proximity action.

[0172] The microphone 123 can receive a user's voice and a sound generated inside and outside the vehicle.

[0173] The outputter 130 is a device that outputs data of the electronic device 100 to a user through an image and / or a voice. Among them, the outputter 130 can include all or a part of the display 131 and the audio outputter 133.

[0174] The display 131 is a device that outputs visually recognizable data to a user. The display 131 can be constituted by a display provided in front of a housing of the electronic device 100. In addition, the display 131 can be integrated with the electronic device 100 to thereby output visually recognizable data, or can be provided separately from the electronic device 100 to thereby output visually recognizable data, as in the case of a HUD.

[0175] The audio outputter 133 is a device that outputs audibly recognizable data of the electronic device 100. The audio outputter 133 can be constituted by a speaker that represents data to be informed to a user of the electronic device 100 in a sound.

[0176] The inter-vehicle distance measurer 140 can perform the function of the above-described inter-vehicle distance measuring device 10.

[0177] The augmented reality providing unit 160 can provide an augmented reality view mode. The augmented reality can be a method of providing a view in which information (e.g., a graphic element indicating a point of interest (POI), a graphic element indicating a danger of collision with a vehicle ahead, a graphic element indicating a distance between vehicles, a graphic element indicating a curve, various pieces of information that assist safe driving of a driver, etc.) is visually overlaid on a picture representing a real world that a user actually sees.

[0178] The augmented reality providing unit 160 can include all or a part of a calibration unit, a 3D space generating unit, an individual generating unit, and a mapping unit.

[0179] The calibration unit can perform calibration in order to estimate camera parameters belonging to a camera from a photographed image photographed by the camera. The camera parameters, which are parameters constituting a camera matrix that is information indicating a relationship in which a real space is established in a photograph, can include extrinsic parameters and intrinsic parameters of the camera.

[0180] The 3D space generating unit can generate a virtual 3D space based on a photographed image photographed by the camera. Specifically, the 3D space generating unit can generate a virtual 3D space by applying camera parameters estimated by the calibration unit to a 2D photographed image.

[0181] The individual generating unit can generate individuals for a prompt on the augmented reality, such as a collision prevention prompt individual for a vehicle ahead, a route prompt individual, a lane change prompt individual, a lane departure prompt individual, a curve prompt individual, etc.

[0182] The mapping unit can map individuals generated by the individual generating unit to a virtual 3D space generated by the 3D space generating unit. Specifically, the mapping unit can determine a position of an individual generated in the individual generating unit in the virtual 3D space and map the individual at the determined position.

[0183] On the other hand, the communication unit 180 can be provided in order to enable the electronic device 100 to communicate with other devices. The communication unit 180 can include all or a part of a location data unit 181, a wireless network unit 183, a broadcast transceiver unit 185, a mobile communication unit 186, a close proximity communication unit 187, and a wired communication unit 189.

[0184] The position data section 181 is a device that acquires position data through a GNSS (Global Navigation Satellite System). The GNSS refers to a navigation system that can calculate the position of a receiving terminal using an electric wave signal received from an artificial satellite. As a specific example of the GNSS, according to the operating body thereof, it can be a GPS (Global Positioning System), Galileo, GLONASS (Global Orbiting Navigational Satellite System), COMPASS, IRNSS (Indian Regional Navigational Satellite System), QZSS (Quasi-Zenith Satellite System). The position data section 181 of the system according to an embodiment of the present application can receive a GNSS signal that is serviced in the area where the electronic device 100 is used, and acquire position data. Alternatively, the position data section 181 can acquire position data through communication with a base station or an AP (Access Point) in addition to the GNSS.

[0185] The wireless network section 183 is a device that is connected to a wireless network to acquire data or transmits / receives data. The wireless network section 183 can be connected to a network through a variety of communication protocols defined to transmit / receive wireless data of a WLAN (Wireless LAN), Wibro (Wireless broadband), Wimax (World interoperability for microwave access), HSDPA (High Speed Downlink Packet Access).

[0186] The broadcast transceiving section 185 is a device that transceives a broadcast signal through various broadcast systems. The broadcast system that can be transceived through the broadcast transceiving section 185 can be DMBT (Digital Multimedia Broadcasting Terrestrial), DMBS (Digital Multimedia Broadcasting Satellite), MediaFLO (Media Forward Link Only), DVBH (Digital Video Broadcast Handheld), ISDBT (Integrated Services Digital Broadcast Terrestrial), and the like. The broadcast signal transceived through the broadcast transceiving section 185 can include traffic data, life data, and the like.

[0187] The mobile communication section 186 can connect with a mobile communication network according to various mobile communication standards such as 3G (3rd Generation), 3GPP (3rd Generation Partnership Project), LTE (Long Term Evolution), and the like, and thereby perform voice and data communication.

[0188] The close proximity communication section 187 is a device for performing close proximity communication. As described above, the close proximity communication section 187 can perform communication through Bluetooth, RFID (Radio Frequency Identification), infrared communication (IrDA, Infrared Data Association), UWB (Ultra WideBand), ZigBee (Wireless Personal Area Network), NFC (Near Field Communication), Wi-Fi (Wireless-Fidelity), and the like.

[0189] The wired communication section 189 is an interface device that can wirelessly connect the electronic device 100 with other devices. The wired communication section 189 can be a USB module that performs communication through a USB port.

[0190] The communication section 180 can communicate with other devices using at least one of the position data section 181, the wireless network section 183, the broadcast transceiving section 185, the mobile communication section 186, the close proximity communication section 187, and the wired communication section 189.

[0191] As an example, when the electronic device 100 does not include a camera function, an image captured by a vehicle image capturing device such as a car video recorder or a car video camera can be received using at least one of the close proximity communication section 187 or the wired communication section 189.

[0192] As another example, when communicating with a plurality of devices, one can communicate through the close proximity communication section, and the other can communicate through the wired communication section 119.

[0193] The sensing section 190 is a device that can sense a current state of the electronic device 100. The sensing section 190 can include all or a part of the motion sensing section 191 and the light sensing section 193.

[0194] The motion sensing section 191 can sense a motion in a 3D space of the electronic device 100. The motion sensing section 191 can include a 3-axis geomagnetic sensor and a 3-axis acceleration sensor. By combining motion data acquired by the motion sensing section 191 with position data acquired by the position data section 181, a trajectory of a vehicle in which the electronic device 100 is installed can be more accurately calculated.

[0195] The light sensing section 193 is a device that detects ambient illuminance of the system 100. The brightness of the display section 131 can be changed to correspond to the ambient brightness by using illuminance data acquired by the light sensing section 193.

[0196] The power section 195 is a device that supplies a required power for the operation of the electronic device 100 or the operation of another device connected to the electronic device 100. The power section 195 can be a battery installed in the electronic device 100 or a device that receives power from an external power source such as a vehicle. In addition, the power section 195 can be configured by the wired communication module 119 or a device that receives power wirelessly, according to a form of power reception.

[0197] The control section 170 controls the overall operation of the electronic device 100. Specifically, the control section 170 can control all or a part of the storage section 110, the input section 120, the output section 130, the inter-vehicle distance measuring section 140, the augmented reality providing section 160, the communication section 180, the sensing section 190, and the power section 195.

[0198] Specifically, the control unit 170 can control the output unit 130 to output the front vehicle collision warning according to the inter-vehicle distance calculated by the inter-vehicle distance measuring unit 140. As an example, the output unit 130 can include a display unit 131 that combines the captured driving image with the prompt individual to output the augmented reality image. In this case, the control unit 170 can control the display unit 131 to generate the prompt individual for the front vehicle collision warning and overlap the generated prompt individual for the front vehicle collision warning with the front vehicle display area of the augmented reality image. Among them, the prompt individual appearing can represent mutually different prompt individuals according to the collision danger level corresponding to the difference between the distances between the first vehicle and the second vehicle. As an example, the difference between the distances between the first vehicle and the second vehicle is divided into multiple levels, when the inter-vehicle distance is less than a first value, a prompt individual for prompting a first danger level can be represented, when the inter-vehicle distance is greater than the first value and less than a second value, a prompt individual for prompting a second danger level higher than the first danger level can be represented, and when the inter-vehicle distance is greater than the second value, a prompt individual for prompting a third danger level higher than the second danger level can be represented.

[0199] Figure 14 is a schematic diagram for explaining a system network connected with the electronic device according to an embodiment of the present application. As shown in Figure 14 , the electronic device 100 according to an embodiment of the present application can be constituted by various devices provided on a vehicle such as a navigation device, a vehicle image capturing device, a smart phone, or other vehicle augmented reality interface providing devices, and can be connected with various communication networks and other electronic devices 61 to 64.

[0200] In addition, the electronic device 100 can be linked with a GPS module according to a radio wave signal received from an artificial satellite 70, and thus can calculate a current position and a current time.

[0201] Each artificial satellite 70 can transmit an L-band frequency different in frequency band. The electronic device 100 can calculate a current position based on a time consumed until the L-band frequency transmitted from each artificial satellite 70 reaches the electronic device 100.

[0202] On the other hand, the electronic device 100 can be wirelessly connected with a network 90 through a communication unit 180 and through a control station (ACR) 80, a base station (RAS) 85, an AP (Access Point), etc. When the electronic device 100 is connected with the network 90, it is also indirectly connected with other electronic devices 61, 62 connected with the network 90, and thus can exchange data.

[0203] In one aspect, the electronic device 100 can also be indirectly connected to the network 90 through the other device 63 having a communication function. For example, when the electronic device 100 does not have a module capable of connecting to the network 90, the electronic device 100 can communicate with the other device 63 having a communication function through a close proximity communication module or the like.

[0204] Figure 15 is a schematic view illustrating a vehicle collision prevention prompt screen of an electronic device according to an embodiment of the present application. As shown in Figure 15 , the electronic device 100 can generate a prompt individual indicating a vehicle collision danger and output the generated prompt individual 1001 through augmented reality.

[0205] The prompt individual 1001 can be an individual indicating a state in which the user needs to be cautious. That is, the vehicle collision prevention prompt can be a prompt that there is a danger of collision with a vehicle in front when the distance between the vehicle and the vehicle in front decreases to within a predetermined distance. In the present embodiment, the prompt individual 1001 is constituted by a texture image, so that it can be expressed through augmented reality. Thus, the driver can easily recognize the road on which the own vehicle is traveling.

[0206] In addition, the electronic device 100 can output the prompt individual 1001 through voice.

[0207] Figure 16 is a schematic view illustrating an embodiment of the electronic device according to the present application when the electronic device does not have a photographing portion. As shown in Figure 16 , the vehicle image photographing apparatus 200 provided separately from the electronic device 100 can constitute a system according to an embodiment of the present application using a wired / wireless communication method.

[0208] The electronic device 100 can include a display portion 131 provided on the front of the housing 191, a user input portion 121, and a microphone portion 123.

[0209] The vehicle image photographing apparatus 200 can include a camera 222, a microphone 224, and an adhesive portion 281.

[0210] Figure 17 is a schematic view illustrating an embodiment of the electronic device according to the present application when the electronic device has a photographing portion. As shown in Figure 17 , when the electronic device 100 includes a photographing portion 150, the photographing portion 150 of the electronic device 100 can photograph the front of the vehicle, and the user can recognize the display portion of the electronic device 100. Thus, a system according to an embodiment of the present application can be constituted.

[0211] Figure 18is a schematic diagram showing an embodiment of a HUD (Head-Up Display) according to an embodiment of the present application. As shown in Figure 18 The HUD can communicate with other devices through wired / wireless communication, and display an augmented reality prompt screen on the HUD.

[0212] As an example, the augmented reality can be provided by a HUD using a front window of a vehicle or image synthesis using another image output device, and the augmented reality providing unit 160 can generate a real image or an interface image overlaid on glass, as described above. Thus, an augmented reality navigator or a vehicle infotainment system can be configured.

[0213] Figure 19 is a block diagram showing an autonomous driving system according to an embodiment of the present application. As shown in Figure 19 The autonomous driving system 2000 provided on the vehicle 1000 can include a vehicle-to-vehicle distance measuring device 10 and an autonomous driving control device 300.

[0214] The vehicle-to-vehicle distance measuring device 10 can measure a distance between the vehicle 1000 and a front vehicle, and the measured vehicle-to-vehicle distance value can be transmitted to the autonomous driving control device 300.

[0215] In this case, the autonomous driving control device 300 can control autonomous driving of the vehicle 1000 based on vehicle-to-vehicle distance information obtained from the vehicle-to-vehicle distance measuring device 10. Specifically, when the obtained vehicle-to-vehicle distance is less than a predetermined distance, the autonomous driving control device 300 can control a speed of the vehicle 1000 to decelerate from a current speed to a predetermined speed or control various units (brakes, steering wheels, etc.) provided on the vehicle 1000 to stop the vehicle 1000. That is, the vehicle 1000 can control autonomous driving of the vehicle 1000 based on the vehicle-to-vehicle distance obtained from the vehicle-to-vehicle distance measuring device 10.

[0216] In addition, the autonomous driving control device 300 according to still another embodiment of the present application can generate an instruction to a driving device of the vehicle 1000 to control a travel speed so that the vehicle-to-vehicle distance obtained from the vehicle-to-vehicle distance measuring device 10 is maintained at a predetermined distance.

[0217] In addition, in order to maintain a ratio between a width of a detected front vehicle and a width of a lane in which the front vehicle is located at a certain value, the autonomous driving control device 300 according to still another embodiment of the present application can control a vehicle speed of the vehicle 1000 so that a distance between the vehicle 1000 and the front vehicle is maintained at a certain distance.

[0218] In one aspect, as other embodiments, the inter-vehicle distance measurement method according to the present application can be constituted by modules within the control device 2100 of the autonomous vehicle 2000. That is, the memory 2122 and the processor 2124 of the control device 2100 can be caused to embody the inter-vehicle distance measurement method according to the present application by software.

[0219] Hereinafter, the inter-vehicle distance measurement method according to the present application will be described in more detail with reference to Figure 20 FIG. 1.

[0220] Figure 20 is a block diagram showing the structure of an autonomous vehicle 2000 according to an embodiment of the present application.

[0221] As shown in Figure 20 FIG. 1, the autonomous vehicle 2000 according to the present embodiment can include a control device 2100, sensing modules 2004a, 2004b, 2004c, 2004d, an engine 2006, and a user interface 2008.

[0222] In the present embodiment, the control device 2100 can include a controller 2120 including a memory 2122 and a processor 2124, a sensor 2110, a wireless communication device 2130, a LIDAR (Light Detection and Ranging) 2140, and a camera module 2150.

[0223] In the present embodiment, the controller 2120 can be provided at the time of manufacturing the vehicle by the manufacturing company of the vehicle, or can be further provided after the vehicle is manufactured in order to perform the function of autonomous driving. Alternatively, a structure can be included in which an additional function is continuously performed by upgrading the controller 2120 provided at the time of manufacturing.

[0224] The controller 2120 can transmit a control signal to the sensor 2110 including other structures within the vehicle, the engine 2006, the user interface 2008, the wireless communication device 2130, the LIDAR 2140, and the camera module 2150. In addition, although not shown, a control signal can also be transmitted to an acceleration device, a braking system, a steering device, or a navigation device related to the travel of the vehicle.

[0225] In the present embodiment, the controller 2120 can control the engine 2006, for example, can sense the speed limit of the road in which the autonomous vehicle 2000 is traveling, control the engine 2006 to make the traveling speed not exceed the speed limit, or control the engine 2006 to make the autonomous vehicle 2000 accelerate within the range of not exceeding the speed limit. In addition, the controller 2120 can sense the distance between the autonomous vehicle 2000 and the vehicle located in front, and control the engine 2006 to control the vehicle speed according to the distance between the vehicles. In addition, further, the sensing modules 2004a, 2004b, 2004c, 2004d can sense the environment outside the vehicle and transmit to the sensor 2110, at this time, the controller 2120 receives the information, generates a signal to control the engine 2006 or the steering device (not shown), thereby controlling the vehicle to travel.

[0226] When there is another vehicle or obstacle in front of the vehicle, the controller 2120 can control the engine 2006 or the brake system to slow down the traveling vehicle, in addition to the vehicle speed, the trajectory, the travel route, the steering angle can also be controlled. In addition, the controller 2120 can generate the required control signal according to the identification information of the travel lane of the vehicle, the travel signal and other external environment, thereby controlling the vehicle to travel.

[0227] In addition to generating its own control signal, the controller 2120 can also communicate with surrounding vehicles or central servers, and through the received information, transmit instructions for controlling surrounding devices, thereby the vehicle can be controlled to travel.

[0228] In the present embodiment, the controller 2120 can include a memory 2122 and a processor 2124. The processor 2124 can run the software stored in the memory 2122 according to the control signal of the controller 2120. Specifically, the controller 2120 can store data and instructions for performing the inter-vehicle distance measurement method according to the present application in the memory 2122, and the instructions are executed by the processor 2124 in order to implement one or more methods disclosed herein.

[0229] At this time, the memory 2122 can be stored in a non-volatile recording medium that can be executed by the processor 2124. The memory 2122 can store software and data by appropriate internal and external devices. The memory 2122 can be composed of RAM, ROM, hard disk, memory 2122 device connected with adapter.

[0230] The memory 2122 can at least store an operating system (OS), a user application, an executable instruction. The memory 2122 can also store application data, arrangement data structure.

[0231] The processor 2124 can be embodied by a microprocessor or a suitable electronic processor, which can be a controller, a microcontroller, or a state machine.

[0232] The processor 2124 can be embodied by a combination of computing devices, which can be constituted by a digital signal processor, a microprocessor, or a combination thereof.

[0233] In addition, in the present embodiment, the control device 2100 can monitor the internal and external features of the autonomous vehicle 2000 and sense the state through the at least one sensor 2110.

[0234] The sensor 2110 can be constituted by at least one sensing module 2004, which can be disposed at a specific position of the autonomous vehicle 2000 according to a sensing purpose. It can be located at the lower portion, the rear end, the front end, the upper end, or the side end of the autonomous vehicle 2000, or can be located on the internal device or the tire of the vehicle, etc.

[0235] Thus, the sensing module 2004, as internal information of the vehicle, can sense information related to driving such as the engine 2006, the tire, the steering angle, the vehicle speed, the weight of the vehicle, etc. In addition, the at least one sensing module 2004 can be constituted by an acceleration sensor 2110, a gyroscope, an image sensor 2110, a RADAR, an ultrasonic sensor, a LIDAR sensor, etc., and can sense movement information of the autonomous vehicle 2000.

[0236] The sensing module 2004, as external information, can receive state information of the road where the autonomous vehicle 2000 is located, surrounding vehicle information, weather, etc. related to the external environmental state, and can also sense the parameters of the vehicle based thereon. The sensed information can be stored in the memory 2122 according to a temporary or long-term purpose.

[0237] In the present embodiment, the sensor 2110 can collect information of a plurality of sensing modules 2004 for collecting information generated inside and outside the autonomous vehicle 2000.

[0238] The control device 2100 can further include a wireless communication device 2130.

[0239] The wireless communication device 2130 is formed to embody wireless communication with the automated driving vehicle 2000. For example, the automated driving vehicle 2000 can be caused to communicate with a smartphone or other wireless communication device 2130 of a user, other vehicles, a central device (traffic control device), a server, and the like. The wireless communication device 2130 can transmit and receive wireless signals according to a connection wireless protocol. The wireless communication protocol can be Wi-Fi, Bluetooth, Long-Term Evolution (LTE), Code Division Multiple Access (CDMA), Wideband Code Division Multiple Access (WCDMA), Global Systems for Mobile Communications (GSM), and the like, but is not limited thereto.

[0240] In addition, in the present embodiment, the automated driving vehicle 2000 can also perform inter-vehicle communication through the wireless communication device 2130. That is, the wireless communication device 2130 can communicate with other vehicles on the road and other vehicles through vehicle-to-vehicle (V2V) communication. The automated driving vehicle 2000 can receive information such as driving warnings, traffic information, and the like through the inter-vehicle communication, and can also invite information to or receive invitations from other vehicles. For example, the wireless communication device 2130 can perform V2V communication through a dedicated short-range communication (DSRC) device or a C-V2V (Celluar-V2V) device. In addition, in addition to communication between vehicles, communication between vehicles and other things (for example, electronic devices carried by pedestrians, and the like) (V2X, Vehicle to Everything communication) can also be performed through the wireless communication device 2130.

[0241] In addition, the control device 2100 can include a LIDAR device 2140. The LIDAR device 2140 can explore individuals around the autonomous vehicle 2000 in motion using data sensed by the LIDAR sensor. The LIDAR device 2140 can transmit the explored information to the controller 2120, which can cause the autonomous vehicle 2000 to act according to the explored information. For example, when the presence of a preceding vehicle traveling at low speed is included in the explored information, the controller 2120 can issue an instruction to the engine 2006 to cause the vehicle to slow down. Alternatively, an instruction to slow down for entry can be issued according to the curvature of a curve into which the vehicle is to enter.

[0242] The control device 2100 can further include a camera module 2150. The controller 2120 can extract individual information from an external image captured by the camera module 2150, and then the controller 2120 processes information related thereto.

[0243] In addition, the control device 2100 can further include an imaging device for recognizing an external environment. In addition to the LIDAR 2140, a RADAR, a GPS device, an odometry device, and other computer vision devices can be used, which can be selectively or simultaneously activated as needed, thereby enabling more accurate sensing.

[0244] The autonomous vehicle 2000 can further include a user interface 2008 for the control device 2100 described above, for input by a user. The user interface 2008 can provide for input by a user through appropriate interaction. For example, it can be composed of a touch screen, a keyboard, operation buttons, etc. The user interface 2008 can transmit input or instructions to the controller 2120, and the controller 2120, in response to the input or instructions, can control the motion of the vehicle.

[0245] In addition, the user interface 2008 can enable the autonomous vehicle 2000 to communicate with devices outside the autonomous vehicle 2000 through the wireless communication device 2130. For example, the user interface 2008 can be linked to a smartphone, a tablet, or other computer equipment.

[0246] Further, in the present embodiment, the autonomous vehicle 2000 is described as including an engine 2006, but other types of propulsion systems can also be included. For example, the vehicle can be operated by electric energy, or by hydrogen energy or a hybrid system combining the same. Accordingly, the controller 2120 can include propulsion mechanisms based on the propulsion system of the autonomous vehicle 2000, and then provide control signals based thereon to each propulsion mechanism structure.

[0247] Hereinafter, reference will be made to Figure 21A detailed description will be given of the specific configuration of the control device 2100 for executing the inter-vehicle distance measurement method according to the present embodiment.

[0248] The control device 2100 includes a processor 2124. The processor 2124 can be a general-purpose single- or multi-chip microprocessor, a special-purpose microprocessor, a microcontroller, a programmable logic device, etc. The processor can be referred to as a central processing unit (CPU). In addition, in the present embodiment, the processor 2124 can also be used by a combination of a plurality of processors.

[0249] The control device 2100 also includes a memory 2122. The memory 2122 can also be any electronic element capable of storing electronic information. The memory 2122 can also include a combination of memories 2122 in addition to a single memory.

[0250] Data and instructions 2122a for executing the inter-vehicle distance measurement method according to the present embodiment can be stored in the memory 2122. When the processor 2124 executes the instructions 2122a, the instructions 2122a and all or a part of the data 2122b required for executing the instructions can also be loaded 2124a, 2124b onto the processor 2124.

[0251] The control device 2100 can also include a transmitter 2130a, a receiver 2130b, or a transceiver 2130c that allows signal transceiving. One or more antennas 2132a, 2132b can also be electrically connected to the transmitter 2130a, the receiver 2130b, or each transceiver 2130c, and can further include a wire.

[0252] The control device 2100 can also include a digital signal processor (DSP) 2170. The vehicle can rapidly process digital signals through the DSP 2170.

[0253] The control device 2100 can also include a communication interface 2180. The communication interface 2180 can also include one or more interfaces and / or communication modules for connecting other devices to the control device 2100. The communication interface 2180 can allow a user to interact with the control device 2100.

[0254] The various structures of the control device 2100 can also be connected as one through one or more buses 2190, which can include a power bus, a control signal bus, a status signal bus, a data bus, etc. Through the control of the processor 2124, the structures can transfer information to each other through the buses 2190 and perform the desired functions.

[0255] In one aspect, for convenience of explanation, the above-described embodiment has been described taking an example in which the distance between the reference vehicle and the front vehicle is calculated, but the present application is not limited thereto. The inter-vehicle distance measuring method according to the present application can also be identically applied to calculating the distance between the reference vehicle and the rear vehicle.

[0256] In one aspect, the terms "first", "second", "third", and "fourth" and the like in the description and in the claims, where they are used, are used as labels for the purpose of distinguishing between like elements having a same function in order to achieve a clearer description since it is apparent that the above-mentioned terms are not intended to limit the scope of the present application. The same can apply to the terms "front", "rear", "upper", "lower", "top", "bottom", "over", "under", and the like in the description and in the claims, where they are used. The terms "connected", "coupled", "connected", "joined", "connected", "joined", and the like in the description and in the claims, where they are used, are used to indicate either a direct connection between elements or an indirect connection between elements in which one or more additional elements are present. It will be apparent to those skilled in the art that other elements not present are implicitly incorporated into the description and the claims as a result of the use of these terms. Thus, a given term connotes both a direct connection between elements and an indirect connection between elements in which one or more additional elements are present.

[0257] In addition, the terms "left", "right", "front", "rear", "upper", "lower", "over", "under", and the like in the description and in the claims are used for the purpose of illustration and are not necessarily intended to indicate an unchangeable relative position. The terms used in conjunction therewith are understood to be interchangeable in appropriate circumstances so that the embodiments of the present application described herein can act in other directions not shown or described herein. The term "connected" used herein is defined as being directly or indirectly connected by electrical or non-electrical means. The objects described herein as being "adjacent" to each other can be appropriately objects that are in physical contact with each other or adjacent to each other or in the same general scope or area of each other depending on the article in which the statement is used. The statement "in an embodiment" present herein refers to the same embodiment, but is not necessarily so.

[0258] In addition, various variations of the expressions "connected", "connected", "connected", "connected", "connected", "connected", and the like in the description and in the claims are used as a meaning including direct connection with other constituent elements or indirect connection through other constituent elements.

[0259] In addition, the suffixes "module" and "part" of the constituent elements used in the present specification are given or mixed only for the purpose of facilitating the writing of the specification, and do not inherently have a meaning or function of distinguishing each other.

[0260] Also, the terms used in the present specification are used to describe the embodiments and not to limit the present application. In the present specification, the singular forms are intended to include the plural forms as well, unless otherwise specified herein. The meaning of "comprise" and / or "comprising," as used in the specification, excludes the presence of one or more other constituents, steps, actions and / or elements, unless otherwise specified herein.

[0261] The above-described embodiments of the present application have been described centering on the preferred embodiments of the present application. All of the embodiments and conditional examples disclosed in the present specification are described by those skilled in the art for the purpose of making the reader easily understand the principles and concepts of the present application, and those skilled in the art should understand that the present application can be embodied by various modifications without departing from the essential characteristics of the present application.

[0262] Accordingly, the disclosed embodiments should be considered in a descriptive sense only and not limiting. The scope of the present application is defined in the claims rather than the specification, and all differences within the scope of equivalents thereof should be construed as being included in the present application.

[0263] In one aspect, the above-described vehicle distance measuring method according to various embodiments of the present application can be embodied by a program and provided to a server or a device. Thus, each device is connected with the server or the device in which the program is stored, and thus the program can be downloaded.

[0264] In addition, the above-described control method according to various embodiments of the present application can be embodied by a program and stored in various non-transitory computer readable media to be provided. The non-transitory computer readable media refers to a medium that stores data semi-permanently and is readable by a device, not a medium that stores data for a short period of time such as a register, a cache, a memory, etc. Specifically, the above-described various applications or programs can be stored in a non-transitory computer readable medium such as a CD, a DVD, a hard disk, a Blu-ray disc, a USB, a memory card, a ROM, etc. to be provided.

[0265] In addition, the above-described embodiments of the present application have been illustrated and described centering on the preferred embodiments of the present application, however, the present application is not limited to the above-described specific embodiments, and those skilled in the art can embody various modifications without departing from the essential characteristics of the present application requested in the scope of claims, and furthermore, the modified embodiments should not be interpreted separately from the technical idea or prospect of the present application.

Claims

1. A method of controlling automatic driving using a processor, the method comprising: acquiring a travel image captured by a capturing device of a first vehicle in travel; detecting a second vehicle from the travel image and calculating a ratio between an image width of the detected second vehicle and an image width of a lane in which the second vehicle is located; determining a size class of the second vehicle in a plurality of size classes by comparing the calculated ratio with one or more existing values; storing a vehicle width of each of the plurality of size classes; determining a width of the second vehicle as a stored vehicle width corresponding to the determined size class of the second vehicle among the stored vehicle widths; calculating a distance from the capturing device to the second vehicle based on the determined width of the second vehicle, a focal distance of the capturing device, and the image width of the second vehicle; and controlling automatic driving of the first vehicle based on the calculated distance, wherein the plurality of size classes includes at least two of a first size class corresponding to a small vehicle, a second size class corresponding to a medium vehicle, and a third size class corresponding to a large vehicle. controlling automatic driving of the first vehicle includes:

2. The method of claim 1, wherein, controlling a travel speed of the first vehicle to decelerate from a current speed to a predetermined speed or controlling the first vehicle to stop when the calculated distance is less than a predetermined distance. controlling automatic driving of the first vehicle includes:

3. The method of claim 1, wherein, controlling a travel speed of the first vehicle such that the calculated distance remains a predetermined distance. controlling automatic driving of the first vehicle includes:

4. The method of claim 1, wherein, transmitting the calculated distance to an automatic driving control device of the first vehicle. calculating the ratio includes:

5. The method of claim 1, wherein, detecting the second vehicle as a distance measurement object among a plurality of vehicles included in the travel image; identifying a left lane line and a right lane line of a lane in which the second vehicle is in travel from the travel image; and determining an image width between the identified left lane line and the identified right lane line as the image width of the lane in which the second vehicle is located. calculating the ratio includes:

6. The method of claim 1, wherein, identifying a left boundary and a right boundary of the second vehicle from the detected image of the second vehicle; and determining an image width between the identified left boundary and the identified right boundary as the image width of the second vehicle. determining the size class of the second vehicle includes:

7. The method of claim 1, wherein, determining the size class of the second vehicle as the first size class when the calculated ratio is less than a first value; determining the size class of the second vehicle as the second size class when the calculated ratio is greater than the first value and less than a second value; and determining the size class of the second vehicle as the third size class when the calculated ratio is greater than the second value. in detecting the second vehicle when the first vehicle is traveling on the lane, 8. The method of claim 1, wherein, detecting the second vehicle among a plurality of vehicles included in the travel image as being on the same lane as the first vehicle. in detecting the second vehicle when the first vehicle is off the lane, 9. The method of claim 1, wherein, ​ Among a plurality of vehicles included in the travel image, the second vehicle located on a lane toward a front of the first vehicle is detected.

10. The method of claim 1, wherein, The distance is calculated based on the following mathematical expression D = W x (f ÷ w), and D is a distance from the photographing device to the second vehicle, W is a width of the second vehicle, f is a focal distance of the photographing device, and w is an image width of the second vehicle.

11. An apparatus for controlling automatic driving, the apparatus comprising: an image acquisition section configured to acquire a travel image photographed by a photographing device of a first vehicle traveling; a detection section configured to detect a second vehicle from the travel image; a ratio calculation section configured to calculate a ratio between an image width of the detected second vehicle and an image width of a lane in which the second vehicle is located; a vehicle size class calculation section configured to determine a size class of the second vehicle among a plurality of size classes by comparing the calculated ratio with one or more existing values; a vehicle width calculation section configured to store a vehicle width of each of the plurality of size classes, and determine the width of the vehicle as a stored vehicle width corresponding to the determined size class of the second vehicle among the stored vehicle widths; a distance calculation section configured to calculate a distance from the photographing device to the second vehicle based on the determined width of the second vehicle, a focal distance of the photographing device, and an image width of the second vehicle; and a controller configured to control automatic driving of the first vehicle based on the calculated distance, wherein the plurality of size classes include at least two of a first size class corresponding to a small vehicle, a second size class corresponding to a medium vehicle, and a third size class corresponding to a large vehicle. The controller controls a travel speed of the first vehicle to decelerate from a current speed to a predetermined speed or controls the first vehicle to stop when the calculated distance is less than a predetermined distance.

12. The apparatus of claim 11, wherein, The controller controls a travel speed of the first vehicle such that the calculated distance remains a predetermined distance.

13. The apparatus of claim 11, wherein, The controller transmits the calculated distance to an automatic driving control apparatus of the first vehicle.

14. The apparatus of claim 11, wherein, The detection section detects the second vehicle as a distance measurement object among a plurality of vehicles included in the travel image, and 15. The apparatus of claim 11, wherein, The ratio calculation section identifies a left lane line and a right lane line of a lane in which the second vehicle travels from the travel image, and determines an image width between the identified left lane line and the identified right lane line as the image width of the lane in which the second vehicle is located. The ratio calculation section identifies a left boundary and a right boundary of the second vehicle from an image of the detected second vehicle, and determines an image width between the identified left boundary and the identified right boundary as the image width of the second vehicle.

16. The apparatus of claim 11, wherein, ​ 17. The apparatus of claim 11, wherein, When the calculated ratio is smaller than a first value, the vehicle size class calculation section determines a size class of the second vehicle as the first size class; when the calculated ratio is larger than the first value and smaller than a second value, the vehicle size class calculation section determines the size class of the second vehicle as the second size class; and when the calculated ratio is larger than the second value, the vehicle size class calculation section determines the size class of the second vehicle as the third size class.

18. The apparatus of claim 11, wherein, The distance calculation section calculates a distance from the imaging device to the second vehicle based on the following mathematical expression D = W x (f ÷ w), and D is the distance from the imaging device to the second vehicle, W is a width of the second vehicle, f is a focal distance of the imaging device, and w is an image width of the second vehicle.

19. A non-transitory computer-readable recording medium including a program for executing a method for controlling automatic driving, The method includes: detecting a second vehicle from a travel image captured by an imaging device of a first vehicle and calculating a ratio between an image width of the detected second vehicle and an image width of a lane in which the second vehicle is located; determining a size class of the second vehicle among a plurality of size classes by comparing the calculated ratio with one or more existing values; storing a vehicle width of each of the plurality of size classes; determining a width of the second vehicle as a stored vehicle width corresponding to the determined size class of the second vehicle among the stored vehicle widths; calculating a distance from the imaging device to the second vehicle based on the determined width of the second vehicle, a focal distance of the imaging device, and an image width of the second vehicle; and controlling automatic driving of the first vehicle based on the calculated distance, wherein the plurality of size classes includes at least two of a first size class corresponding to a small vehicle, a second size class corresponding to a medium vehicle, and a third size class corresponding to a large vehicle. Controlling the automatic driving of the first vehicle includes: 20.The non-transitory computer-readable recording medium of claim 19, wherein, when the calculated distance is smaller than a predetermined distance, controlling a travel speed of the first vehicle to decelerate from a current speed to a predetermined speed or controlling the first vehicle to stop. when the calculated distance is smaller than a predetermined distance, controlling a travel speed of the first vehicle to decelerate from a current speed to a predetermined speed or controlling the first vehicle to stop.

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