Journal of the Korea Institute of Information and Communication Engineering (한국정보통신학회논문지)

The Korea Institute of Information and Commucation Engineering (한국정보통신학회)
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Vision-based Real-time Vehicle Detection and Tracking Algorithm for Forward Collision Warning

전방 추돌 경보를 위한 영상 기반 실시간 차량 검출 및 추적 알고리즘

  • Received : 2021.06.08
  • Accepted : 2021.06.19
  • Published : 2021.07.31
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Abstract

The cause of the majority of vehicle accidents is a safety issue due to the driver's inattention, such as drowsy driving. A forward collision warning system (FCWS) can significantly reduce the number and severity of accidents by detecting the risk of collision with vehicles in front and providing an advanced warning signal to the driver. This paper describes a low power embedded system based FCWS for safety. The algorithm computes time to collision (TTC) through detection, tracking, distance calculation for the vehicle ahead and current vehicle speed information with a single camera. Additionally, in order to operate in real time even in a low-performance embedded system, an optimization technique in the program with high and low levels will be introduced. The system has been tested through the driving video of the vehicle in the embedded system. As a result of using the optimization technique, the execution time was about 170 times faster than that when using the previous non-optimized process.

대부분의 자동차 사고는 졸음운전과 같은 운전자의 부주의로 인해 발생한다. 전방 추돌 경보 시스템 (FCWS)은 전방 차량으로부터 추돌 위험을 감지하여 운전자에게 사전에 경고함으로써 사고의 위험을 현저하게 줄여준다. 본 논문은 주행 안전을 위한 저전력 임베디드 기반 FCWS를 소개한다. 단일 카메라로부터 전방 차량에 대해 검출, 추적, 거리를 계산하고 현재 차량의 속도 정보를 통해 충돌시간 (TTC)을 계산한다. 또한 저성능 임베디드 시스템에서 실시간으로 동작하기 위해 높고 낮은 수준의 프로그램 최적화 기법을 소개한다. 이 시스템은 임베디드 시스템에서 사전에 취득해둔 주행 영상을 통해서 테스트 하였다. 최적화 기법을 사용한 결과는 이전에 최적화를 하지 않은 프로세스 보다 실행 시간이 약 170배 향상되었다.

Keywords

Acknowledgement

This work was supported by the Technology Innovation Program (P0013847, 10%, Development of automatic steering-based accident avoidance system for electricdriven port yard tractors operating at low speed (less than 30 km/h)) funded By the Ministry of Trade, Industry & Energy(MOTIE, Korea) and Basic Science Research Program through the National Research Foundation of Korea (NRF) funded by the Ministry of Science and ICT (NRF-2019R1A2C2005099, 10%), Ministry of Education (NRF-2018R1A6A1A03025109, 10%), and partly supported by Institute of Information & communications Technology Planning & Evaluation (IITP) grant funded by the Korea government (MSIT) (No. 2021-0-00944, Metamorphic approach of unstructured validation/verification for analyzing binary code, 70%)

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