KR101439368B1 - Apparatus and method for warning object using haptic steering wheel - Google Patents

Abstract

An obstacle warning device and method using a haptic steering wheel are provided. The obstacle warning device using the haptic steering wheel includes a haptic steering wheel, a panoramic image generation unit for generating a panoramic image about the surroundings of the vehicle, an obstacle detection unit for detecting obstacle coordinates from the panoramic image, a steering control unit for measuring the steering angle of the vehicle, An alarm determination unit for calculating the relative angular distance by converting the obstacle coordinates into angular distance, converting the steering angle of the vehicle into angular distance, comparing the angular distance of the obstacle with the angular distance of the vehicle, and calculating a relative angular distance, And a steering wheel control unit for controlling the vibration pattern and the vibration intensity of the steering wheel.

Description

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a haptic steering wheel,

The present invention relates to an obstacle warning apparatus and method using a haptic steering wheel.

AVM (Around View Monitoring) represents the function of providing the driver with an image representing 360 ° around the vehicle. The 2D AVM provides a 360 ° image around the vehicle in the vehicle top view. The 3D AVM places the 360 ° image of the vehicle and the shape of the vehicle in the 3D virtual space. In the AVM controller, Provide the image to the driver. The two-dimensional AVM obstacle warning method uses an ultrasonic sensor disposed on the front, rear, left and right sides of the vehicle to detect an obstacle, perform an obstacle warning, and display obstacle information on the AVM display. However, since the driver can not always observe the AVM display, the obstacle information can not be acquired intuitively, and the warning of the obstacle is limited only to the relationship between the obstacle and the vehicle.

An object of the present invention is to provide an obstacle warning device using a haptic steering wheel based on obstacle coordinates detected through a three-dimensional AVM for a vehicle.

Another problem to be solved by the present invention is to provide an obstacle warning method using a haptic steering wheel based on obstacle coordinates detected through a three-dimensional AVM for a vehicle.

The problems to be solved by the present invention are not limited to the above-mentioned problems, and other matters not mentioned can be clearly understood by those skilled in the art from the following description.

According to an aspect of the present invention, there is provided an obstacle warning device using a haptic steering wheel, comprising: a haptic steering wheel; a panoramic image generation unit for generating a panoramic image about the surroundings of the vehicle; an obstacle detection unit for detecting obstacle coordinates from the panoramic image; A steering control unit for measuring a steering angle of the vehicle, a control unit for converting the obstacle coordinates into an obstacle distance, converting a steering angle, which is changed according to an operation of the driver's steering wheel in the vehicle, into a vehicle distance, And a steering wheel control unit for controlling the vibration pattern and the vibration intensity of the haptic steering wheel according to the relative angular distance.

In some embodiments of the present invention, the steering wheel control section can control the haptic steering wheel to vibrate when the relative angular distance is smaller than the reference angular distance.

The steering wheel control unit controls the haptic steering wheel to vibrate when an obstacle is detected by the ultrasonic sensor unit, and when the obstacle is detected by the ultrasonic sensor unit, The haptic steering wheel can be controlled not to vibrate when the obstacle is not detected by the ultrasonic sensor part.

In some embodiments of the present invention, the steering wheel control section may reduce the vibration pattern of the haptic steering wheel and increase the vibration intensity as the relative angular distance decreases.

In some embodiments of the present invention, the warning determination unit may reverse-convert the vehicle distance when the number of gears of the vehicle is the reverse (R).

According to an aspect of the present invention, there is provided an obstacle warning method using a haptic steering wheel, the method comprising: generating a panoramic image of a surroundings of a vehicle; detecting obstacle coordinates from the panoramic image; measuring a steering angle of the vehicle; Calculating a relative angular distance by comparing the steering angle of the vehicle with an angular distance of the vehicle, comparing the angular distance of the obstacle with the angular distance of the vehicle, calculating a relative angular distance based on the relative angular distance and a vibration pattern of the haptic steering wheel, And vibrating the haptic steering wheel according to the vibration pattern and the vibration intensity.

In some embodiments of the present invention, vibrating the haptic steering wheel may vibrate the haptic steering wheel when the relative angular distance is less than a reference angular distance.

In some embodiments of the present invention, the method further comprises detecting an obstacle using ultrasonic waves, wherein vibrating the haptic steering wheel vibrates the haptic steering wheel when an obstacle is detected using the ultrasonic wave, The haptic steering wheel may not vibrate when an obstacle is not detected.

In some embodiments of the present invention, determining the vibration pattern and vibration intensity of the haptic steering wheel may reduce the vibration pattern of the haptic steering wheel and increase the vibration intensity as the relative angular distance decreases.

In some embodiments of the present invention, conversion of the distance to the vehicle can be performed by reversing the distance of the vehicle when the number of gears of the vehicle is reverse (R).

Other specific details of the invention are included in the detailed description and drawings.

According to the present invention, an obstacle is predicted through a three-dimensional AVM according to a driver's will, and a haptic steering wheel is used to provide a driver with a tactile sense of motion to provide intuitive obstacle direction information according to the driver's steering intent can do.

1 is a schematic block diagram for explaining a configuration of a vehicle control system according to an embodiment of the present invention.
FIG. 2 is a schematic block diagram for explaining the internal configuration of the three-dimensional AVM control unit of FIG. 1. FIG.
3 is a schematic view for explaining a method of calculating a relative angular distance in the three-dimensional AVM controller of FIG.
FIG. 4 is a schematic block diagram for explaining an internal configuration of the steering wheel control unit of FIG. 1. FIG.
5 is a schematic table for explaining a vibration control method of the steering wheel control unit of FIG.
6 is a schematic view for explaining the structure of the haptic steering wheel of FIG.
7 is a schematic flow chart for explaining a vehicle control method according to an embodiment of the present invention.

BRIEF DESCRIPTION OF THE DRAWINGS The advantages and features of the present invention, and the manner of achieving them, will be apparent from and elucidated with reference to the embodiments described hereinafter in conjunction with the accompanying drawings. The present invention may, however, be embodied in many different forms and should not be construed as being limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the invention to those skilled in the art. Is provided to fully convey the scope of the invention to those skilled in the art, and the invention is only defined by the scope of the claims. Like reference numerals refer to like elements throughout the specification.

One element is referred to as being "connected to " or" coupled to "another element, either directly connected or coupled to another element, One case. On the other hand, when one element is referred to as being "directly connected to" or "directly coupled to " another element, it does not intervene another element in the middle. Like reference numerals refer to like elements throughout the specification. "And / or" include each and every combination of one or more of the mentioned items.

It is to be understood that when an element or layer is referred to as being "on" or " on "of another element or layer, All included. On the other hand, a device being referred to as "directly on" or "directly above " indicates that no other device or layer is interposed in between.

The terms spatially relative, "below", "beneath", "lower", "above", "upper" May be used to readily describe a device or a relationship of components to other devices or components. Spatially relative terms should be understood to include, in addition to the orientation shown in the drawings, terms that include different orientations of the device during use or operation. For example, when inverting an element shown in the figures, an element described as "below" or "beneath" of another element may be placed "above" another element. Thus, the exemplary term "below" can include both downward and upward directions. The elements can also be oriented in different directions, so that spatially relative terms can be interpreted according to orientation.

Although the first, second, etc. are used to describe various elements, components and / or sections, it is needless to say that these elements, components and / or sections are not limited by these terms. These terms are only used to distinguish one element, element or section from another element, element or section. Therefore, it goes without saying that the first element, the first element or the first section mentioned below may be the second element, the second element or the second section within the technical spirit of the present invention.

The terminology used herein is for the purpose of illustrating embodiments and is not intended to be limiting of the present invention. In the present specification, the singular form includes plural forms unless otherwise specified in the specification. It is noted that the terms "comprises" and / or "comprising" used in the specification are intended to be inclusive in a manner similar to the components, steps, operations, and / Or additions.

Unless defined otherwise, all terms (including technical and scientific terms) used herein may be used in a sense commonly understood by one of ordinary skill in the art to which this invention belongs. Also, commonly used predefined terms are not ideally or excessively interpreted unless explicitly defined otherwise.

1 is a schematic block diagram for explaining a configuration of a vehicle control system according to an embodiment of the present invention.

1, a vehicle control system 1 according to an embodiment of the present invention includes a front ultrasound sensor 110, a front camera 120, a transmission control unit 130, a steering control unit 140, a right camera 210 A three-dimensional AVM control unit 220, a left camera 230, a steering wheel control unit 240, a haptic steering wheel 250, a rear ultrasonic sensor 310, and a rear camera 320.

The front IP gateway 100, the central IP gateway 200 and the rear IP gateway 300 are connected to each other via ethernet so that various components of the vehicle control system 1 can be connected to each other via a network .

For example, the front ultrasonic sensor 110 and the rear ultrasonic sensor 310 are connected to the IP gateway 100 or 300 through a LIN (Local Interconnect Network), and the transmission control unit 130 and the steering control unit 140 are connected to the CAN (Controller Area Network) to the IP gateway 100. Other components may be connected to the IP gateways 100, 200, or 300 via Ethernet.

The front ultrasonic sensor 110 is configured to detect an obstacle located in front of the vehicle using ultrasonic waves, and the rear ultrasonic sensor 310 is configured to detect an obstacle located behind the vehicle using ultrasonic waves. The front and rear ultrasonic sensors 110 and 310 transmit the front and rear obstacle detection result to the steering wheel control unit 240 via the IP gateway.

The front camera 120, the rear camera 320, the left camera 230, and the right camera 210 are configured to acquire a front image, a rear image, a left image, and a right image of the vehicle, respectively.

The transmission control unit 130 is configured to detect the number of gears of the vehicle. Illustratively, the number of gears may include, but is not limited to, Park (P), Reverse (R), Neutral (N), Running (D), 1, 2, The transmission control unit 130 transmits the gear rank information to the three-dimensional AVM control unit 220 via the IP gateway.

The steering control unit 140 is configured to measure the steering angle of the vehicle. Illustratively, the steering control unit 140 may include a control device of an electric power steering wheel. The steering control unit 140 transmits the steering angle information to the three-dimensional AVM control unit 220 via the IP gateway.

The three-dimensional AVM control unit 220 comprises a device for providing and controlling a three-dimensional AVM for a vehicle. In the embodiment of the present invention, the three-dimensional AVM control unit 220 calculates the relative angular distance using the steering angle information, the gear rank information, and the front and rear left and right images as described later. This will be described in more detail with reference to FIG.

The steering wheel control unit 240 is configured to control the haptic steering wheel 250. In the embodiment of the present invention, the steering wheel control unit 240 generates a vibration command using the relative angular distance information and the front and rear obstacle detection results, as described later. This will be described in more detail in FIG.

The haptic steering wheel 250 is configured to add a haptic interface to the steering wheel. Accordingly, the haptic steering wheel 250 can provide the driver with a tactile sensation using the vibration. This will be described in more detail with reference to FIG.

FIG. 2 is a schematic block diagram for explaining the internal configuration of the three-dimensional AVM control unit of FIG. 1. FIG.

2, the 3D AVM control unit 220 includes an Ethernet communication unit 221, a message processing unit 222, an image acquisition unit 223, a panoramic image generation unit 224, an obstacle detection unit 226, 225, and a warning determination unit 227.

The Ethernet communication unit 221 is configured to provide an Ethernet interface. The 3D AVM control unit 220 can be connected to the IP gateway through the Ethernet interface provided by the Ethernet communication unit 221. [

The message processing unit 222 is configured to transmit and receive data packets to and from the Ethernet communication unit 221. The message processing unit 222 extracts the image data from the data packet transmitted from the Ethernet communication unit 221 and transmits the extracted image data to the image obtaining unit 223 or extracts the steering angle information and the gear rank information from the data packet, Lt; / RTI > The message processing unit 222 may transmit the data packet including the relative distance received from the warning determination unit 227 to the Ethernet communication unit 221. [

The image obtaining unit 223 receives the image data from the message processing unit 222 and extracts a front image, a rear image, a left image, and a right image from the image data, and transmits the extracted image to the panorama image generating unit 224.

The panorama image generating unit 224 is configured to generate front and rear left and right images to generate a panorama image about the surroundings of the vehicle. The panoramic image can be generated as a three-dimensional image representing 360 degrees with respect to the front of the vehicle. The panoramic image can be mapped to a virtual projected plane of three-dimensional space. The imaginary projection plane may be, for example, a cylinder, a cone, a hemisphere, or a vessel having an upper diameter larger than that of the lower portion, but is not limited thereto. Hereinafter, for the sake of understanding and explanation of the present invention, a virtual cylinder is used as a virtual projection plane will be described as an example. The panoramic image may be disposed on the circumferential surface of a virtual cylinder centered on the position of the vehicle. The panoramic image may be generated over time and may be provided to the vehicle 3D AVM display (not shown) or may be transmitted to the obstacle detection unit 226.

The obstacle detection unit 226 is configured to detect obstacle coordinates from the panoramic image. The obstacle coordinates represent coordinates of an obstacle displayed on the panoramic image, and the obstacle includes a moving person or an object around the vehicle. The obstacle detecting unit 226 temporarily stores the previous panorama image in the image cache 225 and compares the previous panorama image with the current panorama image to detect the obstacle coordinates. The obstacle detection unit 226 may transmit the detected obstacle coordinates to the warning determination unit 227. [

The warning determination unit 227 is configured to calculate the relative angular distance using the steering angle information, the gear rank information, and the obstacle coordinates.

The warning determination unit 227 may convert the steering angle of the vehicle, which is changed in accordance with the operation of the driver's steering wheel, to the distance of the vehicle, and may convert the coordinates of the obstacle into the distance of the obstacle. Here, angular distance represents the angle formed by the center of the reference point and the center of the cylinder and the specific point when the front or rear surface of the vehicle is set as a reference point on a virtual cylinder of the three-dimensional space. The warning determination unit 227 can calculate the relative angular distance by comparing the angular distance between the obstacle and the vehicle. For example, when the number of gears of the vehicle is (D), 1, 2, 3, etc., the warning determination unit 227 converts the vehicle angular distance in the same manner as the steering angle of the vehicle, The distance of the vehicle can be reversed. The warning determination unit 227 may determine whether the vehicle is traveling in the direction of the obstacle based on the obstacle coordinates and the number of gears of the vehicle and may cause the relative distance to be transmitted to the steering wheel control unit 240 when the vehicle travels in the direction of the obstacle .

Referring to FIG. 3, a plan view of a virtual cylinder in which a panoramic image is mapped is shown, and a vehicle model may be disposed at the center of a virtual cylinder. The vehicle model is intended to indicate the relative position of a virtual vehicle and a virtual cylinder placed in a three-dimensional space.

In FIG. 3, it is assumed that the vehicle angular distance is A ° and the obstacle angular distance is C °. The angular distance of the vehicle can be changed according to the operation of the steering wheel of the driver. 3 illustrates a case in which the driver operates the steering wheel counterclockwise, but the present invention is not limited thereto. When the vehicle advances (for example, when the number of gears of the vehicle is advanced), the angular range of the vehicle and the angular range of the obstacle can be calculated based on the center of the vehicle front. On the other hand, when the vehicle is backward (for example, when the number of gears of the vehicle is backward), the angular distance of the vehicle and the angular distance of the obstacle can be calculated with the center of the rear surface of the vehicle as a reference point.

For example, assuming that the vehicle width is 2B, the angular distance corresponding to the right edge of the vehicle is A-B, and the angular distance corresponding to the left edge of the vehicle is A + B. Here, 2B is a constant value that is uniquely determined according to the type of vehicle. When the traveling direction of the vehicle is the left side, the warning determination unit 227 can calculate the deviation of the obstacle angular distance and the left edge angular distance by the relative angular distance as shown in Fig. On the other hand, when the traveling direction of the vehicle is the right side, the warning determination unit 227 can calculate the deviation between the angular distance of the obstacle and the angular distance of the right edge by the relative angular distance.

2, the three-dimensional AVM control unit 220 is divided into a plurality of components. However, the present invention is not limited to the three-dimensional AVM control unit 220. For example, the three-dimensional AVM control unit 220 may include an Ethernet communication unit 221, a message processing unit 222, The panorama image generation unit 224, the obstacle detection unit 226, the image cache 225, and the warning determination unit 227 may be integrally configured.

FIG. 4 is a schematic block diagram for explaining an internal configuration of the steering wheel control unit of FIG. 1. FIG.

Referring to FIG. 4, the steering wheel control unit 240 includes an Ethernet communication unit 241, a message processing unit 242, and a vibration control unit 243.

The Ethernet communication unit 241 is configured to provide an Ethernet interface. Through the Ethernet interface provided by the Ethernet communication unit 241, the steering wheel control unit 240 can be connected to the IP gateway.

The message processing unit 242 is configured to transmit and receive data packets to and from the Ethernet communication unit 241. The message processing unit 242 may extract the relative angular distance information, the front and rear obstacle detection result from the data packet transmitted from the Ethernet communication unit 241, and transmit it to the vibration control unit 243.

The vibration control unit 243 is configured to transmit a vibration command to drive the haptic steering wheel 250. [ The vibration control unit 243 can control the vibration of the haptic steering wheel 250 using the relative angular range information and the front and rear obstacle detection results.

5 is a schematic table for explaining a vibration control method of the steering wheel control unit of FIG.

Referring to FIG. 5, the steering wheel control unit 240 may decrease the vibration pattern of the haptic steering wheel 250 and increase the vibration intensity as the relative angular distance decreases in order to minimize the driver's sense of heterogeneity.

Illustratively, the vibration control unit 243 allows the haptic steering wheel 250 to vibrate at an intensity of 25% of the maximum output for 0.2 sec of 1 sec when the relative angular range is 135 ° to 180 °, ° to 135 °, the haptic steering wheel 250 is caused to vibrate twice at an intensity of 55% of the maximum output for 0.2 sec in 1 sec, and when the relative angular distance is 45 ° to 90 °, the haptic steering wheel 250 ) Is oscillated at an intensity of 75% of the maximum output for 0.6 sec in 1 sec, and when the relative angular range is 0 to 45, the haptic steering wheel 250 is continuously oscillated at a 100% But it is not limited thereto.

4, the vibration control unit 243 controls the haptic steering wheel 250 to vibrate only when the relative angular distance is smaller than a predetermined reference angular distance. When the relative angular distance is not smaller than the reference angular distance, (250) may not be driven.

On the other hand, the vibration control unit 243 controls the haptic steering wheel 250 to vibrate only when an obstacle is detected based on the front / rear obstacle detection result, and drives the haptic steering wheel 250 when no obstacle is detected . In the case of an obstacle which is not detected by the ultrasonic sensors 110 and 310, it is an obstacle located at a relatively long distance from the vehicle, and therefore does not directly affect the movement of the vehicle.

4, the steering wheel control unit 240 is divided into a plurality of components. However, the present invention is not limited to the Ethernet communication unit 241, the message processing unit 242, the vibration control unit 243, It will be obvious that they can be formed integrally.

6 is a schematic view for explaining the structure of the haptic steering wheel of FIG.

Referring to FIG. 6, a plurality of vibration motors 251 to 254 may be disposed in the haptic steering wheel 250. In FIG. 6, the four vibration motors 251 to 254 are illustratively disposed at left and right sides of the haptic steering wheel 250 at predetermined intervals, but the present invention is not limited thereto.

The plurality of vibration motors 251 to 254 may be individually operated corresponding to a plurality of zones of the vehicle. Illustratively, when the area of the vehicle is divided into a left front edge, a right front edge, a left rear edge, a right rear edge, and the like, a plurality of vibration motors 251 - 254 may be operated individually.

Hereinafter, a vehicle control method using the vehicle control system described with reference to Figs. 1 to 6 will be described.

7 is a schematic flow chart for explaining a vehicle control method according to an embodiment of the present invention. The detailed description of the contents overlapping with those described above will be omitted.

Referring to FIG. 7, the front ultrasonic sensor 110 and the rear ultrasonic sensor 310 detect obstacles using ultrasonic waves (S410).

Next, the panoramic image generation unit 224 synthesizes front, rear, left, and right images to generate a panoramic image of the surroundings of the vehicle (S420).

Then, the obstacle detecting unit 226 detects the obstacle coordinates from the panoramic image (S430). At this time, the obstacle detecting unit 226 can detect the obstacle coordinates by comparing the previous panorama image with the current panorama image.

Subsequently, the steering control unit measures the steering angle of the vehicle (S440).

Next, the warning determination unit 227 converts the obstacle coordinates into the distance of the obstacle, converts the steering angle of the vehicle into the distance of the vehicle, compares the distance between the obstacle and the vehicle distance, and calculates the relative distance (S450). At this time, when the number of gears of the vehicle is the reverse (R), the warning determination unit 227 can reverse-convert the angular distance of the vehicle.

 Subsequently, the steering wheel control unit 240 determines the vibration pattern and vibration intensity of the haptic steering wheel 250 according to the angular distance (S460). At this time, as the relative angular distance decreases, the steering wheel control unit 240 can reduce the vibration pattern of the haptic steering wheel 250 and increase the vibration intensity.

Then, the steering wheel control unit 240 determines whether an obstacle is detected by the ultrasonic sensors 110 and 310 (S470).

Then, when an obstacle is detected, the steering wheel control unit 240 causes the haptic steering wheel 250 to vibrate according to the determined vibration pattern and the vibration intensity (S480). On the other hand, the steering wheel control unit 240 does not vibrate the haptic steering wheel 250 when no obstacle is detected.

Although steps 410 to 480 are sequentially shown in FIG. 7, it will be apparent to those skilled in the art that steps 410, 420, and 440 may be performed in a different order or simultaneously.

According to the embodiment of the present invention, it is possible to predict the obstacle according to the steering intention of the driver and to perform the obstacle warning only by providing the driver with the sense of motion through the tactile sense.

The steps of a method or algorithm described in connection with the embodiments of the invention may be embodied directly in hardware, in a software module executed by a processor, or in a combination of the two. The software module may reside in RAM memory, flash memory, ROM memory, EPROM memory, EEPROM memory, registers, a hard disk, a removable disk, a CD-ROM, or any other form of recording medium known in the art. An exemplary recording medium is coupled to a processor, which is capable of reading information from, and writing information to, the recording medium. Alternatively, the recording medium may be integral with the processor. The processor and the recording medium may reside in an application specific integrated circuit (ASIC). The ASIC may reside in the transmission control unit 130, the steering control unit 140, the three-dimensional AVM control unit 220, the steering wheel control unit 240, and the like. Alternatively, the processor and the recording medium may reside as discrete components in the transmission control unit 130, the steering control unit 140, the three-dimensional AVM control unit 220, the steering wheel control unit 240, and the like.

While the present invention has been described in connection with what is presently considered to be practical exemplary embodiments, it is to be understood that the invention is not limited to the disclosed embodiments, but, on the contrary, You will understand. It is therefore to be understood that the above-described embodiments are illustrative in all aspects and not restrictive.

100: forward IP gateway
110: Front ultrasonic sensor
120: Front camera
130:
140:
200: Central IP gateway
210: Right camera
220: 3D AVM control unit
230: Left camera
240: Steering wheel control unit
250: Haptic steering wheel
300: Rear IP gateway
310: rear ultrasonic sensor
320: rear camera

Claims (10)

Haptic steering wheel;
A panoramic image generating unit for generating a panoramic image about the surroundings of the vehicle;
An obstacle detector for detecting an obstacle coordinate from the panoramic image;
A steering control unit for measuring a steering angle of the vehicle;
Calculating a left-side edge distance or a right-side edge distance of the vehicle by using the width of the vehicle and the vehicle distance, calculating a steering angle of the vehicle based on the direction of the steering angle An alarm determining unit for comparing the angular distance of the obstacle with any one of the left edge distance or the right edge distance to calculate a relative angular distance; And
And a steering wheel control unit for controlling the vibration pattern and the vibration intensity of the haptic steering wheel according to the relative angular range. The method according to claim 1,
Wherein the steering wheel control unit controls the haptic steering wheel to vibrate when the relative angular distance is smaller than a reference angular range. 3. The method of claim 2,
Further comprising an ultrasonic sensor part for detecting an obstacle by using ultrasonic waves,
Wherein the steering wheel control unit controls the haptic steering wheel to vibrate when an obstacle is detected by the ultrasonic sensor unit and controls the haptic steering wheel not to vibrate when the obstacle is not detected by the ultrasonic sensor unit, Obstacle Warning Device Using Haptic Steering Wheel. The method according to claim 1,
Wherein the steering wheel control unit reduces the vibration pattern of the haptic steering wheel and increases the vibration intensity as the relative angular distance decreases. The method according to claim 1,
Wherein the warning determination unit reverses and converts the angular range of the vehicle when the number of gears of the vehicle is reverse (R). Generating a panoramic image of the surroundings of the vehicle,
Detecting an obstacle coordinate from the panoramic image,
The steering angle of the vehicle is measured,
Calculating a left-side edge distance or a right-side edge distance of the vehicle by using the width of the vehicle and the vehicle distance, calculating a steering angle of the vehicle based on the direction of the steering angle , The relative angular distance is calculated by comparing the angular distance of the obstacle with any one of the left edge angular distance and the right edge angular distance,
Determining a vibration pattern and a vibration intensity of the haptic steering wheel according to the relative angular range,
And vibrating the haptic steering wheel according to the vibration pattern and the vibration intensity. The method according to claim 6,
Wherein the vibration of the haptic steering wheel vibrates the haptic steering wheel when the relative angular distance is smaller than a reference angular distance. 8. The method of claim 7,
Further comprising detecting an obstacle using ultrasonic waves,
Wherein the vibration of the haptic steering wheel vibrates the haptic steering wheel when an obstacle is detected using the ultrasonic wave and does not vibrate the haptic steering wheel when an obstacle is not detected using the ultrasonic wave, Obstacle Warning Method Using. The method according to claim 6,
Wherein the vibration pattern and the vibration intensity of the haptic steering wheel are determined by reducing the vibration pattern of the haptic steering wheel and increasing the vibration intensity as the relative angular distance decreases. The method according to claim 6,
Wherein the conversion of the distance to the vehicle is performed by reversing the distance of the vehicle when the number of gears of the vehicle is reverse (R).

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