Moving object collision warning system and method for large vehicle

A moving object collision warning system for a large vehicle, comprising:

• a rear camera module mounted on the rear of at least one side of a large vehicle, and configured to take an image of an object while facing the front of the large vehicle;
• an image receiving unit configured to receive the image taken by the rear camera module;
• a moving object determination unit configured to recognize the image received by the image receiving unit, extract an object included in the image, and determine whether the extracted object is a moving object, wherein the moving object includes one or more of a bicycle, a two-wheeled vehicle and a pedestrian;
• a moving object collision possibility determination unit configured to determine whether the moving object determined by the moving object determination unit is located in a preset danger zone, and output a collision risk signal;
• a warning unit configured to output a visual or audible warning signal to a driver of the large vehicle;
• and
• a controller configured to operate the warning unit when the moving object collision possibility determination unit outputs the collision risk signal,
• wherein the moving object collision possibility determination unit recognizes a contour point of the large vehicle and the contour point bottom of the moving object, calculates a horizontal distance between the large vehicle and the moving object on the road based on Equation 4 below, and outputs the collision risk signal when the horizontal distance is less than a predefined horizontal danger distance:
• W
• =
• fw
• y
• ,
• Equation
• ⁢
• ⁢
• 4
• where W represents the horizontal distance between the large vehicle and the moving object on the road, f represents a focal distance of the rear camera module, w represents a horizontal distance between the contour point bottom of the moving object and the contour point of the large vehicle on a viewport taken by the rear camera module, and y represents a distance between the contour point bottom of the moving object and the vanishing point on the viewport filmed by the rear camera module.

A moving object collision warning system for a large vehicle, comprising:

• a rear camera module mounted on the rear of at least one side of a large vehicle, and configured to take an image of an object while facing the front of the large vehicle;
• an image receiving unit configured to receive the image taken by the rear camera module;
• a moving object determination unit configured to recognize the image received by the image receiving unit, extract an object included in the image, and determine whether the extracted object is a moving object, wherein the moving object includes one or more of a bicycle, a two-wheeled vehicle and a pedestrian;
• a moving object collision possibility determination unit configured to determine whether the moving object determined by the moving object determination unit is located in a preset danger zone, and output a collision risk signal;
• a warning unit configured to output a visual or audible warning signal to a driver of the large vehicle;
• and
• a controller configured to operate the warning unit when the moving object collision possibility determination unit outputs the collision risk signal,
• wherein the moving object collision possibility determination unit recognizes a contour point of the large vehicle and the contour point bottom of the moving object, calculates a vertical distance between the rear camera module and the moving object on the road based on Equation 2 below, calculates a horizontal distance between the large vehicle and the moving object on the road based on Equation 4 below, and outputs the collision risk signal when the vertical distance ranges from the minimum danger distance and the maximum danger distance which are predefined in the vertical direction and the horizontal distance is less than a predefined horizontal danger distance:
• Z
• =
• fh
• y
• Equation
• ⁢
• ⁢
• 2
• W
• =
• fw
• y
• ,
• Equation
• ⁢
• ⁢
• 4
• where Z represents the vertical distance between the rear camera module and the moving object on the road, f represents a focal distance of the rear camera module, h represents the height of the rear camera module from the ground surface, y represents a distance between the contour point bottom of the moving object and a vanishing point on a viewport filmed by the rear camera module, W represents the horizontal distance between the large vehicle and the moving object on the road, and w represents a horizontal distance between the contour point bottom of the moving object and the contour point of the large vehicle on the viewport taken by the rear camera module.

A moving object collision warning method for a large vehicle, comprising the steps of:

• (a) receiving, by an image receiving unit, an image from a rear camera module which is mounted on the rear of at least one side of the large vehicle and takes an image of an object while facing the front of the large vehicle;
• (b) extracting, by a moving object determination unit, an object included in the received image, and determining whether the extracted object is a moving object, wherein the moving object includes one or more of a bicycle, a two-wheeled vehicle and a pedestrian;
• (c) outputting, by a moving object collision possibility determination unit, a collision risk signal when the moving object determined at the step (b) is located in a preset danger zone;
• and
• (d) outputting, by a warning unit, a visual or audible warning signal in response to the collision risk signal,
• wherein the step (c) comprises recognizing the contour point bottom of the moving object, calculating a vertical distance between the rear camera module and the moving object on the road based on Equation 2 below, and outputting the collision risk signal when the vertical distance ranges from the minimum danger distance and the maximum danger distance which are predefined in the vertical direction:
• Z
• =
• fh
• y
• ,
• Equation
• ⁢
• ⁢
• 2
• where Z represents the vertical distance between the rear camera module and the moving object on the road, f represents a focal distance of the rear camera module, h represents the height of the rear camera module from the ground surface, and y represents a distance between the contour point bottom of the moving object and a vanishing point on a viewport filmed by the rear camera module.

A moving object collision warning method for a large vehicle, comprising the steps of:

• (a) receiving, by an image receiving unit, an image from a rear camera module which is mounted on the rear of at least one side of the large vehicle and takes an image of an object while facing the front of the large vehicle;
• (b) extracting, by a moving object determination unit, an object included in the received image, and determining whether the extracted object is a moving object, wherein the moving object includes one or more of a bicycle, a two-wheeled vehicle and a pedestrian;
• (c) outputting, by a moving object collision possibility determination unit, a collision risk signal when the moving object determined at the step (b) is located in a preset danger zone;
• and
• (d) outputting, by a warning unit, a visual or audible warning signal in response to the collision risk signal,
• wherein the step (c) comprises recognizing a contour point of the large vehicle and the contour point bottom of the moving object, calculating a horizontal distance between the large vehicle and the moving object on the road based on Equation 4 below, and outputting the collision risk signal when the horizontal distance is less than a predefined horizontal danger distance:
• W
• =
• fw
• y
• ,
• Equation
• ⁢
• ⁢
• 4
• where W represents the horizontal distance between the large vehicle and the moving object on the road, f represents a focal distance of the rear camera module, w represents a horizontal distance between the contour point bottom of the moving object and the contour point of the large vehicle on a viewport taken by the rear camera module, and y represents a distance between the contour point bottom of the moving object and a vanishing point on the viewport filmed by the rear camera module.

A moving object collision warning method for a large vehicle, comprising the steps of:

• (a) receiving, by an image receiving unit, an image from a rear camera module which is mounted on the rear of at least one side of the large vehicle and takes an image of an object while facing the front of the large vehicle;
• (b) extracting, by a moving object determination unit, an object included in the received image, and determining whether the extracted object is a moving object, wherein the moving object includes one or more of a bicycle, a two-wheeled vehicle and a pedestrian;
• (c) outputting, by a moving object collision possibility determination unit, a collision risk signal when the moving object determined at the step (b) is located in a preset danger zone;
• and
• (d) outputting, by a warning unit, a visual or audible warning signal in response to the collision risk signal,
• wherein the step (c) comprises recognizing a contour point of the large vehicle and the contour point bottom of the moving object, calculating a vertical distance between the rear camera module and the moving object on the road based on Equation 2 below, calculating a horizontal distance between the large vehicle and the moving object on the road based on Equation 4 below, and outputting the collision risk signal when the vertical distance ranges from the minimum danger distance and the maximum danger distance which are predefined in the vertical direction and the horizontal distance is less than a predefined horizontal danger distance:
• Z
• =
• fh
• y
• Equation
• ⁢
• ⁢
• 2
• W
• =
• fw
• y
• ,
• Equation
• ⁢
• ⁢
• 4
• where Z represents the vertical distance between the rear camera module and the moving object on the road, f represents a focal distance of the rear camera module, h represents the height of the rear camera module from the ground surface, y represents a distance between the contour point bottom of the moving object and a vanishing point on a viewport filmed by the rear camera module, W represents the horizontal distance between the large vehicle and the moving object on the road, and w represents a horizontal distance between the contour point bottom of the moving object and the contour point of the large vehicle on the viewport taken by the rear camera module.