| 摘要 |
PURPOSE: A forward collision warning method and system are provided to optimize the performance of a forward collision warning system by minimizing CPU loads. CONSTITUTION: A forward collision warning method comprises: a step of detecting vehicle-proceeding lane by using a vehicle camera; a step of detecting possible regions a front vehicle exists by deciding the existence of an object in the detected lane region; a step of sensing the front vehicle exists in the possible region; a step of setting features of the front vehicle by detecting the lower part of the front vehicle; a step of tracing the set features every preset period; a step of calculating the distance and the relative velocity of the front vehicle at the preset period; a step of deciding warning forward collision or not according to the calculated distance and relative velocity at the preset period, and conducting a forward collision warning. [Reference numerals] (S200) Detecting a vehicle proceeding lane; (S202) Is the vehicle proceeding lane detected ?; (S204) Determining a pre-processing region; (S206) Determining a basic region as the pre-processing region; (S208) Pre-processing; (S210) Detecting a candidate region; (S212) Is the candidate region detected ?; (S214) Being processed as no front vehicle; (S216) Recognizing a front vehicle; (S218) Is the front vehicle recognized ?; (S220) Detecting the lower part of the front vehicle; (S222) Tracing the front vehicle; (S224) Is the front vehicle traced ?; (S226) Calculating a distance from the front vehicle; (S228) Calculating relative velocity; (S230) Conducting a forward collision warning
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