KR101897350B1 - Driver Assistance Apparatus - Google Patents

Abstract

A vehicle driving assist system according to an embodiment includes: a communication unit that receives a communication signal having vehicle-traveling related communication information; A memory unit for storing the received communication information; An interface unit for receiving the travel-related sensor information of the vehicle and transmitting a control signal for controlling the operation of the vehicle; And a processor for decoding the communication signal to obtain the communication information and generating the control signal in accordance with the communication information, wherein the communication unit is configured to transmit the first communication signal and the second communication signal, Wherein the processor selects one of the first communication signal and the second communication signal based on at least one of the previously received communication information and the sensor information, And generates the control signal in accordance with the communication information of the communication signal to control the running of the vehicle.

Description

Driver Assistance Apparatus "

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a vehicle driving assistant provided in a vehicle and a vehicle including the same.

A vehicle is a device that moves a user in a desired direction by a boarding user. Typically, automobiles are examples.

The automobiles are internal combustion engine cars, external combustion engine cars, gas turbine cars or electric vehicles according to the prime mover used.

Electric vehicles are electric vehicles that use electric energy to drive electric motors. They include pure electric vehicles, hybrid electric vehicles (HEV), plug-in hybrid electric vehicles (PHEV), and hydrogen fuel cell vehicles (FCEV).

Recently, the development of an intelligent vehicle (Smart Vehicle) has been actively developed for the safety and convenience of drivers and pedestrians.

Intelligent automobiles are also called smart automobiles, cutting-edge vehicles that combine information technology (IT) technology. Intelligent automobiles provide optimum transportation efficiency through interworking with intelligent transportation system (ITS) as well as introducing advanced system of automobile itself.

In particular, in recent years, information about a vehicle periphery has been received through communication (V2V) with another vehicle and communication (V2I) with a road infrastructure unit disposed on the road, and based on the received peripheral information of the vehicle, The development of technologies that provide vehicle driving assistance is vigorous.

As described above, the vehicle receives communication signals including vehicle periphery information from various peripheral communication devices, decodes the received communication signals to extract vehicle periphery information, and then various vehicle driving assist functions .

However, the vehicle can thus receive a plurality of communication signals containing different kinds of information of the same kind from a plurality of communication devices, in which case it may be difficult to select an appropriate communication signal required for the current vehicle.

In addition, when the vehicle decodes all of a plurality of communication signals and analyzes the communication signals to select necessary communication signals, it performs a process of decoding unnecessary communication signals and takes a long time in this process, A problem that can not be obtained may arise.

In order to solve the above problems, an embodiment provides a vehicle driving assistant device for selecting a required communication signal among a plurality of communication signals of the same type and providing a vehicle driving assist function in accordance with information of a selected communication signal, and a vehicle including the same I want to.

A vehicle driving assist system according to an embodiment includes: a communication unit that receives a communication signal having vehicle-traveling related communication information; A memory unit for storing the received communication information; An interface unit for receiving the travel-related sensor information of the vehicle and transmitting a control signal for controlling the operation of the vehicle; And a processor for decoding the communication signal to obtain the communication information and generating the control signal in accordance with the communication information, wherein the communication unit is configured to transmit the first communication signal and the second communication signal, Wherein the processor selects one of the first communication signal and the second communication signal based on at least one of the previously received communication information and the sensor information, And generates the control signal in accordance with the communication information of the communication signal to control the running of the vehicle.

The vehicle driving assist system according to the embodiment can simultaneously receive a plurality of communication signals of the same type transmitted by different communication apparatuses in the overlapping communication area. At this time, it is possible to discriminate the communication signals required for the vehicle, To provide an autonomous driving function or to provide a vehicle driving assist function based on the communication information obtained by decoding.

That is, the vehicle driving assist system can acquire accurate and accurate information about the vehicle by using the communication information of the identified communication signal, and can provide the information to the user. By controlling the vehicle with accurate vehicle periphery information, Can be controlled.

1 shows a block diagram of a communication system according to an embodiment of the present invention.
2 shows a block diagram of a vehicle driving assist system according to an embodiment of the present invention.
3 is a plan view of a vehicle equipped with a vehicle driving assist system according to an embodiment of the present invention.
4 is a view showing an inner tube of a vehicle including a vehicle driving assist device according to an embodiment of the present invention.
5 is a conceptual diagram schematically showing a communication relationship between a plurality of communication apparatuses and a vehicle.
6 is a flowchart illustrating a process of providing a vehicle driving assistance function using communication information according to the first embodiment of the present invention.
7 is an example in which the vehicle driving assist function is provided using the communication information according to the first embodiment of the present invention.
8 is another example in which the vehicle driving assistance function is provided using the communication information according to the first embodiment of the present invention.
9 is a flowchart illustrating a process of providing a vehicle driving assistance function using communication information according to a second embodiment of the present invention.
10 is an example in which the vehicle driving assistance function is provided using the communication information according to the second embodiment of the present invention.
11 is another example in which the vehicle driving assistance function is provided using the communication information according to the second embodiment of the present invention.
Fig. 12 is an example of an internal block diagram of the vehicle of Fig. 1 including the above-described vehicle driving assist system.

Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings, wherein like reference numerals are used to designate identical or similar elements, and redundant description thereof will be omitted. The suffix "module" and " part "for the components used in the following description are given or mixed in consideration of ease of specification, and do not have their own meaning or role. In the following description of the embodiments of the present invention, a detailed description of related arts will be omitted when it is determined that the gist of the embodiments disclosed herein may be blurred. It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory and are intended to provide further explanation of the invention as claimed. , ≪ / RTI > equivalents, and alternatives.

Terms including ordinals, such as first, second, etc., may be used to describe various elements, but the elements are not limited to these terms. The terms are used only for the purpose of distinguishing one component from another.

It is to be understood that when an element is referred to as being "connected" or "connected" to another element, it may be directly connected or connected to the other element, . On the other hand, when an element is referred to as being "directly connected" or "directly connected" to another element, it should be understood that there are no other elements in between.

The singular expressions include plural expressions unless the context clearly dictates otherwise.

In the present application, the terms "comprises", "having", and the like are used to specify that a feature, a number, a step, an operation, an element, a component, But do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, or combinations thereof.

The vehicle described herein may be a concept including a car, a motorcycle. Hereinafter, the vehicle will be described mainly with respect to the vehicle.

The vehicle described in the present specification may be a concept including both an internal combustion engine vehicle having an engine as a power source, a hybrid vehicle having an engine and an electric motor as a power source, and an electric vehicle having an electric motor as a power source.

In the following description, the left side of the vehicle means the left side in the running direction of the vehicle, and the right side of the vehicle means the right side in the running direction of the vehicle.

Unless otherwise mentioned in the following description, the LHD (Left Hand Drive) vehicle will be mainly described.

In the following description, the vehicle driving assistant device is a separate device provided in the vehicle, and it is described that the necessary information is exchanged with the vehicle through data communication and the vehicle driving assistant function is executed. However, a set of some of the units of the vehicle may be defined as a vehicle driving assist device.

When the vehicle driving assist device is a separate device, at least a part of each unit (see FIG. 2) of the vehicle driving assist device is not included in the vehicle driving assist device but may be a unit of the vehicle or another device mounted on the vehicle have. The external units can be understood as being included in the vehicle driving assist device by transmitting and receiving data through the interface part of the vehicle driving assistance device.

For convenience of explanation, it is assumed that the vehicle driving assist system according to the embodiment directly includes the units shown in FIG.

Hereinafter, with reference to the drawings, an embodiment of the present invention in which such a vehicle driving assistance device provides an autonomous driving, vehicle driving assistant function (ADAS) through communication will be described in detail.

1, a communication system providing a vehicle driving assistance function and / or an autonomous driving function may include a vehicle 700 having a plurality of communication devices 500 and a vehicle driving assistant device 100 have.

First, a plurality of communication apparatuses 500 are included in the communication system, and the plurality of communication apparatuses 500 can transmit the same kind of communication information to the vehicle.

Such a communication device 500 may include a road infrastructure such as another vehicle, a server, a road side unit, etc. located around the vehicle.

And the communication device 500 can directly or received the vehicle periphery information to the vehicle, thereby helping the vehicle to provide the vehicle driving assist function.

The communication device 500 includes a first communication device 501 and a second communication device 502. The first communication device 501 and the second communication device 502 502) is limited to transmitting to the vehicle information on objects located in the vicinity of the vehicle, traffic information on the road around the vehicle, and the like to the roadside unit (RSU) located in the vicinity of the vehicle.

Then, the first communication device 501 can transmit the first communication signal to the first communication area, and the second communication device 502 can transmit the second communication signal to the second communication area. A part of the first communication area and a part of the second communication area may overlap, and this overlap area is defined as a superposed communication area.

On the other hand, the vehicle driving assistant apparatus 100 may provide an autonomous driving function and / or a vehicle driving assist function based on the communication information acquired through communication mounted on the vehicle.

In this case, the vehicle driving assistance function is provided with an ACC (Adaptive Cruise Control), a blind spot detection (BSD), a lane keeping assist system (LKAS) An LDWS, a Lane Departure Warning System, and an Autonomous Emergency Braking (AEB) function.

More specifically, the vehicle driving assistant apparatus 100 may receive a communication signal including the vehicle periphery information from the communication apparatus 500, provide an autonomous driving function based on the communication information obtained by decoding the communication signal, Vehicle driving assistance function can be provided.

Here, the vehicle periphery information may include information such as information on dangerous objects located in the vicinity of the vehicle, traffic lights for traffic lights, road speed limitations, etc., and driving information of other vehicles.

The vehicle driving assistance apparatus 100 can simultaneously receive a plurality of communication signals of the same type transmitted by the different communication apparatuses 500 in the overlapping communication area, It is possible to provide an autonomous driving function or a vehicle driving assist function based on the communication information obtained by decoding the communication signal discriminated.

That is, the vehicle driving assistant device 100 can acquire accurate and accurate information about the surrounding vehicle by using the communication information of the identified communication signal, and can provide the information to the user, So that the vehicle can be safely controlled.

Hereinafter, each configuration of the vehicle driving assistant 100 will be described in detail.

2, the vehicle driving assistance apparatus 100 includes an input unit 110, a communication unit 120, an interface unit 130, a memory 140, a sensor unit 155, a processor 170, a display unit 180, an audio output unit 185, and a power supply unit 190. However, the units of the vehicle driving assistance device 100 shown in FIG. 2 are not essential for implementing the vehicle driving assistance device 100, so that the vehicle driving assistant device 100 described in this specification can be applied to the configuration It can have more or fewer components than components.

Describing each configuration in detail, the vehicle driving assistance apparatus 100 may include an input unit 110 for sensing a user's input.

For example, the user can input a setting for the vehicle driving assistant function provided by the vehicle driving assistant 100 through the input unit 110, or turn on / off the vehicle driving assistant 100 and an execution input for turning off (turning off).

The input unit 110 may include a gesture input unit (e.g., an optical sensor) for sensing a user gesture, a touch input unit (e.g., a touch sensor, a touch key, A microphone, a mechanical key, and the like, and a microphone for sensing a voice input.

Next, the vehicle driving assistant apparatus 100 may include a communication unit 120 that communicates with the other vehicle 510, the terminal 600, and the server 500 and the like.

The vehicle driving assistant apparatus 100 can receive a communication signal including at least one of navigation information, other vehicle driving information, and traffic information through the communication unit 120. [ Conversely, the vehicle driving assistant device 100 may transmit information about the vehicle viewed through the communication unit 120. [

Particularly, in the embodiment, the communication unit 120 can receive a plurality of communication signals from a plurality of communication apparatuses 500 located near the vehicle.

In detail, the communication unit 120 can receive the first communication signal from the first communication device 501 when the vehicle is located in the first communication area, and when the vehicle is located in the second communication area, And receive the second communication signal from the second communication unit 502.

The communication unit 120 can receive the first communication signal and the second communication signal from the first communication device 501 and the second communication device 502 when the vehicle is located in the overlapping communication area.

The communication unit 120 receives at least one of the location information, the weather information, and the traffic situation information of the road (for example, TPEG (Transport Protocol Expert Group)) from the mobile terminal 600 and / or the server 500 Lt; / RTI >

In addition, the communication unit 120 can receive traffic information from the server 500 equipped with the intelligent traffic system (ITS). Here, the traffic information may include traffic signal information, lane information, vehicle periphery information, or location information.

Also, the communication unit 120 may transmit navigation information from the server 500 and / or the mobile terminal 600. [ Here, the navigation information may include at least one of map information related to vehicle driving, lane information, vehicle location information, set destination information, and route information according to a destination.

For example, the communication unit 120 can receive the real-time position of the vehicle with the navigation information. In detail, the communication unit 120 may include a GPS (Global Positioning System) module and / or a WiFi (Wireless Fidelity) module to acquire the position of the vehicle.

Also, the communication unit 120 can receive the running information of the other vehicle 510 from the other vehicle 510, transmit the information of the vehicle, and share the running information between the vehicles. Here, the traveling information shared by the two vehicles may include at least one or more information of the traveling direction information, position information, vehicle speed information, acceleration information, traveling route information, forward / backward information, adjacent vehicle information, and turn signal information of the vehicle .

In addition, when the user is boarding the vehicle, the user's mobile terminal 600 and the vehicle driving assistant device 100 may perform pairing with each other automatically or by executing the application of the user.

The communication unit 120 may exchange data with the communication device 500 including the other vehicle 520, the mobile terminal 600 or the server 510 in a wireless manner.

More specifically, the communication unit 120 can wirelessly communicate using a wireless data communication system. Wireless data communication schemes include, but are not limited to, technical standards or communication schemes for mobile communication (e.g., Global System for Mobile communications (GSM), Code Division Multi Access (CDMA), Code Division Multi Access 2000 (Enhanced Voice-Data Optimized or Enhanced Voice-Data Only), WCDMA (Wideband CDMA), HSDPA (High Speed Downlink Packet Access), HSUPA (Long Term Evolution), LTE Term Evolution-Advanced) or the like can be used.

In addition, the communication unit 120 may use a wireless Internet technology. For example, the wireless communication unit 120 may be a WLAN (Wireless LAN), a Wi-Fi (Wireless-Fidelity) (HSDPA), Long Term Evolution (LTE), Long Term Evolution (LTE), and Long Term Evolution (LTE). Term Evolution-Advanced).

In addition, the communication unit 120 may use short range communication, and may be a Bluetooth ™, a Radio Frequency Identification (RFID), an Infrared Data Association (IrDA), an Ultra Wideband (UWB) ), ZigBee, Near Field Communication (NFC), Wireless-Fidelity (Wi-Fi), Wi-Fi Direct and Wireless Universal Serial Bus (USB) technologies.

In addition, the vehicle driving assistant device 100 may use a short-distance communication method to pair with a mobile terminal in the vehicle, and may use the long-distance wireless communication module of the mobile terminal to wirelessly communicate with another vehicle 520 or the server 510, Data can be exchanged.

Next, the vehicle driving assistance apparatus 100 may include an interface unit 130 that receives data of the vehicle or transmits a signal processed or generated by the processor 170 to the outside.

More specifically, the vehicle driving assistant 100 can receive at least one of the other vehicle running information, the navigation information, and the sensor information through the interface unit 130.

Further, the vehicle driving assistant device 100 transmits a vehicle control signal for providing a vehicle control signal or an autonomous driving function for executing the vehicle driving assist function to the control unit 770 of the vehicle or the driving unit of the vehicle through the interface unit 130 Can be transmitted.

More specifically, in the embodiment, the interface unit 130 transmits at least one of a vehicle braking control signal, a vehicle steering control signal, a vehicle power control signal, and a vehicle gear control signal generated by the processor 170 to a control unit 770) or the drive unit of the vehicle, the running of the vehicle can be controlled.

To this end, the interface unit 130 performs data communication with at least one of a control unit 770, an AVN (Audio Video Navigation) device 400 and a sensing unit 760 in the vehicle by a wired communication or a wireless communication method .

In detail, the interface unit 130 can receive the navigation information by the data communication with the control unit 770, the AVN apparatus 400 and / or the separate navigation apparatus.

The interface unit 130 may receive the sensor information from the control unit 770 or the sensing unit 760.

Here, the sensor information includes at least one of direction information, position information, vehicle speed information, acceleration information, tilt information, forward / backward information, fuel information, distance information between the front and rear vehicles, And may include one or more pieces of information.

Also, the sensor information may include a heading sensor, a yaw sensor, a gyro sensor, a position module, a vehicle forward / backward sensor, a wheel sensor, a vehicle speed sensor, A vehicle body inclination sensor, a battery sensor, a fuel sensor, a tire sensor, a steering sensor by steering wheel rotation, a vehicle internal temperature sensor, a vehicle internal humidity sensor, and a door sensor. On the other hand, the position module may include a GPS module for receiving GPS information.

The interface unit 130 may receive the user input received through the user input unit 110 of the vehicle. The interface unit 130 may receive the user input from the input unit of the vehicle or the control unit 770. That is, when the input unit is arranged in the vehicle itself, user input may be received through the interface unit 130. [

In addition, the interface unit 130 may receive the traffic information obtained from the server 510. The server 510 may be a server located in a traffic control station that controls traffic. For example, when traffic information is received from the server 510 through the communication unit 120 of the vehicle, the interface unit 130 may receive the traffic information from the control unit 770. [

Next, the memory 140 may store various data for operation of the vehicle driving assistant 100, such as a program for processing or controlling the processor 170. [

The memory 140 may also store a plurality of application programs (application programs or applications), data for operation of the vehicle driving assistant 100, and commands that are driven by the vehicle driving assistant 100 . At least some of these applications may be downloaded from an external server via wireless communication. At least some of these application programs may also be present on the vehicle driving assistance device 100 from the time of shipment for the basic functions (e.g., driving assistance information guidance function) of the driving assistance device 100.

And this application program is stored in the memory 140 and can be driven by the processor 170 to perform the operation (or function) of the vehicle driving assistant device 100. [

Meanwhile, the memory 140 may store data for object identification included in the image. For example, when a predetermined object is detected in the vehicle surroundings image acquired through the camera 160, the memory 140 may store data for confirming what the object corresponds to according to a predetermined algorithm .

 For example, when the image acquired through the camera 160 includes a predetermined object such as a lane, a traffic sign, a two-wheeled vehicle, or a pedestrian, the memory 140 may determine by the predetermined algorithm what the object corresponds to The data can be stored.

The memory 140 may be implemented in hardware, such as a flash memory type, a hard disk type, a solid state disk type, an SDD type (Silicon Disk Drive type) (RAM), a static random access memory (SRAM), a read-only memory (ROM), an EEPROM , electrically erasable programmable read-only memory (PROM), programmable read-only memory (PROM), magnetic memory, magnetic disk, and optical disk.

In addition, the vehicle driving assistance apparatus 100 may be operated in association with a web storage that performs a storage function of the memory 140 on the Internet.

Next, the vehicle driving assistant apparatus 100 may further include a sensor unit 155 for sensing objects around the vehicle. The vehicle driving assistant apparatus 100 may include a separate sensor unit 155 to sense peripheral objects and may receive sensor information obtained from the sensing unit 770 of the vehicle through the interface unit 130 . The sensor information thus obtained may be included in the vehicle periphery information.

The sensor unit 155 may include at least one of a distance sensor 150 for sensing the position of an object located in the vicinity of the vehicle and a camera 160 for capturing an image of the surroundings of the vehicle.

First, the distance sensor 150 can precisely detect the position of the object, the direction in which the object is separated, the separation distance, or the moving direction of the object in the vehicle. The distance sensor 150 continuously measures the position of the detected object and can accurately detect a change in the positional relationship with the vehicle.

The distance sensor 150 may sense an object located in at least one of the front, back, right, and left sides of the vehicle. To this end, the distance sensor 150 may be located at various locations in the vehicle.

3, the distance sensor 150 may be disposed at at least one of the front, rear, left, right, and ceiling of the body of the vehicle.

The distance sensor 150 may include one or more of a variety of distance measurement sensors such as a lidar sensor, a laser sensor, an ultrasonic waves sensor, and a stereo camera.

For example, the distance sensor 150 may be a laser sensor that uses a time-of-flight (TOF) or / and a phase-shift or the like in accordance with a laser signal modulation method, The positional relationship between the objects can be accurately measured.

On the other hand, the information about the object can be obtained by analyzing the image captured by the camera 160 by the processor 170.

More specifically, the vehicle driving assistant apparatus 100 photographs the surroundings of the vehicle with the camera 160, the processor 170 analyzes the obtained surroundings of the vehicle, detects the object around the vehicle, determines the property of the object, Information can be generated.

Here, the image information may be included in the sensor information as at least one of the type of the object, the traffic signal information displayed by the object, the distance between the object and the vehicle, and the position of the object.

More specifically, the processor 170 generates image information by performing object analysis such as detecting an object in an image photographed through image processing, tracking an object, measuring a distance to the object, and checking an object .

Such a camera 160 may be provided at various positions.

More specifically, the camera 160 may include an inner camera 160f that captures the front of the vehicle within the vehicle to acquire a forward image.

3, a plurality of cameras 160 may be disposed at each of at least one of left, rear, right, front, and ceiling of the vehicle, respectively.

More specifically, the left camera 160b can be disposed in a case surrounding the left side mirror. Alternatively, the left camera 160b may be disposed outside the case surrounding the left side mirror. Alternatively, the left camera 160b may be disposed in one area outside the left front door, the left rear door, or the left fender.

The right camera 160c may be disposed in a case surrounding the right side mirror. Or the right camera 160c may be disposed outside the case surrounding the right side mirror. Alternatively, the right camera 160c may be disposed in one area outside the right front door, the right rear door, or the right fender.

Further, the rear camera 160d can be disposed in the vicinity of the rear license plate or the trunk switch. The front camera 160a may be disposed in the vicinity of the ambulance or in the vicinity of the radiator grill.

Meanwhile, the processor 170 may synthesize images photographed from all directions, and provide an overview image of the vehicle viewed from the top view. When the surrounding view image is generated, a boundary portion between each image area occurs. These boundary portions can be naturally displayed by image blending processing.

Further, the ceiling camera 160e may be disposed on the ceiling of the vehicle to photograph all the front, rear, left, and right directions of the vehicle.

Such a camera 160 may directly include an image sensor and an image processing module. The camera 160 may process still images or moving images obtained by an image sensor (e.g., CMOS or CCD). In addition, the image processing module may process the still image or the moving image obtained through the image sensor, extract required image information, and transmit the extracted image information to the processor 170.

Next, the vehicle driving assistant device 100 may further include a display unit 180 that displays a graphic image relating to the vehicle driving assistant function.

In the embodiment, the display unit 180 can display the communication information acquired from the received communication signal as a graphic image, and can display the information about the vehicle driving assistant function executed based on the communication information as a graphic image have.

In particular, the display unit 180 may display a graphical image of the first communication information of the first communication signal and a graphic image of the second communication information of the second communication signal differently, It is possible to confirm that the received information is the information received from the other communication apparatus 500.

The display unit 180 may include a plurality of displays.

4, the display unit 180 may include a first display unit 180a for projecting and displaying a graphic image on a windshield W of the vehicle. That is, the first display unit 180a may be a head up display (HUD), and may include a projection module for projecting a graphic image on the windshield W. The projected graphic image projected by the projection module may have a certain transparency. Thus, the user can simultaneously view the graphic image and the graphic image.

The graphical image may be superimposed on the projection image projected onto the windshield W to form an Augmented Reality (AR).

Meanwhile, the display unit 180 may include a second display unit 180b that is separately installed inside the vehicle and displays an image of the vehicle driving assistance function.

In detail, the second display unit 180b may be a display of the vehicle navigation device or a cluster on the inside of the vehicle interior.

The second display unit 180b may be a liquid crystal display (LCD), a thin film transistor-liquid crystal display (TFT) LCD, an organic light-emitting diode (OLED) And may include at least one of a flexible display, a 3D display, and an e-ink display.

The second display unit 180b may be combined with the gesture input unit to form a touch screen.

Next, the audio output unit 185 may output a message to audio confirming the description of the function of the vehicle driving assistant 100, whether or not the function is performed, and the like. That is, the vehicle driving assistant device 100 may complement the description of the function of the vehicle driving assistant device 100 through visual output through the display portion 180 and sound output of the audio output portion 185 .

Next, the haptic output unit can output an alarm for the vehicle driving assist function as a haptic. For example, when the driver is warned that at least one of the navigation information, the traffic information, the communication information, the vehicle condition information, the driving assistant function (ADAS) information, and other driver convenience information is included in the vehicle driving assistant , It can be notified to the user by vibration.

Such a haptic output section can provide directional vibration. For example, the haptic output unit may be disposed in the steering for controlling the steering to output the vibration, and when the vibration is provided, the haptic output may be imparted with directionality by outputting the vibration by dividing the left and right of the steering.

In addition, the power supply unit 190 may receive external power and internal power under the control of the processor 170 to supply power required for operation of the respective components.

Finally, the vehicle driving assistance apparatus 100 may include a processor 170 that controls the overall operation of each unit in the vehicle driving assistance apparatus 100. [

In addition, processor 170 may control at least some of the components discussed with FIG. 3 to drive the application program. Further, the processor 170 may operate at least two of the components included in the vehicle driving assistant device 100 in combination with each other for driving the application program.

Such a processor 170 may be implemented in hardware as application specific integrated circuits (ASICs), digital signal processors (DSPs), digital signal processing devices (DSPDs), programmable logic devices (PLDs), field programmable gate arrays (FPGAs) 170 may be implemented using at least one of processors, controllers, micro-controllers, microprocessors 170, and electrical units for performing other functions.

The processor 170 may be controlled by the control unit or may control various functions of the vehicle through the control unit.

In addition to the operations associated with the application programs stored in the memory 140, the processor 170 typically controls the overall operation of the vehicle driving assistance system 100. [ Processor 170 may provide or process appropriate information or functionality to a user by processing signals, data, information, etc., input or output through the components discussed above, or by driving application programs stored in memory 170.

5, when the first communication device 501 transmits a first communication signal to the first communication area TA1 and the second communication device 502 transmits the second communication signal TA2 to the second communication area TA2, . ≪ / RTI > When the vehicle travels in the first communication area TA1, it can receive and decode the first communication signal to obtain the first communication information.

However, when the vehicle enters the overlapping communication area OA in which the first communication area TA1 and the second communication area TA2 overlap, it is possible to simultaneously receive the first communication signal and the second communication signal of the same kind.

At this time, if the vehicle 700 decodes both the first communication signal and the second communication signal, an excessive data processing problem may occur. When the first communication information and the second communication information conflict with each other, there may arise a problem of what information to select.

Hereinafter, a process in which the vehicle driving assistant 100 selects an appropriate communication signal in the above-described situation and provides an autonomous driving function or a vehicle driving assistant function with the communication information of the selected communication signal will be described.

Referring to FIG. 6, first, when the vehicle travels in the first communication area TA1, the communication unit 120 can receive the first communication signal transmitted from the first communication device 501. FIG. (S101, S102)

More specifically, the processor can receive the first communication signal through the communication unit 120, and when only the first communication signal is received, the first communication signal can be decoded to acquire the first communication information.

The processor 170 may then generate a vehicle control signal based on the acquired first communication information to provide an autonomous driving function and / or a vehicle driving assist function.

In detail, the processor 170 can generate the vehicle braking control signal, the vehicle steering control signal, the vehicle power control signal, and the vehicle gear control signal in accordance with the vehicle surrounding object information and the traffic information included in the first communication information.

Then, the processor 170 can transmit the vehicle control signal to the control unit or the driving unit of the vehicle via the interface unit 130, thereby providing an autonomous driving function and / or a vehicle driving assist function.

The processor 170 may store the first communication information of the received first communication signal in the memory 140. [

As the vehicle travels, when the vehicle is located in the overlapping communication area OA, the communication unit 120 can receive the first communication signal and the second communication signal. (S103, S104)

More specifically, the communication unit 120 can simultaneously receive the first communication signal transmitted from the first communication device 501 and the second communication signal transmitted from the second communication device 502. [ At this time, the first communication signal and the second communication signal may be the same type of communication signal.

 Here, the same kind of communication signal means information in which mutual communication information coincide or conflict each other. For example, the type of the communication signal may include the kind of the dangerous object information about the vehicle, other vehicle driving information, traffic information, and the like.

Thus, when receiving two communication signals of the same kind, the processor 170 may not be able to determine from which communication device 500 the two communication signals were received.

In the embodiment, since the vehicle 700 moves from the first communication area TA1 to the second communication area TA2, when the first communication signal and the second communication signal are received, It is necessary to provide the vehicle driving assistance function with the second communication information of the second communication signal to drive the area TA2 but it may be difficult to distinguish which of the two communication signals is the second communication signal.

Accordingly, upon receiving a plurality of communication signals, the processor 170 can detect the second communication signal based on the first communication information stored in the memory 140. [ (S105)

More specifically, the processor 170 can detect the first communication signal matching the first communication information, and judge the remaining one communication signal as the second communication signal, thereby selecting the second communication signal.

When receiving a plurality of communication signals, the processor 170 extracts a communication signal matching the information on the previously received communication signal stored in the memory 140, and transmits the communication signal to the first Since it is the information on the communication area TA1, it is possible to select the remaining communication signals to be decoded.

At this time, the processor 170 can decode only a part of the two communication signals and compare it with the communication signal information stored in the memory 140. [

In this way, the processor 170 can drastically reduce the decoding process and accurately select the communication information for the area to be traveled.

The processor 170 also extracts the moving direction of the vehicle from the sensor information and selects a communication signal matching the moving direction of the vehicle among the two communication signals received through the communication unit 120, It is also possible to determine the signal.

In addition, the processor 170 may select a communication signal having a higher communication strength as the vehicle travels among the two communication signals received through the communication unit 120, thereby more accurately determining the second communication signal.

The processor 170 that has determined the second communication signal can decode the second communication signal to acquire the second communication information. (S106)

The processor 170 generates the vehicle braking control signal, the vehicle steering control signal, the vehicle power control signal, and the vehicle gear control signal in accordance with the vehicle surrounding object information and the traffic information included in the second communication information, / RTI > and / or a vehicle driving assistance function. (S107)

Hereinafter, an example will be described in which the vehicle driving assistant device 100 selects an appropriate communication signal in the above-described situation and provides an autonomous driving function or a vehicle driving assistant function with the communication information of the selected communication signal.

7, when the vehicle 700_1 travels in the first communication area TA1, the vehicle driving assistant 100 determines that the speed limit of the traveling section from the first communication device 501 is the first speed And may receive a first communication signal including rate limiting information. Therefore, the vehicle driving assistant apparatus 100 can control the vehicle 700_1 to travel within the first speed, and can also provide the driver with the display unit 180 and / And the audio output unit 185, as shown in FIG. The memory 140 may store information on the first communication signal including the rate limiting information at the first rate.

When the vehicle 700_2 advances and travels in the overlapping communication area OA, the vehicle driving assistant 100 can simultaneously receive the first communication signal and the second communication signal. At this time, the second communication information of the second communication signal may include the speed limitation information of the vehicle whose speed limit of the traveling section traveling by the vehicle 700_2 is the second speed.

Since the vehicle 700_2 will run in the second communication area TA2, it is preferable to decode the second communication signal and use the second communication information.

Therefore, the vehicle driving assistant device 100 detects the first communication signal matching the information on the first communication signal stored in the memory 140 among the two communication signals, and determines that the remaining communication signal is the second communication signal can do.

At this time, the vehicle driving assistant apparatus 100 does not decode both communication signals but only a part of the received communication signal with a part of the data of the first communication signal stored in the memory 140, It can be detected as the first communication signal.

The vehicle driving assistant device 100 can control the traveling speed of the vehicle 700_2 to be within the second speed according to the speed limitation information obtained by decoding the selected second communication signal.

Such a vehicle driving assistant apparatus 100 has an advantage that it can safely control the vehicle 700_2 and prevent a traffic violation in advance by adjusting the speed of the vehicle in advance in accordance with the speed limit of each vehicle's traveling section.

8, when the vehicle 700_1 travels in the first communication area TA1, the vehicle driving assistant 100 includes information indicating that there is a curve section ahead of the vehicle from the first communication device 501 The first communication signal can be received. Therefore, the vehicle driving assist system 100 can control to drive the curve section through appropriate steering control.

In addition, the vehicle driving assistant device 100 may output a message to the driver through the display unit 180 and / or the audio output unit 185 about the curve section running. The memory 140 may store information on the first communication signal.

When the vehicle 700_2 travels and travels in the overlapping communication area OA, the vehicle driving assistant 100 can simultaneously receive the first communication signal and the second communication signal. At this time, the second communication information of the second communication signal may include information that there is a collision danger object ahead of the curve section.

Since the vehicle 700_2 will run in the second communication area TA2, it is preferable to decode the second communication signal and use the second communication information.

Therefore, the vehicle driving assistant device 100 detects the first communication signal matching the information on the first communication signal stored in the memory 140 among the two communication signals, and determines that the remaining communication signal is the second communication signal can do.

Further, when the vehicle driving assistant device 100 determines that the vehicle 700_2 is traveling on the curve based on the sensor information, it can detect the first communication signal based on the curve.

At this time, the vehicle driving assistant apparatus 100 does not decode both communication signals but only a part of the received communication signal with a part of the data of the first communication signal stored in the memory 140, It can be detected as the first communication signal.

The vehicle driving assistant device 100 stops emergency stop (AEB) of the vehicle 700_2 in response to information indicating that there is a collision dangerous object in front of a curve section obtained by decoding the selected second communication signal, To avoid a collision dangerous object.

Further, the vehicle driving assistant apparatus 100 may output a warning message for a collision dangerous object through the display unit 180 and / or the audio output unit 185. [

Such a vehicle driving assistant apparatus 100 has an advantage of correctly acquiring vehicle periphery information on the vehicle traveling direction side in advance and safely controlling the vehicle.

Hereinafter, another embodiment will be described in which the vehicle driving assistant device 100 selects an appropriate communication signal in the above-described situation and provides an autonomous driving function or a vehicle driving assistant function with the communication information of the selected communication signal.

Referring to Fig. 9, first, when the vehicle travels in the first communication area TA1, the communication unit 120 can receive the first communication signal transmitted from the first communication device 501. Fig. (S201, S202)

In detail, the processor 170 can receive the first communication signal through the communication unit 120, and when only the first communication signal is received, the first communication signal can be immediately decoded to obtain the first communication information .

The processor 170 may then generate a vehicle control signal based on the acquired first communication information to provide an autonomous driving function and / or a vehicle driving assist function.

In detail, the processor 170 can generate the vehicle braking control signal, the vehicle steering control signal, the vehicle power control signal, and the vehicle gear control signal in accordance with the vehicle surrounding object information and the traffic information included in the first communication information.

Then, the processor 170 can transmit the vehicle control signal to the control unit or the driving unit of the vehicle via the interface unit 130, thereby providing an autonomous driving function and / or a vehicle driving assist function.

The processor 170 may store the first communication information of the received first communication signal in the memory 140. [

As the vehicle travels, when the vehicle is located in the overlapping communication area OA, the communication unit 120 can receive the first communication signal and the second communication signal. (S203, S204)

More specifically, the communication unit 120 can simultaneously receive the first communication signal transmitted from the first communication device 501 and the second communication signal transmitted from the second communication device 502. [ At this time, the first communication signal and the second communication signal may be the same type of communication signal.

 Here, the same kind of communication signal means information in which mutual communication information coincide or conflict each other. For example, the type of the communication signal may include the kind of the dangerous object information about the vehicle, other vehicle driving information, traffic information, and the like.

Thus, when receiving two communication signals of the same kind, the processor 170 may not be able to determine from which communication device 500 the two communication signals were received.

In the embodiment, the vehicle driving assistant 100 must provide the vehicle driving assist function using the first communication information for the first valid area covered by the first communication information, It is desirable to provide the vehicle driving assistance function using the second communication information for the second effective area.

Accordingly, first, when receiving a plurality of communication signals, the processor 170 can discriminate a plurality of communication signals as the first communication signal and the second communication signal based on the first communication information stored in the memory 140 . (S205)

More specifically, the processor 170 can detect the first communication signal matching the first communication information, and judge the remaining one communication signal as the second communication signal, thereby selecting the second communication signal.

More specifically, when receiving a plurality of communication signals, the processor 170 may determine a communication signal that matches the information on the communication signal that has been previously stored in the memory 140 as the first communication signal.

At this time, the processor 170 can decode only a part of the two communication signals and compare it with the communication signal information stored in the memory 140. [

In this way, the processor 170 can drastically reduce the decoding process and accurately select the communication information for the area to be traveled.

The processor 170 also extracts the moving direction of the vehicle from the sensor information and selects a communication signal matching the moving direction of the vehicle among the two communication signals received through the communication unit 120, It is also possible to determine the signal.

In addition, the processor 170 may select a communication signal having a higher communication strength as the vehicle travels among the two communication signals received through the communication unit 120, thereby more accurately determining the second communication signal.

The processor 170 that has determined the first communication signal and the second communication signal can calculate the effective area to which each communication signal is applied. (S206)

More specifically, the processor 170 determines whether or not the first valid area, which is the area covered by the first communication information of the first communication signal, and the second communication information of the second communication signal, The boundary of the second effective area can be calculated.

The processor 170 can determine the current position of the vehicle through the GPS module of the communication unit 120.

Accordingly, the processor 170 can select the first communication signal as a decoding target signal before comparing the boundary of the vehicle with the boundary, and select the second communication signal as the decoding target signal after passing the boundary. (S207)

More specifically, when the position of the vehicle is within the first effective area, the processor 170 selects the first communication signal, generates a control signal in accordance with the first communication information of the selected first communication signal, can do.

Then, the processor 170 selects a second communication signal when the position of the vehicle is out of the first effective area (for example, passes the boundary), and outputs a control signal in accordance with the second communication information of the selected second communication signal Thereby controlling the running of the vehicle.

The processor 170 may also select one of the first communication signal and the second communication signal in accordance with the vehicle driving assist function for controlling and providing the running of the vehicle near the boundary.

For example, when the vehicle 170 is executing the intelligent cruise control function (ACC) while the vehicle is traveling in the overlapping communication area (OA), the object information for the front of the vehicle selects the second communication signal, The intelligent cruise control function can be executed based on the second communication information of the signal.

Conversely, the processor 170 may execute blind spot detection (BSD) on the basis of the first communication information of the first communication signal when the vehicle changes lanes during the overlapping communication area OA .

The processor 170 may then decode the selected communication signal to obtain communication information. (S208)

The processor 170 generates a vehicle braking control signal, a vehicle steering control signal, a vehicle power control signal, and a vehicle gear control signal in accordance with the vehicle surrounding object information and the traffic information included in the communication information, Vehicle driving assistance function can be provided. (S209)

That is, the vehicle driving assistant apparatus 100 according to the embodiment has an advantage that the vehicle can be safely controlled by accurately acquiring the communication information applied according to the position of the vehicle and controlling the vehicle based on the communication information.

Hereinafter, an example will be described in which the vehicle driving assistant device 100 selects an appropriate communication signal in the above-described situation and provides an autonomous driving function or a vehicle driving assistant function with the communication information of the selected communication signal.

10, when the vehicle 700_1 travels in the first communication area TA1, the vehicle driving assistant 100 determines that the speed limit of the traveling section from the first communication device 501 is the first speed And may receive a first communication signal including rate limiting information.

Therefore, the vehicle driving assistant apparatus 100 can control the vehicle 700_1 to travel within the first speed, and can also provide the driver with the display unit 180 and / And the audio output unit 185, as shown in FIG. The memory 140 may store information on the first communication signal including the rate limiting information at the first rate.

When the vehicle 700_2 advances and travels in the overlapping communication area OA, the vehicle driving assistant 100 can simultaneously receive the first communication signal and the second communication signal. At this time, the second communication information of the second communication signal may include the speed limitation information of the vehicle whose speed limit of the traveling section traveling by the vehicle is the second speed.

At this time, the vehicle driving assistant device 100 has the first effective area IA1 to which the first speed restriction is applied, the second effective area IA2 to which the second speed restriction is applied, the first effective area IA1, And the second effective area IA2 can be calculated.

The vehicle driving assistant device 100 can calculate the first effective area IA1 and the boundary B based on the first communication information stored in the memory 140. [

The vehicle 700_2 will travel in the first effective area IA1 and enter the second valid area IA2 through the boundary B in the overlapping communication area OA.

Accordingly, first, the vehicle driving assistant apparatus 100 detects a first communication signal, which is matched with information on the first communication signal stored in the memory 140 among the two communication signals, . ≪ / RTI >

At this time, the vehicle driving assistant apparatus 100 does not decode both communication signals but only a part of the received communication signal with a part of the data of the first communication signal stored in the memory 140, It can be detected as the first communication signal.

When the vehicle 700_2 is traveling in the first effective area IA1, the vehicle driving assist system 100 controls the vehicle 700_2 to travel within the first speed in accordance with the first communication information obtained by decoding the first communication signal can do.

Thereafter, the vehicle driving assist system 100 controls the traveling speed of the vehicle 700_3 to be within the second speed according to the speed limitation information obtained by decoding the second communication signal at the point of time when the vehicle 700_3 has passed the boundary B .

Such a vehicle driving assistant apparatus 100 has an advantage in that the speed of the vehicle can be precisely adjusted to the speed limit according to the traveling section, and the vehicle can be controlled safely and the traffic violation can be prevented in advance.

10, when the vehicle 700_1 travels in the first communication area TA1, the vehicle driving assistant 100 moves from the first communication device 501 to the vehicle periphery of the first effective area IA1 The first communication signal including the first communication signal. Therefore, the vehicle driving assist system 100 can control the vehicle 700_1 in accordance with the first communication information.

In addition, the vehicle driving assistant device 100 may output a message about the vehicle driving information to the driver through the display unit 180 and / or the audio output unit 185. [ The memory 140 may store information on the first communication signal.

When the vehicle 700_2 or 700_3 travels and travels in the overlapping communication area OA, the vehicle driving assistant 100 can simultaneously receive the first communication signal and the second communication signal. At this time, the second communication information of the second communication signal may include vehicle periphery information for the second valid area IA2.

Therefore, the vehicle driving assist system 100 uses the first communication information for the first valid area IA1 and provides the vehicle driving assist function using the second communication information for the second valid area IA2 Should be.

Accordingly, first, the vehicle driving assistant apparatus 100 detects a first communication signal, which is matched with information on the first communication signal stored in the memory 140 among the two communication signals, . ≪ / RTI >

At this time, the vehicle driving assistant apparatus 100 does not decode both communication signals but only a part of the received communication signal with a part of the data of the first communication signal stored in the memory 140, It can be detected as the first communication signal.

The vehicle driving assistant device 100 selects the first communication signal at the time of traveling in the first effective area IA1 and selects the second communication signal at the time of traveling in the second effective area IA2.

The vehicle driving assistant device 100 may also select one of the first communication signal and the second communication signal in accordance with the vehicle driving assist function to control and provide the running of the vehicle in the vicinity of the boundary B. [

For example, when the vehicle 700_3 is executing the intelligent cruise control function ACC while the vehicle 700 is running in the overlapping communication area OA, the front of the vehicle 700_3 is in the second effective area IA2 It is preferable to select the second communication signal, so that the intelligent cruise control function can be executed based on the information that there is a dangerous object ahead based on the second communication information of the second communication signal.

Conversely, when the vehicle 700_2 changes the lane while driving in the overlapping communication area OA, the blind spot corresponds to the first effective area IA1, and the blind spot detection function BSD 1 communication signal, it is possible to perform the blind zone monitoring function based on the information that the other vehicle 510 is present in the blind spot based on the first communication information of the first communication signal.

Such a vehicle driving assistant apparatus 100 has an advantage of correctly acquiring vehicle periphery information on the vehicle traveling direction side in advance and safely controlling the vehicle.

Referring to Fig. 12, the above-described vehicle driving assistant device 100 may be included in the vehicle 700. Fig.

The vehicle 700 includes a communication unit 710, an input unit 720, a sensing unit 760, an output unit 740, a vehicle driving unit 750, a memory 730, an interface unit 780, a control unit 770, A vehicle driving assistant device 100, and an AVN device 400. [0033] Here, it is assumed that the unit included in the vehicle driving assistant device 100 and the unit having the same name among the units described in the vehicle are included in the vehicle.

The communication unit 710 may include one or more modules that enable wireless communication between the vehicle and the mobile terminal 600, between the vehicle and the external server 500, or between the vehicle and the other vehicle 510. [ In addition, the communication unit 710 may include one or more modules that connect the vehicle to one or more networks.

The communication unit 710 may include a broadcast receiving module 711, a wireless Internet module 712, a local area communication module 713, a location information module 714, and an optical communication module 715.

The broadcast receiving module 711 receives broadcast signals or broadcast-related information from an external broadcast management server through a broadcast channel. Here, the broadcast includes a radio broadcast or a TV broadcast.

The wireless Internet module 712 is a module for wireless Internet access, and can be built in or externally mounted in a vehicle. The wireless Internet module 712 is configured to transmit and receive wireless signals in a communication network according to wireless Internet technologies.

Wireless Internet technologies include, for example, WLAN (Wireless LAN), Wi-Fi (Wireless Fidelity), Wi-Fi (Wireless Fidelity) Direct, DLNA, WiBro World Wide Interoperability for Microwave Access (HSDPA), High Speed Uplink Packet Access (HSUPA), Long Term Evolution (LTE), and Long Term Evolution-Advanced (LTE-A) (712) transmits and receives data according to at least one wireless Internet technology in a range including internet technologies not listed above. For example, the wireless Internet module 712 can exchange data with the external server 500 wirelessly. The wireless Internet module 712 can receive weather information and road traffic situation information (for example, TPEG (Transport Protocol Expert Group)) information from the external server 500. [

The short-range communication module 713 is for short-range communication and may be a Bluetooth ™, a Radio Frequency Identification (RFID), an Infrared Data Association (IrDA), an Ultra Wideband (UWB) It is possible to support near-field communication using at least one of Near Field Communication (NFC), Wireless-Fidelity (Wi-Fi), Wi-Fi Direct and Wireless USB (Universal Serial Bus)

The short range communication module 713 may form short range wireless communication networks (Wireless Area Networks) to perform short range communication between the vehicle and at least one external device. For example, the short-range communication module 713 can exchange data with the mobile terminal 600 wirelessly. The short distance communication module 713 can receive weather information and traffic situation information of the road (for example, TPEG (Transport Protocol Expert Group)) from the mobile terminal 600. For example, when the user has boarded the vehicle, the user's mobile terminal 600 and the vehicle can perform pairing with each other automatically or by execution of the user's application.

The position information module 714 is a module for acquiring the position of the vehicle, and a representative example thereof is a Global Positioning System (GPS) module. For example, when the vehicle utilizes a GPS module, it can acquire the position of the vehicle using a signal sent from the GPS satellite.

The optical communication module 715 may include a light emitting portion and a light receiving portion.

The light receiving section can convert the light signal into an electric signal and receive the information. The light receiving unit may include a photodiode (PD) for receiving light. Photodiodes can convert light into electrical signals. For example, the light receiving section can receive information of the front vehicle through light emitted from the light source included in the front vehicle.

The light emitting unit may include at least one light emitting element for converting an electric signal into an optical signal. Here, the light emitting element is preferably an LED (Light Emitting Diode). The optical transmitter converts the electrical signal into an optical signal and transmits it to the outside. For example, the optical transmitter can emit the optical signal to the outside through the blinking of the light emitting element corresponding to the predetermined frequency. According to an embodiment, the light emitting portion may include a plurality of light emitting element arrays. According to the embodiment, the light emitting portion can be integrated with the lamp provided in the vehicle. For example, the light emitting portion may be at least one of a headlight, a tail light, a brake light, a turn signal lamp, and a car light. For example, the optical communication module 715 can exchange data with another vehicle 510 via optical communication.

The input unit 720 may include a driving operation unit 721, a camera 195, a microphone 723, and a user input unit 724.

The driving operation means 721 receives a user input for driving the vehicle. The driving operation means 721 may include a steering input means 721A, a shift input means 721D, an acceleration input means 721C, and a brake input means 721B.

The steering input means 721A receives the input of the traveling direction of the vehicle from the user. The steering input means 721A is preferably formed in a wheel shape so that steering input is possible by rotation. According to the embodiment, the steering input means 721A may be formed of a touch screen, a touch pad, or a button.

The shift input means 721D receives inputs of parking (P), forward (D), neutral (N), and reverse (R) of the vehicle from the user. The shift input means 721D is preferably formed in a lever shape. According to an embodiment, the shift input means 721D may be formed of a touch screen, a touch pad, or a button.

The acceleration input means 721C receives an input for acceleration of the vehicle from the user. The brake inputting means 721B receives an input for decelerating the vehicle from the user. The acceleration input means 721C and the brake input means 721B are preferably formed in the form of a pedal. According to the embodiment, the acceleration input means 721C or the brake input means 721B may be formed of a touch screen, a touch pad, or a button.

The camera 722 may include an image sensor and an image processing module. The camera 722 may process still images or moving images obtained by an image sensor (e.g., CMOS or CCD). The image processing module processes the still image or moving image obtained through the image sensor, extracts necessary information, and transmits the extracted information to the control unit 770. On the other hand, the vehicle may include a camera 722 for shooting a vehicle front image or a vehicle peripheral image, and a monitoring unit 725 for shooting an in-vehicle image.

The monitoring unit 725 may acquire an image of the occupant. The monitoring unit 725 may obtain an image for biometrics of the occupant.

12, the monitoring unit 725 and the camera 722 are illustrated as being included in the input unit 720. However, the camera 722 may be described as being included in the vehicle driving assistant device 100 as described above .

The microphone 723 can process an external sound signal as electrical data. The processed data can be used variously depending on the function being performed in the vehicle. The microphone 723 can convert the voice command of the user into electrical data. The converted electrical data can be transmitted to the control unit 770.

The camera 722 or the microphone 723 may be a component included in the sensing unit 760 rather than a component included in the input unit 720. [

The user input unit 724 is for receiving information from a user. When information is input through the user input unit 724, the control unit 770 can control the operation of the vehicle to correspond to the input information. The user input unit 724 may include touch input means or mechanical input means. According to an embodiment, the user input 724 may be located in one area of the steering wheel. In this case, the driver can operate the user input portion 724 with his / her finger while holding the steering wheel.

The sensing unit 760 senses a signal related to the running or the like of the vehicle. To this end, the sensing unit 760 may include a sensor, a wheel sensor, a velocity sensor, a tilt sensor, a weight sensor, a heading sensor, a yaw sensor, a gyro sensor, , A position module, a vehicle forward / reverse sensor, a battery sensor, a fuel sensor, a tire sensor, a steering sensor by steering wheel rotation, a vehicle internal temperature sensor, an internal humidity sensor, an ultrasonic sensor, a radar, .

Thereby, the sensing unit 760 can acquire the vehicle collision information, vehicle direction information, vehicle position information (GPS information), vehicle angle information, vehicle speed information, vehicle acceleration information, vehicle tilt information, , Fuel information, tire information, vehicle lamp information, vehicle interior temperature information, vehicle interior humidity information, steering wheel rotation angle, and the like.

In addition, the sensing unit 760 may include an acceleration pedal sensor, a pressure sensor, an engine speed sensor, an air flow sensor AFS, an intake air temperature sensor ATS, a water temperature sensor WTS, A position sensor (TPS), a TDC sensor, a crank angle sensor (CAS), and the like.

The sensing unit 760 may include a biometric information sensing unit. The biometric information sensing unit senses and acquires the biometric information of the passenger. The biometric information may include fingerprint information, iris-scan information, retina-scan information, hand geo-metry information, facial recognition information, Voice recognition information. The biometric information sensing unit may include a sensor that senses the passenger's biometric information. Here, the monitoring unit 725 and the microphones 723 may operate as sensors. The biometric information sensing unit can acquire the hand shape information and the face recognition information through the monitoring unit 725.

The output unit 740 is for outputting information processed by the control unit 770 and may include a display unit 741, an acoustic output unit 742, and a haptic output unit 743. [

The display unit 741 can display information processed in the control unit 770. For example, the display unit 741 can display the vehicle-related information. Here, the vehicle-related information may include vehicle control information for direct control of the vehicle, or vehicle driving assistance information for a driving guide to the vehicle driver. Further, the vehicle-related information may include vehicle state information indicating the current state of the vehicle or vehicle driving information related to the driving of the vehicle.

The display unit 741 may be a liquid crystal display (LCD), a thin film transistor-liquid crystal display (TFT LCD), an organic light-emitting diode (OLED) display, a 3D display, and an e-ink display.

The display unit 741 may have a mutual layer structure with the touch sensor or may be integrally formed to realize a touch screen. This touch screen may function as a user input 724 that provides an input interface between the vehicle and the user, while providing an output interface between the vehicle and the user. In this case, the display unit 741 may include a touch sensor that senses a touch with respect to the display unit 741 so that a control command can be received by a touch method. When a touch is made to the display unit 741, the touch sensor senses the touch, and the control unit 770 generates a control command corresponding to the touch based on the touch. The content input by the touch method may be a letter or a number, an instruction in various modes, a menu item which can be designated, and the like.

Meanwhile, the display unit 741 may include a cluster so that the driver can check the vehicle state information or the vehicle driving information while driving. Clusters can be located on the dashboard. In this case, the driver can confirm the information displayed in the cluster while keeping the line of sight ahead of the vehicle.

Meanwhile, according to the embodiment, the display unit 741 may be implemented as a Head Up Display (HUD). When the display unit 741 is implemented as a HUD, information can be output through a transparent display provided in the windshield. Alternatively, the display unit 741 may include a projection module to output information through an image projected on the windshield.

The sound output unit 742 converts an electric signal from the control unit 770 into an audio signal and outputs the audio signal. For this purpose, the sound output unit 742 may include a speaker or the like. It is also possible for the sound output section 742 to output a sound corresponding to the operation of the user input section 724. [

The haptic output unit 743 generates a tactile output. For example, the haptic output section 743 may operate to vibrate the steering wheel, the seat belt, and the seat so that the user can recognize the output.

The vehicle drive unit 750 can control the operation of various devices of the vehicle. The vehicle driving unit 750 includes a power source driving unit 751, a steering driving unit 752, a brake driving unit 753, a lamp driving unit 754, an air conditioning driving unit 755, a window driving unit 756, an airbag driving unit 757, A driving unit 758 and a suspension driving unit 759.

The power source drive section 751 can perform electronic control of the power source in the vehicle.

For example, when the fossil fuel-based engine (not shown) is a power source, the power source drive unit 751 can perform electronic control on the engine. Thus, the output torque of the engine and the like can be controlled. When the power source drive unit 751 is an engine, the speed of the vehicle can be limited by limiting the engine output torque under the control of the control unit 770. [

As another example, when the electric motor (not shown) is a power source, the power source driving unit 751 can perform control on the motor. Thus, the rotation speed, torque, etc. of the motor can be controlled.

The steering driver 752 may perform electronic control of a steering apparatus in the vehicle. Thus, the traveling direction of the vehicle can be changed.

The brake driver 753 can perform electronic control of a brake apparatus (not shown) in the vehicle. For example, it is possible to reduce the speed of the vehicle by controlling the operation of the brakes disposed on the wheels. As another example, it is possible to adjust the traveling direction of the vehicle to the left or right by differently operating the brakes respectively disposed on the left wheel and the right wheel.

The lamp driver 754 can control the turn-on / turn-off of the lamps disposed inside and outside the vehicle. Also, the intensity, direction, etc. of the light of the lamp can be controlled. For example, it is possible to perform control on a direction indicating lamp, a brake lamp, and the like.

The air conditioning driving unit 755 can perform electronic control on an air conditioner (not shown) in the vehicle. For example, when the temperature inside the vehicle is high, the air conditioner can be operated to control the cool air to be supplied to the inside of the vehicle.

The window driving unit 756 may perform electronic control of a window apparatus in the vehicle. For example, it is possible to control the opening or closing of the side of the vehicle with respect to the left and right windows.

The airbag driving unit 757 can perform electronic control of the airbag apparatus in the vehicle. For example, in case of danger, the airbag can be controlled to fire.

The sunroof driving unit 758 may perform electronic control of a sunroof apparatus (not shown) in the vehicle. For example, the opening or closing of the sunroof can be controlled.

The suspension driving unit 759 can perform electronic control of a suspension apparatus (not shown) in the vehicle. For example, when there is a curvature on the road surface, it is possible to control the suspension device so as to reduce the vibration of the vehicle.

The memory 730 is electrically connected to the control unit 770. The memory 770 may store basic data for the unit, control data for controlling the operation of the unit, and input / output data. The memory 790 can be, in hardware, various storage devices such as a ROM, a RAM, an EPROM, a flash drive, a hard drive, and the like. The memory 730 may store various data for operation of the entire vehicle, such as a program for processing or controlling the control unit 770.

The interface unit 780 can serve as a pathway to various kinds of external devices connected to the vehicle. For example, the interface unit 780 may include a port that can be connected to the mobile terminal 600, and may be connected to the mobile terminal 600 through the port. In this case, the interface unit 780 can exchange data with the mobile terminal 600.

Meanwhile, the interface unit 780 may serve as a channel for supplying electrical energy to the connected mobile terminal 600. The interface unit 780 provides electric energy supplied from the power supply unit 790 to the mobile terminal 600 under the control of the control unit 770 when the mobile terminal 600 is electrically connected to the interface unit 780 do.

The control unit 770 can control the overall operation of each unit in the vehicle. The control unit 770 may be referred to as an ECU (Electronic Control Unit).

The control unit 770 can perform a function corresponding to the transmitted signal in accordance with the execution signal transfer of the vehicle driving assistant 100. [

The controller 770 may be implemented in hardware as application specific integrated circuits (ASICs), digital signal processors (DSPs), digital signal processing devices (DSPDs), programmable logic devices (PLDs), field programmable gate arrays (FPGAs) processors, controllers, micro-controllers, microprocessors, and other electronic units for performing other functions.

The control unit 770 can delegate the role of the processor 170 described above. That is, the processor 170 of the vehicle driving assistant 100 can be set directly to the control unit 770 of the vehicle. In this embodiment, it is understood that the vehicle driving assistant device 100 refers to a combination of some parts of the vehicle.

Alternatively, the control unit 770 may control the configurations so as to transmit the information requested by the processor 170. [

The power supply unit 790 can supply power necessary for the operation of each component under the control of the control unit 770. [ Particularly, the power supply unit 770 can receive power from a battery (not shown) in the vehicle.

The AVN (Audio Video Navigation) device 400 can exchange data with the control unit 770. The control unit 770 can receive navigation information from the AVN apparatus 400 or a separate navigation device (not shown). Here, the navigation information may include set destination information, route information according to the destination, map information about the vehicle driving, or vehicle location information.

The features, structures, effects and the like described in the foregoing embodiments are included in at least one embodiment of the present invention and are not necessarily limited to one embodiment. Further, the features, structures, effects, and the like illustrated in the embodiments may be combined or modified in other embodiments by those skilled in the art to which the embodiments belong. Therefore, it should be understood that the present invention is not limited to these combinations and modifications.

While the present invention has been particularly shown and described with reference to exemplary embodiments thereof, it is clearly understood that the same is by way of illustration and example only and is not to be construed as limiting the scope of the present invention. It can be seen that various modifications and applications are possible. For example, each component specifically shown in the embodiments may be modified and implemented. It is to be understood that the present invention may be embodied in many other specific forms without departing from the spirit or essential characteristics thereof.

Claims (10)

A communication unit for receiving a communication signal having vehicle-traveling related communication information;
A memory unit for storing the received communication information;
An interface unit for receiving the travel-related sensor information of the vehicle and transmitting a control signal for controlling the operation of the vehicle; And
And a processor for decoding the communication signal to obtain the communication information and generating the control signal in accordance with the communication information,
Wherein,
The first communication signal and the second communication signal transmitted by the different communication apparatuses are received redundantly,
The processor comprising:
Wherein the control unit selects one of the first communication signal and the second communication signal based on at least one of the communication information obtained from the previously received communication signal and the sensor information, Accordingly, the control signal is generated to control the traveling of the vehicle,
Wherein the communication information stored in the memory unit is first communication information of the first communication signal,
The processor comprising:
When the first communication signal matching the first communication information among the two communication signals received through the communication unit is detected, the second communication signal is selected and the control Generates a signal to control the running of the vehicle
Vehicle driving assistance device. The method according to claim 1,
The processor comprising:
Extracting the moving direction of the vehicle from the sensor information,
A communication signal matching the moving direction of the vehicle among the two communication signals received through the communication unit
Vehicle driving assistance device. The method according to claim 1,
The processor comprising:
Among the two communication signals received through the communication unit, a communication signal whose communication strength increases according to traveling of the vehicle
Vehicle driving assistance device. delete The method according to claim 1,
Wherein the first communication information includes:
The speed limitation of the traveling section in which the vehicle travels includes the speed limitation information of the vehicle at the first speed,
Wherein the second communication information comprises:
If the speed limitation of the traveling section in which the vehicle travels includes the speed limitation information of the vehicle at the second speed,
The processor comprising:
Detecting the first communication signal including the speed limitation information of the vehicle at the first speed among the two communication signals received through the communication unit,
Selects the second communication signal and controls the traveling speed of the vehicle to be within the second speed according to the second communication information
Vehicle driving assistance device. The method according to claim 1,
Wherein the first communication information includes:
And a curve section in front of the vehicle,
Wherein the second communication information comprises:
If information including a collision dangerous object is included in front of the curve section,
The processor comprising:
Detecting the first communication signal including information indicating that there is a curve section ahead of the two communication signals received through the communication section,
Selects the second communication signal to control the running of the vehicle in preparation for a dangerous object in front of the vehicle in accordance with the second communication information
Vehicle driving assistance device. The method according to claim 1,
The processor comprising:
Determines a first valid area that matches the first communication information based on the first communication information
Vehicle driving assistance device. 8. The method of claim 7,
Wherein,
Receiving position information on a current position of the vehicle,
The processor comprising:
The control unit selects the first communication signal when the position of the vehicle is within the first effective area and controls the running of the vehicle by generating the control signal in accordance with the first communication information of the selected first communication signal
Vehicle driving assistance device. 9. The method of claim 8,
The processor comprising:
Selects the second communication signal when the position of the vehicle is out of the first effective area and generates the control signal in accordance with the second communication information of the selected second communication signal to control the traveling of the vehicle
Vehicle driving assistance device. 10. The method of claim 9,
The processor comprising:
Selecting one of the first communication signal and the second communication signal according to a vehicle driving assist function for controlling and providing driving of the vehicle
Vehicle driving assistance device.

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