KR101632179B1 - Driver assistance apparatus and Vehicle including the same - Google Patents

Abstract

BACKGROUND OF THE INVENTION 1. Field of the Invention [0002] The present invention relates to a vehicle driving assistant and a vehicle having the same. A vehicle driving assist system according to an embodiment of the present invention includes a stereo camera and a control unit for calculating whether or not a vehicle enters a tunnel based on a stereo image received from a stereo camera and operating the vehicle in a tunnel mode And the tunnel mode control signal includes a control signal for controlling at least one of a sunroof driving unit, a lamp driving unit, a window driving unit, and an air conditioning driving unit in the vehicle. Thus, it is possible to easily perform the internal setting of the vehicle when entering the tunnel based on the photographed image.

Description

BACKGROUND OF THE INVENTION 1. Field of the Invention [0001] The present invention relates to a vehicle driving assist apparatus and a vehicle having the same,

BACKGROUND OF THE INVENTION 1. Field of the Invention [0001] The present invention relates to a vehicle driving assist apparatus and a vehicle having the same, and more particularly, to a vehicle driving assist apparatus and a vehicle having the same, will be.

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

On the other hand, for the convenience of users who use the vehicle, various sensors and electronic devices are provided. In particular, various devices for the user's driving convenience have been developed.

SUMMARY OF THE INVENTION An object of the present invention is to provide a vehicle driving assistant device and a vehicle having the same that can easily perform internal setting of a vehicle when entering a tunnel based on a photographed image.

According to an aspect of the present invention, there is provided a vehicle driving assist system including a stereo camera, a control unit that calculates whether or not a vehicle enters a tunnel based on a stereo image received from a stereo camera, And a tunnel mode control signal for generating a tunnel mode control signal for operating the vehicle in a tunnel mode, wherein the tunnel mode control signal includes a control signal for controlling at least one of a sunroof driving unit, a lamp driving unit, a window driving unit, .

According to another aspect of the present invention, there is provided a vehicle driving assist system including a mono camera, a radar, a mono image received from a mono camera, and distance information from a radar, And generating a tunnel mode control signal for operating the vehicle in a tunnel mode when the calculated vehicle enters a tunnel, wherein the tunnel mode control signal includes at least one of a sunroof driving unit, a lamp driving unit, a window driving unit, And a control signal for controlling at least one of the driving units.

According to another aspect of the present invention, there is provided a vehicle driving assist system including a rider performing scanning with respect to an external object, and a controller configured to calculate whether or not the vehicle enters a tunnel based on a scan image received from the rider And a processor for generating a tunnel mode control signal for operating the vehicle in a tunnel mode when the calculated vehicle enters a tunnel, wherein the tunnel mode control signal includes at least one of a sunroof driving unit, a lamp driving unit, a window driving unit, And a control signal for controlling one of them.

According to another aspect of the present invention, there is provided a vehicle including a sensor unit for sensing a vehicle condition, a sunroof driving unit for driving the sunroof, a lamp driving unit for driving the lamp, A control unit for controlling the sunroof driving unit, the lamp driving unit, the window driving unit, the air conditioning driving unit, and the control unit for controlling the sunroof driving unit, the window driving unit, and the air conditioning driving unit based on the stereo image received from the stereo camera and the stereo camera. And a processor for generating a tunnel mode control signal for operating the vehicle in a tunnel mode upon entering a tunnel of the calculated vehicle, wherein the tunnel mode control signal includes a sunroof driving unit, a lamp And a control signal for controlling at least one of the driving unit, the window driving unit, and the air conditioning driving unit.

A vehicle driving assist system according to an embodiment of the present invention generates a tunnel mode control signal for operating a vehicle in a tunnel mode when the calculated vehicle enters a tunnel based on a stereo image Thereby controlling at least one of the sunroof driving unit, the lamp driving unit, the window driving unit, and the air conditioning driving unit in the vehicle. Accordingly, it is possible to easily perform internal setting of the vehicle when entering the tunnel based on the photographed image.

On the other hand, by generating the pre-tunnel mode control signal for operating the vehicle in the pre-tunnel mode when the tunnel is escaped, based on the vehicle periphery information, whether or not the tunnel is escaped, , And the air conditioning driving unit. Thus, based on the photographed image, it is possible to set the internal setting of the vehicle at the time of exit of the tunnel as before entering the tunnel.

On the other hand, the processor of the vehicle driving assist device can generate the tunnel mode control signal based on the stereo image and more, based on the map information, so that the accuracy of the tunnel mode control signal can be improved.

On the other hand, on the basis of a stereo image, when an object is detected, the disparity can be calculated using the stereo image, and the object can be detected based on the disparity information, so that the data processing speed and the like can be shortened.

1 is a view showing the appearance of a vehicle having a stereo camera according to an embodiment of the present invention.
Fig. 2 is a view showing the appearance of a stereo camera attached to the vehicle of Fig. 1. Fig.
3A to 3B illustrate various examples of an internal block diagram of a vehicle driving assist apparatus according to an embodiment of the present invention.
Figures 4A-4B illustrate various examples of internal block diagrams of the processors of Figures 3A-3B.
Figures 5A-5B are views referenced in the operational description of the processors of Figures 4A-4B.
Figs. 6A and 6B are views referred to in the description of the operation of the vehicle driving assistance apparatus of Figs. 3A to 3B.
Fig. 7 is an example of an internal block diagram of the electronic control unit in the vehicle of Fig. 1. Fig.
8 is a flowchart illustrating an operation method of a driving assist system according to an embodiment of the present invention.
Figs. 9 to 13C are diagrams referred to for explanation of the operation method of Fig.
FIG. 14 is a view showing the appearance of a vehicle having a mono camera according to another embodiment of the present invention.
15A illustrates an example of an internal block diagram of a vehicle driving assist system according to another embodiment of the present invention.
FIG. 15B illustrates an example of an internal block diagram of a driving assistance device according to another embodiment of the present invention.
Figures 16A-16B illustrate various examples of the internal block diagram of the processor of Figure 15A.
17A and 17B are diagrams referred to in the description of the operation of the processor of FIG. 16A.

Hereinafter, the present invention will be described in detail with reference to the drawings.

The suffix "module" and " part "for components used in the following description are given merely for convenience of description, and do not give special significance or role in themselves. Accordingly, the terms "module" and "part" may be used interchangeably.

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.

On the other hand, the vehicle described in the present specification may be a concept including both a vehicle having an engine, a hybrid vehicle having an engine and an electric motor, an electric vehicle having an electric motor, and the like. Hereinafter, a vehicle having an engine will be mainly described.

Meanwhile, the vehicle driving assist device described in this specification may be referred to as an Advanced Driver Assistance System (ADAS) or an Advanced Driver Assistance Apparatus (ADAA). DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, a vehicle driving assist apparatus and a vehicle including the same according to various embodiments of the present invention will be described.

1 is a view showing the appearance of a vehicle having a stereo camera according to an embodiment of the present invention.

Referring to the drawings, a vehicle 200 includes wheels 103FR, 103FL, 103RL, ... rotated by a power source, a handle 150 for adjusting the traveling direction of the vehicle 200, And a stereo camera 195 provided in the mobile terminal 200.

The stereo camera 195 may include a plurality of cameras, and the stereo image obtained by the plurality of cameras may be signal-processed within the vehicle driving assistance apparatus 100 (Fig. 3).

On the other hand, the figure illustrates that the stereo camera 195 includes two cameras.

Fig. 2 is a view showing the appearance of a stereo camera attached to the vehicle of Fig. 1. Fig.

Referring to the drawing, the stereo camera module 195 may include a first camera 195a having a first lens 193a, and a second camera 195b having a second lens 193b.

The stereo camera module 195 includes a first light shield 192a and a second light shield 192b for shielding light incident on the first lens 193a and the second lens 193b, Shielding portion 192b.

The stereo camera module 195 in the drawing may be a structure detachable from the ceiling or the windshield of the vehicle 200.

A vehicle driving assistance device 100 (Fig. 3) having such a stereo camera module 195 can acquire a stereo image from the stereo camera module 195 in front of the vehicle, and based on the stereo image, disparity ) Detection, perform object detection for at least one stereo image based on the disparity information, and continuously track the motion of the object after object detection.

3A to 3B illustrate various examples of an internal block diagram of a vehicle driving assist apparatus according to an embodiment of the present invention.

3A and 3B can generate vehicle-related information by signal processing the stereo image received from the stereo camera 195 based on computer vision. 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.

3A, the vehicle driving assist system 100 of FIG. 3A includes a communication unit 120, an interface unit 130, a memory 140, a processor 170, a power supply unit 190, (Not shown). In addition, an audio input unit (not shown) and an audio output unit (not shown) may be provided.

The communication unit 120 can exchange data with the mobile terminal 600 or the server 500 in a wireless manner. In particular, the communication unit 120 can exchange data with a mobile terminal of a vehicle driver wirelessly. As a wireless data communication method, various data communication methods such as Bluetooth, WiFi Direct, WiFi, and APiX are possible.

The communication unit 120 can receive weather information and traffic situation information on the road, for example, TPEG (Transport Protocol Expert Group) information from the mobile terminal 600 or the server 500. Meanwhile, the vehicle driving assistant device 100 may transmit real-time traffic information based on the stereo image to the mobile terminal 600 or the server 500. [

On the other hand, when the user is boarded in the vehicle, the user's mobile terminal 600 and the vehicle driving assistant device 100 can perform pairing with each other automatically or by execution of the user's application.

The interface unit 130 can receive the vehicle-related data or transmit the signal processed or generated by the processor 170 to the outside. To this end, the interface unit 130 can perform data communication with the ECU 770, the AVN (Audio Video Navigation) device 400, the sensor unit 760, and the like in the vehicle by a wire communication or a wireless communication method have.

The interface unit 130 can receive map information related to the vehicle driving by data communication with the AVN apparatus 400. [

On the other hand, the interface unit 130 can receive the sensor information from the ECU 770 or the sensor unit 760.

Here, the sensor information includes at least one of vehicle direction information, vehicle position information (GPS information), vehicle angle information, vehicle speed information, vehicle acceleration information, vehicle tilt information, vehicle forward / backward information, battery information, fuel information, Lamp information, vehicle interior temperature information, and vehicle interior humidity information.

Such 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, and a vehicle internal humidity sensor. On the other hand, the position module may include a GPS module for receiving GPS information.

On the other hand, among the sensor information, the vehicle direction information, the vehicle position information, the vehicle angle information, the vehicle speed information, the vehicle tilt information, and the like relating to the vehicle running can be referred to as vehicle running information.

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

An audio output unit (not shown) converts an electric signal from the processor 170 into an audio signal and outputs the audio signal. For this purpose, a speaker or the like may be provided. The audio output unit (not shown) can also output sound corresponding to the operation of the input unit 110, that is, the button.

An audio input unit (not shown) can receive a user's voice. For this purpose, a microphone may be provided. The received voice may be converted to an electrical signal and transmitted to the processor 170.

The processor 170 controls the overall operation of each unit in the vehicle driving assistance apparatus 100. [

In particular, the processor 170 performs signal processing based on computer vision. Accordingly, the processor 170 obtains a stereo image for the vehicle front from the stereo camera 195, performs a disparity calculation for the vehicle front based on the stereo image, and based on the calculated disparity information , Perform object detection for at least one of the stereo images, and continue to track object motion after object detection.

Particularly, when the object is detected, the processor 170 performs lane detection, vehicle detection, pedestrian detection, traffic sign detection, road surface detection, and the like .

The processor 170 may perform a distance calculation to the detected nearby vehicle, a speed calculation of the detected nearby vehicle, a speed difference calculation with the detected nearby vehicle, and the like.

Meanwhile, the processor 170 can receive weather information, traffic situation information on the road, and TPEG (Transport Protocol Expert Group) information, for example, through the communication unit 120.

Meanwhile, the processor 170 may grasp, in real time, the traffic situation information on the surroundings of the vehicle based on the stereo image, in the vehicle driving assistant device 100. [

On the other hand, the processor 170 can receive map information and the like from the AVN apparatus 400 via the interface unit 130. [

On the other hand, the processor 170 can receive the sensor information from the ECU 770 or the sensor unit 760 through the interface unit 130. [ Here, the sensor information includes at least one of vehicle direction information, vehicle position information (GPS information), vehicle angle information, vehicle speed information, vehicle acceleration information, vehicle tilt information, vehicle forward / backward information, battery information, fuel information, Lamp information, vehicle interior temperature information, and vehicle interior humidity information.

The power supply unit 190 can supply power necessary for the operation of each component under the control of the processor 170. [ Particularly, the power supply unit 190 can receive power from a battery or the like inside the vehicle.

The stereo camera 195 may include a plurality of cameras. Hereinafter, as described with reference to FIG. 2 and the like, it is assumed that two cameras are provided.

The stereo camera 195 may be detachably attachable to the ceiling or the front glass of the vehicle 200 and may include a first camera 195a having a first lens 193a and a second camera 195a having a second lens 193b, (195b).

The stereo camera 195 includes a first light shield 192a and a second light shield 192b for shielding light incident on the first lens 193a and the second lens 193b, And a portion 192b.

3B, the vehicle driving assistant apparatus 100 of FIG. 3B may further include an input unit 110 and a display 180 as compared to the vehicle driving assistant apparatus 100 of FIG. 3A. Only the description of the input unit 110 and the display 180 will be described below.

The input unit 110 may include a plurality of buttons or touch screens attached to the vehicle driving assistance apparatus 100, particularly, the stereo camera 195. [ It is possible to turn on and operate the vehicle driving assistant 100 via a plurality of buttons or a touch screen. In addition, it is also possible to perform various input operations.

The display 180 may display an image related to the operation of the vehicle driving assist system. For this image display, the display 180 may include a cluster or HUD (Head Up Display) on the inside of the vehicle interior. On the other hand, when the display 180 is the HUD, it may include a projection module that projects an image on the windshield of the vehicle 200. [

Figures 4A-4B illustrate various examples of internal block diagrams of the processors of Figures 3A-3B, and Figures 5A-B are views referenced in the operational description of the processors of Figures 4A-4B.

4A is an internal block diagram of the processor 170. The processor 170 in the vehicle driving assistance apparatus 100 includes an image preprocessing unit 410, a disparity computing unit 420, An object detecting unit 434, an object tracking unit 440, and an application unit 450.

An image preprocessor 410 receives the stereo image from the stereo camera 195 and performs preprocessing.

In detail, the image preprocessing unit 410 performs a noise reduction, a rectification, a calibration, a color enhancement, a color space conversion, and a color correction on a stereo image. CSC, interpolation, camera gain control, and the like. Accordingly, a stereo image that is clearer than the stereo image captured by the stereo camera 195 can be obtained.

The disparity calculator 420 receives the stereo image signal processed by the image preprocessing unit 410, performs stereo matching on the received stereo images, performs stereo matching on the received stereo images, , And obtains a disparty map. That is, it is possible to obtain the disparity information about the stereo image with respect to the front of the vehicle.

At this time, the stereo matching may be performed on a pixel-by-pixel basis of stereo images or on a predetermined block basis. On the other hand, the disparity map may mean a map in which binaural parallax information of stereo images, i.e., left and right images, is numerically expressed.

The segmentation unit 432 can perform segmentation and clustering on at least one of the stereo images based on the dispetity information from the disparity calculation unit 420. [

Specifically, the segmentation unit 432 can separate the background and the foreground for at least one of the stereo images based on the disparity information.

For example, an area having dispaly information within a disparity map of a predetermined value or less can be calculated as a background, and the corresponding part can be excluded. Thereby, the foreground can be relatively separated.

As another example, an area in which the dispetity information is equal to or greater than a predetermined value in the disparity map can be calculated with the foreground, and the corresponding part can be extracted. Thereby, the foreground can be separated.

Thus, by separating the foreground and the background based on the disparity information information extracted based on the stereo image, it becomes possible to shorten the signal processing speed, signal processing amount, and the like at the time of object detection thereafter.

Next, the object detector 434 can detect the object based on the image segment from the segmentation unit 432. [

That is, the object detecting section 434 can detect the object for at least one of the stereo images based on the disparity information information.

Specifically, the object detecting unit 434 can detect an object for at least one of the stereo images. For example, an object can be detected from a foreground separated by an image segment.

Next, the object verification unit 436 classifies and verifies the isolated object.

For this purpose, the object identifying unit 436 identifies the objects using a neural network identification method, a SVM (Support Vector Machine) method, a AdaBoost identification method using a Haar-like feature, or a Histograms of Oriented Gradients (HOG) Technique or the like can be used.

On the other hand, the object checking unit 436 can check the objects by comparing the objects stored in the memory 140 with the detected objects.

For example, the object checking unit 436 can identify nearby vehicles, lanes, roads, signs, hazardous areas, tunnels, and the like, which are located around the vehicle.

An object tracking unit 440 performs tracking on the identified object. For example, it sequentially identifies an object in the acquired stereo images, calculates a motion or a motion vector of the identified object, and tracks movement of the object based on the calculated motion or motion vector . Accordingly, it is possible to track nearby vehicles, lanes, roads, signs, dangerous areas, tunnels, etc., located in the vicinity of the vehicle.

Next, the application unit 450 can calculate the risk and the like of the vehicle 200 based on various objects located in the vicinity of the vehicle, for example, other vehicles, lanes, roads, signs, and the like. It is also possible to calculate the possibility of a collision with a preceding vehicle, whether the vehicle is slipping or the like.

Then, the application unit 450 can output a message or the like for notifying the user to the user as vehicle driving assistance information, based on the calculated risk, possibility of collision, or slip. Alternatively, a control signal for attitude control or running control of the vehicle 200 may be generated as the vehicle control information.

4B is another example of an internal block diagram of the processor.

Referring to the drawings, the processor 170 of FIG. 4B has the same internal structure as the processor 170 of FIG. 4A, but differs in signal processing order. Only the difference will be described below.

The object detection unit 434 receives the stereo image and can detect the object for at least one of the stereo images. 4A, it is possible to detect an object directly from the stereo image, instead of detecting the object, on the segmented image, based on the disparity information.

Next, the object verification unit 436 classifies the detected and separated objects based on the image segment from the segmentation unit 432 and the object detected by the object detection unit 434, (Verify).

For this purpose, the object identifying unit 436 identifies the objects using a neural network identification method, a SVM (Support Vector Machine) method, a AdaBoost identification method using a Haar-like feature, or a Histograms of Oriented Gradients (HOG) Technique or the like can be used.

FIGS. 5A and 5B are diagrams referenced for explaining the method of operation of the processor 170 of FIG. 4A based on the stereo images obtained respectively in the first and second frame periods.

First, referring to FIG. 5A, during the first frame period, the stereo camera 195 acquires a stereo image.

The disparity calculating unit 420 in the processor 170 receives the stereo images FR1a and FR1b signal-processed by the image preprocessing unit 410 and performs stereo matching on the received stereo images FR1a and FR1b And obtains a disparity map (520).

The disparity map 520 is obtained by leveling the parallax between the stereo images FR1a and FR1b. The higher the disparity level is, the closer the distance is from the vehicle, and the smaller the disparity level is, It is possible to calculate that the distance is long.

On the other hand, when such a disparity map is displayed, it may be displayed so as to have a higher luminance as the disparity level becomes larger, and a lower luminance as the disparity level becomes smaller.

In the figure, first to fourth lanes 528a, 528b, 528c, and 528d have corresponding disparity levels in the disparity map 520, and the construction area 522, the first front vehicle 524 ) And the second front vehicle 526 have corresponding disparity levels, respectively.

The segmentation unit 432, the object detection unit 434 and the object identification unit 436 determine whether or not the segments, the object detection, and the object detection information for at least one of the stereo images FR1a and FR1b based on the disparity map 520 Perform object verification.

In the figure, using the disparity map 520, object detection and confirmation for the second stereo image FRlb is performed.

That is, the first to fourth lanes 538a, 538b, 538c, and 538d, the construction area 532, the first forward vehicle 534, and the second forward vehicle 536 are included in the image 530, And verification may be performed.

Next, referring to FIG. 5B, during the second frame period, the stereo camera 195 acquires a stereo image.

The disparity calculating unit 420 in the processor 170 receives the stereo images FR2a and FR2b processed by the image preprocessing unit 410 and performs stereo matching on the received stereo images FR2a and FR2b And obtains a disparity map (540).

In the figure, the first to fourth lanes 548a, 548b, 548c, and 548d have corresponding disparity levels in the disparity map 540, and the construction area 542, the first forward vehicle 544 ) And the second front vehicle 546 have corresponding disparity levels, respectively.

The segmentation unit 432, the object detection unit 434 and the object identification unit 436 are configured to determine whether or not a segment, an object detection, and an object detection are detected for at least one of the stereo images FR2a and FR2b based on the disparity map 520 Perform object verification.

In the figure, using the disparity map 540, object detection and confirmation for the second stereo image FR2b is performed.

That is, in the image 550, the first to fourth lanes 558a, 558b, 558c, and 558d, the construction area 552, the first forward vehicle 554, and the second forward vehicle 556, And verification may be performed.

On the other hand, the object tracking unit 440 can compare the FIG. 5A and FIG. 5B and perform tracking on the identified object.

Specifically, the object tracking unit 440 can track movement of the object based on the motion or motion vector of each object identified in FIGS. 5A and 5B. Accordingly, it is possible to perform tracking on the lane, the construction area, the first forward vehicle, the second forward vehicle, and the like, which are located in the vicinity of the vehicle.

6A to 6B are diagrams referred to in the description of the operation of the vehicle driving assist system of FIG.

First, FIG. 6A is a diagram illustrating a vehicle forward situation photographed by a stereo camera 195 provided inside a vehicle. In particular, the vehicle front view is indicated by a bird eye view.

Referring to the drawing, a first lane 642a, a second lane 644a, a third lane 646a, and a fourth lane 648a are located from the left to the right, and the first lane 642a and the second The construction area 610a is positioned between the lanes 644a and the first front vehicle 620a is positioned between the second lane 644a and the third lane 646a and the third lane 646a and the fourth It can be seen that the second forward vehicle 630a is disposed between the lane lines 648a.

Next, FIG. 6B illustrates the display of the vehicle front state, which is grasped by the vehicle driving assist system, together with various information. In particular, the image as shown in FIG. 6B may be displayed on the display 180 or the AVN apparatus 400 provided in the vehicle driving assistance apparatus.

6B is different from FIG. 6A in that information is displayed on the basis of an image photographed by the stereo camera 195. FIG.

A first lane 642b, a second lane 644b, a third lane 646b and a fourth lane 648b are located from the left to the right and the first lane 642b and the second The construction area 610b is located between the lanes 644b and the first front vehicle 620b is located between the second lane 644b and the third lane 646b and the third lane 646b and the fourth It can be seen that the second forward vehicle 630b is disposed between the lane 648b.

The vehicle driving assistant 100 performs signal processing on the basis of the stereo image photographed by the stereo camera 195 and outputs it to the construction area 610b, the first front vehicle 620b, the second front vehicle 630b You can see the object for. In addition, the first lane 642b, the second lane 644b, the third lane 646b, and the fourth lane 648b can be confirmed.

On the other hand, in the drawing, it is exemplified that each of them is highlighted by a frame to indicate object identification for the construction area 610b, the first forward vehicle 620b, and the second forward vehicle 630b.

On the other hand, the vehicle driving assistant apparatus 100 determines the distance to the construction area 610b, the first front vehicle 620b, the second front vehicle 630b based on the stereo image photographed by the stereo camera 195 Information can be computed.

In the figure, calculated first distance information 611b, second distance information 621b, and third distance information 621b corresponding to the construction area 610b, the first forward vehicle 620b, and the second forward vehicle 630b, respectively, Information 631b is displayed.

On the other hand, the vehicle driving assistant apparatus 100 can receive sensor information about the vehicle from the ECU 770 or the sensor unit 760. [ Particularly, it is possible to receive and display the vehicle speed information, the gear information, the yaw rate indicating the speed at which the vehicle's rotational angle (yaw angle) changes, and the angle information of the vehicle.

The figure illustrates that the vehicle speed information 672, the gear information 671 and the yaw rate information 673 are displayed on the vehicle front image upper portion 670. In the vehicle front image lower portion 680, Information 682 is displayed, but various examples are possible. Besides, the width information 683 of the vehicle and the curvature information 681 of the road can be displayed together with the angle information 682 of the vehicle.

On the other hand, the vehicle driving assistant apparatus 100 can receive the speed limitation information and the like for the road running on the vehicle through the communication unit 120 or the interface unit 130. [ In the figure, it is exemplified that the speed limitation information 640b is displayed.

The vehicle driving assistant apparatus 100 may display various information shown in FIG. 6B through the display 180 or the like, but may store various information without a separate indication. And, by using such information, it can be utilized for various applications.

Fig. 7 is an example of an internal block diagram of the electronic control unit in the vehicle of Fig. 1. Fig.

Referring to the drawings, the vehicle 200 may include an electronic control device 700 for vehicle control. The electronic control device 700 can exchange data with the vehicle driving assistant device 100 and the AVN device 400 described above.

The electronic control unit 700 includes an input unit 710, a communication unit 720, a memory 740, a lamp driving unit 751, a steering driving unit 752, a brake driving unit 753, a power source driving unit 754, An airbag driving unit 755, a suspension driving unit 756, an air conditioning driving unit 757, a window driving unit 758, an airbag driving unit 759, a sensor unit 760, an ECU 770, a display unit 780, an audio output unit 785, And a power supply unit 790.

The input unit 710 may include a plurality of buttons or a touch screen disposed inside the vehicle 200. Through a plurality of buttons or a touch screen, it is possible to perform various input operations.

The communication unit 720 can exchange data with the mobile terminal 600 or the server 500 in a wireless manner. In particular, the communication unit 720 can exchange data with the mobile terminal of the vehicle driver wirelessly. As a wireless data communication method, various data communication methods such as Bluetooth, WiFi Direct, WiFi, and APiX are possible.

The communication unit 720 can receive weather information and traffic situation information of the road, for example, TPEG (Transport Protocol Expert Group) information from the mobile terminal 600 or the server 500.

On the other hand, when the user aboard the vehicle, the user's mobile terminal 600 and the electronic control device 700 can perform pairing with each other automatically or by execution of the user's application.

The memory 740 may store various data for operation of the electronic control unit 700, such as a program for processing or controlling the ECU 770. [

The lamp driving unit 751 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 steering driver 752 may perform electronic control of the steering apparatus in the vehicle 200. [ Thus, the traveling direction of the vehicle can be changed.

The brake driver 753 can perform electronic control of the brake apparatus in the vehicle 200. [ For example, it is possible to reduce the speed of the vehicle 200 by controlling the operation of the brake disposed in the wheel. As another example, it is possible to adjust the traveling direction of the vehicle 200 to the left or right by differently operating the brakes respectively disposed on the left wheel and the right wheel.

The power source driving section 754 can perform electronic control of the power source in the vehicle 200. [

For example, when the fossil fuel-based engine is a power source, the power source drive unit 754 can perform electronic control of the engine. Thus, the output torque of the engine and the like can be controlled.

As another example, when the electric-based motor is a power source, the power source driving section 754 can perform control on the motor. Thus, the rotation speed, torque, etc. of the motor can be controlled.

The sunroof driving unit 755 can perform electronic control of the sunroof apparatus in the vehicle 200. [ For example, you can control the opening or closing of the sunroof.

The suspension driving unit 756 may perform electronic control of suspension apparatus in the vehicle 200. [ 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 200. [

The air conditioning driving unit 757 can perform electronic control of the air conditioner in the vehicle 200. [ For example, when the temperature inside the vehicle is high, the air conditioner can be operated to control the cooling air to be supplied into the vehicle.

The window driving unit 758 can perform electronic control on a window apparatus in the vehicle 200. [ For example, it can control the opening or closing of left and right windows on the side of the vehicle.

The airbag driver 759 may perform electronic control of the airbag apparatus in the vehicle 200. [ For example, at risk, the airbag can be controlled to fire.

The sensor unit 760 senses a signal related to the running or the like of the vehicle 100. [ To this end, the sensor unit 760 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 interior temperature sensor, and a vehicle interior humidity sensor.

Thereby, the sensor unit 760 outputs the vehicle position information (GPS information), the vehicle angle information, the vehicle speed information, the vehicle acceleration information, the vehicle tilt information, the vehicle forward / backward information, the battery information, Tire information, vehicle lamp information, vehicle internal temperature information, vehicle interior humidity information, and the like.

In addition, the sensor unit 760 may include an accelerator 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 ECU 770 can control the overall operation of each unit in the electronic control unit 700. [

It is possible to perform a specific operation by the input by the input unit 710 or to receive the sensed signal from the sensor unit 760 and transmit the sensed signal to the vehicle driving assistant 100 and to transmit map information from the AVN apparatus 400 And can control the operation of each of the longitudinal drive units 751, 752, 753, 754, and 756.

Also, the ECU 770 can receive weather information and traffic situation information of the road, for example, TPEG (Transport Protocol Expert Group) information from the communication unit 720. [

The display unit 780 can display an image related to the operation of the vehicle driving assist system. For this image display, the display unit 780 may include a cluster or an HUD (Head Up Display) on the inside of the vehicle interior. Meanwhile, when the display unit 780 is the HUD, it may include a projection module for projecting an image on the windshield of the vehicle 200. [ On the other hand, the display unit 780 may include a touch screen that can be input.

The audio output unit 785 converts the electrical signal from the ECU 770 into an audio signal and outputs the audio signal. For this purpose, a speaker or the like may be provided. The audio output unit 785 can also output a sound corresponding to the operation of the input unit 710, that is, the button.

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

8 is a flowchart illustrating an operation method of a driving assist system according to an embodiment of the present invention.

Referring to the drawings, the processor 170 of the vehicle driving assistant 100 receives a stereo image from a stereo camera (S810). Then, the processor 170 of the vehicle driving assistant 100 calculates the peripheral information of the vehicle based on the received stereo image (S820).

2, the processor 170 of the vehicle driving assistant 100 receives the first image through the first camera 195a, and the second camera 195a through the stereo camera 195 disposed inside the vehicle, 2 camera 195b to receive the second image.

Since there is a distance between the first camera 195a and the second camera 195b, a disparity occurs between the first image and the second image.

The processor 170 of the vehicle driving assistance apparatus 100 calculates the disparity between the first image and the second image and calculates the disparity between the first image and the second image using at least one of the first image and the second image , Segments, object detection, and object identification.

The processor 170 of the vehicle driving assistant 100 then performs tracking on the identified object, for example, a forward vehicle, a lane, a structure, a road surface, a sign, a tunnel, and the like. Then, the processor 170 of the vehicle driving assistant 100 can obtain the distance information for the tunnel or the front vehicle located in front of the vehicle. In addition, the processor 170 of the vehicle driving assistant 100 can acquire speed information, relative speed information, and the like with respect to the preceding vehicle located in front of the vehicle.

Here, the vehicle periphery information based on the stereo image may include at least one of a lane, a structure, a nearby vehicle, a tunnel, a sign, distance information with the nearby vehicle, and speed information of the nearby vehicle.

Next, the processor 170 of the vehicle driving assistant 100 can calculate whether or not the vehicle enters the tunnel based on the calculated vehicle periphery information (S830).

More specifically, the processor 170 of the vehicle driving assistant 100 determines whether or not the vehicle enters the tunnel based on the distance between the vehicle 200 and the tunnel in step 820 (S820) . For example, when the distance between the vehicle 200 and the tunnel is less than a predetermined distance, it can be calculated by tunnel entry.

The processor 170 of the vehicle driving assistant apparatus 100 may transmit the vehicle running information (hereinafter, also referred to as " vehicle running information ") among the sensor information received from the ECU 770 or the sensor unit 760 of the vehicle via the interface unit 130, The vehicle speed information, the vehicle position information, and the like).

The above-described predetermined distance is variable depending on the speed of the vehicle. For example, as the speed of the vehicle 200 increases, the predetermined distance is preferably increased.

Next, the processor 170 of the vehicle driving assistant 100 can generate a tunnel mode control signal for operating the vehicle in the tunnel mode upon entering the tunnel (S840).

The tunnel mode control signal may be a control signal for controlling at least one of the sunroof driving unit 755, the lamp driving unit 751, the window driving unit 758, and the air conditioning driving unit 757 in the vehicle.

The generated tunnel mode control signal Stu is output to the outside, particularly, the ECU 770 of the vehicle. The ECU 770 controls the sunroof driving unit 755, the lamp driving unit 751, the window driving unit 758, and the air conditioning driving unit 757, as shown in FIG.

For example, you can close the sunroof, turn on the lamp, close the window, or operate the air conditioner. Thus, it is possible to perform the tunnel mode operation of the vehicle simply when entering the tunnel.

Next, the processor 170 of the vehicle driving assistant 100 can calculate whether or not the vehicle should exit the tunnel based on the calculated vehicle periphery information (S850).

The processor 170 of the vehicle driving assistant 100 can calculate whether or not the vehicle will exit the tunnel based on the tunnel exit detected based on the stereo image.

For example, when the distance between the vehicle 200 and the tunnel is less than a predetermined distance, it can be calculated by tunnel entry.

The processor 170 of the vehicle driving assistant apparatus 100 may transmit the vehicle running information (hereinafter, also referred to as " vehicle running information ") among the sensor information received from the ECU 770 or the sensor unit 760 of the vehicle via the interface unit 130, The vehicle speed information, the vehicle position information, and the like).

Specifically, the processor 170 of the vehicle driving assistant apparatus 100 may calculate whether or not the vehicle should exit the tunnel based on the distance information of the tunnel, the speed information of the current vehicle, etc., which can be obtained from the map information.

The above-described predetermined distance is variable depending on the speed of the vehicle. For example, as the speed of the vehicle 200 increases, the predetermined distance is preferably increased.

Next, the processor 170 of the vehicle driving assistant 100 may generate a pre-tunnel mode control signal for operating the vehicle in the pre-tunnel mode at the exit of the tunnel (S860).

The pre-tunnel mode control signal may be a control signal for controlling at least one of the sunroof driving unit 755, the lamp driving unit 751, the window driving unit 758, and the air conditioning driving unit 757 in the vehicle.

The generated tunnel mode control signal Stu is output to the outside, particularly, the ECU 770 of the vehicle. The ECU 770 controls the sunroof driving unit 755, the lamp driving unit 751, the window driving unit 758, and the air conditioning driving unit 757, as shown in FIG.

For example, you can open the sunroof again, turn off the lamp, open the window again, or turn off the air conditioner.

9 illustrates an example of an internal block diagram of a processor for generating a tunnel mode control signal.

The processor 170 of the vehicle driving assistant apparatus 100 includes a tunnel detection section 905, a lane detection section 910, a distance detection section 920, a speed detection section 930, a tunnel mode control signal generation section 940).

The processor 170 of the vehicle driving assistance apparatus 100 receives the stereo image (Simg) from the stereo camera 195 and receives map information Smp from the AVN apparatus 400 via the interface unit 130 And can receive the vehicle running information Scar from the ECU 770 or the sensor unit 760. [

Here, the vehicle running information may include vehicle running direction information, vehicle position information (GPS information), vehicle angle information, vehicle speed information, vehicle inclination information, side entry information, backward information, and the like. On the other hand, the vehicle running information may be a part of the sensor information.

The tunnel detection unit 905 can perform tunnel detection based on the stereo image (Simg) received from the front stereo camera 195. [ Specifically, the tunnel can be detected based on the disparity of the stereo image (Simg).

On the other hand, the tunnel detection unit 905 can perform tunnel detection based on the map information Smp received via the interface unit 130. [ Specifically, the position of the current vehicle can be mapped on the map, and the tunnel on the map can be detected based on the mapped position.

The lane detecting section 910 can perform lane detection based on the stereo image (Simg) received from the front stereo camera 195. [ Specifically, based on the disparity of the stereo image (Simg), it is possible to detect a lane toward the front.

Similarly, the distance detecting unit 920 and the speed detecting unit 930 can detect the distance, speed, and the like of the preceding vehicle based on the stereo image (Simg) received from the front stereo camera 195. [

Based on at least one of the detected tunnel information, the detected lane information, the distance information of the surrounding vehicles, the speed information, or the vehicle running information Scar, the tunnel mode control signal (the tunnel mode control signal generator 940) Stu).

The generated tunnel mode control signal Stu is output to the outside, particularly, the ECU 770 of the vehicle, and the ECU 770 controls the sunroof driving unit 755, the lamp driving unit 751, the window driving unit 758, , And the air conditioning driving unit 757 can be controlled.

For example, you can close the sunroof, turn on the lamp, close the window, or operate the air conditioner. Thus, it is possible to perform the tunnel mode operation of the vehicle simply when entering the tunnel.

Figure 10A illustrates another example of an internal block diagram of the processor of Figure 9;

Referring to the drawings, the processor 170 of the vehicle driving assistance apparatus 100 may detect image-based vehicle periphery information based on the stereo image received from the front stereo camera 195. [ Here, the image-based vehicle periphery information may include at least one of distance information, peripheral vehicle distance information, speed information, lane information and road surface information, display board information, tunnel information, and signboard information.

As described above, it is possible to calculate disparity information based on the stereo image received from the forward stereo camera 195, and to perform segmentation, object detection, and object identification based on the calculated disparity information.

Based on this, the processor 170 of the vehicle driving assistance apparatus 100 can detect a vehicle 1010, a distance detection 1011, a lane detection 1012, a road surface detection 1014, A visual odometry 1016, and a tunnel detection 1013 can be performed. In addition, structure detection can also be performed.

Next, the processor 170 of the vehicle driving assistant 100 can receive sensor information from the ECU 770 or the sensor unit 760. [

The processor 170 of the vehicle driving assistant 100 carries out dead reckoning 1030 based on the vehicle running information from the ECU 770 or the sensor unit 760. [

The processor 170 of the vehicle driving assistance apparatus 100 then performs a vehicle motion tracking exercise 1040 based on dead reckoning. At this time, in addition to dead reckoning, it is also possible to perform a vehicle motion tracking (e. G., Motion tracking) 1040 based on visual odometry.

Meanwhile, the processor 170 of the vehicle driving assistance apparatus 100 may perform curvature calculation 1050 of the driving road based on the vehicle motion (egomotion) tracking 1040.

Meanwhile, the processor 170 of the vehicle driving assistance apparatus 100 performs the tracking of the traveling direction 1060 of the vehicle based on the curvature calculation 1050, the lane detection 1010, and the road surface detection 1014 do.

The processor 170 of the vehicle driving assistant apparatus 100 then detects a collision of the vehicle based on the vehicle's traveling direction tracking 1060, vehicle detection 1010, distance detection 1011 and road surface detection 1014 , Collision risk, and the like (step 1065).

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The processor 170 of the vehicle driving assistance apparatus 100 performs the sleep operation 1080 on the basis of the vehicle path prediction 1070, the risk calculation 1065, and the vehicle motion tracking 1040. When the vehicle is not in the slip state, the normal running (1085) is performed. When the vehicle is in the slip state, the slip prevention control signal generation (1090) is performed.

The generated slippage prevention control signal Sns is transmitted to the ECU 770. The ECU 770 controls at least one of the steering driver 752, the brake driver 753, the power source driver 754 and the suspension driver 756 One.

For example, when the vehicle 200 slips to the left with respect to the running road, based on the slip prevention control signal Sns, the steering driver 752 controls the steering device so that the right steering is performed, The driver 753 can operate the left brake.

Alternatively, when the vehicle 200 slips to the right with respect to the running road, based on the slip prevention control signal Sns, the steering driving section 752 controls the steering device so that the left steering is performed, (753) can operate the right brake.

Accordingly, it is possible to perform the sleep prevention control based on the stereo image, the sensor information, and the like through the vehicle driving assistant device 100.

On the other hand, the processor 170 of the vehicle driving assistant 100 can perform generation (1091) of the tunnel mode control signal (Stu) based on the tunnel detection 1013. The tunnel mode control signal Stu may be a control signal for controlling at least one of the sunroof driving unit 755, the lamp driving unit 751, the window driving unit 758, and the air conditioning driving unit 757 in the vehicle.

The generated tunnel mode control signal Stu is output to the outside, particularly, the ECU 770 of the vehicle. The ECU 770 controls the sunroof driving unit 755, the lamp driving unit 751, the window driving unit 758, and the air conditioning driving unit 757, as shown in FIG.

For example, you can close the sunroof, turn on the lamp, close the window, or operate the air conditioner.

On the other hand, the processor 170 of the vehicle driving assistant 100 can perform generation of a pre-tunnel mode control signal (not shown) based on the tunnel exit (not shown). The pre-tunnel mode control signal may be a control signal for controlling at least one of the sunroof driving unit 755, the lamp driving unit 751, the window driving unit 758, and the air conditioning driving unit 757 in the vehicle.

The generated tunnel mode control signal Stu is output to the outside, particularly, the ECU 770 of the vehicle. The ECU 770 controls the sunroof driving unit 755, the lamp driving unit 751, the window driving unit 758, and the air conditioning driving unit 757, as shown in FIG.

For example, you can open the sunroof again, turn off the lamp, open the window again, or turn off the air conditioner.

Figure 10b illustrates another example of an internal block diagram of the processor of Figure 9;

Referring to FIG. 10B, there is a difference in that map information from AVN apparatus 400 is received, and map matching 1020 is further performed, which is substantially similar to FIG. 10A. Only the difference will be described below.

The processor 170 of the vehicle driving assistance apparatus 100 performs map matching based on the vehicle running information among the sensor information from the ECU 770 or the sensor unit 760 and the map information from the AVN apparatus 400 (Step 1020). Further, the position of the current vehicle can be varied on the map based on the vehicle running information such as the vehicle speed information.

The processor 170 of the vehicle driving assistant 100 maps the current vehicle on the map based on the GPS information that is the vehicle position information and the map information from the AVN apparatus 400 in the vehicle running information, .

Next, the processor 170 of the vehicle driving assistance apparatus 100 determines, in addition to the vehicle movement (egomotion) tracking 1040, the calculation of the curvature of the traveling road 1050, based on the map matching information, Calculation 1050 may be performed.

11A to 11D illustrate various examples of tunnel detection.

First, FIG. 11A illustrates a tunnel detection method based on a sign.

The stereo camera 195 in the vehicle 200, while driving on the road, can acquire a stereo image, and the processor 170 can perform object detection and confirmation based on the stereo image.

At this time, it is possible to detect and confirm the signs 1110 disposed in the vicinity of the road among the objects. Particularly, when the sign 1110 is a sign indicating that there is a tunnel ahead, the processor 170 can confirm this and detect the tunnel 1100 located in the front.

In the figure, detection of a tunnel is made by looking at the sign 1110 in a state where the distance between the vehicle 200 and the tunnel 1100 is Dx.

Next, FIG. 11B illustrates a tunnel detection method based on front luminance or intensity difference of light.

When the vehicle 200 travels during the daytime, the entrance 1150 of the tunnel 1100 becomes darker than other parts of the road.

The processor 170 may detect the tunnel entrance 1150 area using this luminance difference, or the intensity difference of light. Based on the tunnel entrance 1150, the tunnel 1100 can be detected.

Specifically, the luminance or light intensity of the first front area A1 of the stereo image acquired from the stereo camera 195 in the vehicle 200 is a first level, and the luminance of the second front area A2 Or the intensity of light may be at a second level.

The processor 170 can detect in the tunnel a second front area A2 having a lower intensity or light intensity level in the daytime situation when the difference between the first level and the second level is equal to or greater than the reference value.

Or the processor 170 determines that the size of the second front region A gradually increases in accordance with traveling of the vehicle 200 in a state where the difference between the first level and the second level is equal to or greater than the reference value, The front area A2 can be detected as a tunnel.

Conversely, when the vehicle 200 travels at night, the entrance 1150 of the tunnel 1100 becomes brighter than other parts of the road due to illumination inside the tunnel.

With this, the processor 170 can detect in the tunnel a second front area A2 having a lower intensity or light intensity level at night.

Next, FIG. 11C illustrates a tunnel detection method based on the lane detected based on the stereo image, or the luminance of the surrounding vehicle.

The stereo camera 195 within the vehicle 200 may acquire a stereo image and the processor 170 may perform object detection and verification based on the stereo image. Accordingly, a front lane, front vehicle detection and confirmation can be possible.

On the other hand, if there is an area where the luminance or light intensity of the front lane or the front vehicle is variable, the stereo camera 195 calculates the area by the tunnel entrance 1150, and based on the tunnel entrance 1150, 1100) can be detected.

As shown in the drawing, the luminance level of the first front vehicle 1120a located in the front first area A1 is the third level on the stereo image, and the second front vehicle 1120a located in the front second area A2 1120b may be at the fourth level on the stereo image.

Based on this level difference, the processor 170 calculates that the tunnel entrance 1150 is located in the front second zone A2 and can detect the tunnel 1100 based on the tunnel entrance 1150 have.

Alternatively, the processor 170 determines whether or not the second front vehicle 1120b is located in the front first area A1 and the front second area A2, based on the sequentially acquired stereo image And calculates the tunnel entrance 1150 in the front second zone A2 if the level difference is equal to or greater than the reference value and calculates the tunnel 1100 based on the tunnel entrance 1150 Can be detected.

Next, FIG. 11D illustrates a tunnel detection method based on the shape of a tunnel entrance.

The stereo camera 195 within the vehicle 200 may acquire a stereo image and the processor 170 may perform object detection and verification based on the stereo image. Accordingly, a front lane, front vehicle detection and confirmation can be possible.

In particular, the processor 170 may perform object detection on the tunnel entrance 1150. In order to confirm the object, shape matching with respect to the tunnel entrance 1150 can be performed using a database stored in a vehicle or a server outside the vehicle.

In the figure, a comparison is made between the shape of the tunnel entrance 1150 detected based on the stereo image and the first shape 1150a, the second shape 1150b, and the third shape 1150c stored in the database. As a result of this comparison, the processor 170 can identify the tunnel entrance 1150 and can detect and verify the tunnel 1100.

On the other hand, at the time of tunnel detection, it is also possible to detect a tunnel by combining the methods of Figs. 11A to 11D.

12A to 12C illustrate the tunnel mode according to tunnel entry.

12A illustrates that, at a first distance da, the vehicle 200 has detected a tunnel 1100, based on a stereo image. At this time, since the first distance da is an early stage for the tunnel mode to operate, the processor 170 may decide not to enter the tunnel and generate the tunnel mode control signal.

Next, FIG. 12B illustrates that the vehicle continues to travel, and the distance between the vehicle 200 and the tunnel 1100 is the second distance Db.

Accordingly, the processor 170 can generate the tunnel mode control signal Stu. In the figure, for convenience of explanation, it is exemplified that a message 1251 indicating the start of tunnel mode is displayed. This message 1251 may be output via the display 180 or the audio output unit (not shown) in the vehicle.

12B illustrates that the tunnel mode of the vehicle 200 is applied based on the tunnel mode control signal.

12B is a diagram showing a state before the tunnel in which the front lamps 1260L and 1260R of the vehicle 200 are turned off and the left and right windows 1270La and 1270Ra are partially opened and the sunroof 1280a Some openings are illustrated.

Then, upon entering the tunnel, the vehicle 200 enters the tunnel mode based on the tunnel mode control signal Stu.

12B shows a tunnel mode in which the front lamps 1260L and 1260R of the vehicle 200 are turned on and the left and right windows 1270Lb and 1270Rb are all closed and the sunroof 1280b is also closed And illustrates that an internal air conditioning operation 1290b is performed. Accordingly, the tunnel mode is automatically performed when the tunnel enters.

13A to 13C illustrate that a tunnel transfer mode according to the tunnel exit is performed.

13A illustrates that the vehicle 200 travels while entering the tunnel 1100 and the distance from the tunnel exit 1160 is Dm.

The processor 170 maintains the tunnel mode and does not generate the pre-tunnel mode control signal since it is an early stage to end the tunnel mode and switch to the pre-tunnel mode regardless of the detected tunnel exit 1160 have.

Next, FIG. 13B illustrates that the vehicle continues to travel, and the distance between the vehicle 200 and the tunnel 1100 is Db.

Accordingly, the processor 170 can generate the pre-tunnel mode control signal. In the figure, for convenience of explanation, it is illustrated that a message 1351 indicating the start of the pre-tunnel mode is displayed. Such a message 1351 may be output through the display 180 or the audio output unit (not shown) in the vehicle.

13B illustrates that the pre-tunnel mode of the vehicle 200 is applied, based on the pre-tunnel mode control signal.

13B shows a tunnel mode in which the front lamps 1260L and 1260R of the vehicle 200 are turned on and the left and right windows 1270Lb and 1270Rb are both closed and the sunroof 1280b is also closed And illustrates that an internal air conditioner operation 1290b has been performed.

Thereafter, upon exit from the tunnel, the vehicle 200 enters the pre-tunnel mode based on the pre-tunnel mode control signal.

13B shows a case where the front lamps 1260L and 1260R of the vehicle 200 are turned off and the left and right windows 1270La and 1270Ra are partially opened and the sunroof 1280a Some openings are illustrated. Thus, when the tunnel is escaped, the tunnel transfer mode is automatically performed.

FIG. 14 is a view showing the appearance of a vehicle having a mono camera according to another embodiment of the present invention.

Referring to the drawings, a vehicle 200 according to another embodiment of the present invention includes wheels 135FR, 135FL, 135RL, etc., rotated by a power source, a handle 150 for controlling the traveling direction of the vehicle 200 And a mono camera 193 and a radar 194 provided in the vehicle 200. [

The mono image through the mono camera 193 and the distance information via the radar 194 can be signal processed within the vehicle driving assistant (2100 of Fig. 15A).

15A illustrates an example of an internal block diagram of a vehicle driving assist system according to another embodiment of the present invention.

Referring to the drawings, the inner block of the vehicle driving assistance device 2100 of Figure 15A is similar to the inner block of the vehicle driving assistance device 100 of Figure 3, but includes a stereo image based stereo signal from the stereo camera 195 There is a difference in that the signal processing based on the mono image through the mono camera 193 and the distance information through the radar 194 is performed instead of the processing. That is, it is possible to generate a control signal for entering the tunnel of the vehicle. In the following, only the difference will be described.

The mono camera 193 can be detachably attached to the ceiling or the front glass of the vehicle 200 and can include a single camera having a lens.

The radar 194 can be detachably attached to the ceiling or the windshield of the vehicle 200 and transmits a radio wave of a predetermined frequency to the front of the vehicle and receives the radio wave reflected from the object ahead of the vehicle.

The processor 2170 can calculate the distance information based on the difference between the transmission radio wave and the reception radio wave in the radar 194. Also, it is possible to perform object separation, detection, recognition, etc. by matching the mono image and the distance information through the mono camera 193.

Next, Fig. 15B illustrates an example of an internal block diagram of a vehicle driving assist apparatus according to another embodiment of the present invention.

15B is similar to the inner block of the vehicle driving assistance device 2100 of FIG. 15A, but includes the mono camera 193 and the radar 194, rather than the mono camera 193 and the radar 194, (Lidar) 2101 that performs scanning with respect to an external object.

By describing the difference, the rider 2101 can acquire a scan image for the forward situation by the laser scanning method, and the processor 2270 performs signal processing based on the scan image received from the rider . That is, it is possible to generate a control signal for entering the tunnel of the vehicle.

16A-16B illustrate various examples of the internal block diagram of the processor of FIG. 15A, and FIGS. 17A-17B are views referenced in the operation description of the processor of FIG. 16A.

16A to 16B are similar to the processors in Figs. 4A to 4B, but differ from each other in that they do not include a disparity calculating unit.

Instead, distance information Sd corresponding to the disparity information is received from the external radar 194. The distance information Sd is input to the segmentation section 432, and can be used for segmenting the image.

Figs. 17A and 17B are diagrams referred to for explaining the operation method of the processor 170 of Fig. 16A based on the mono images obtained respectively in the first and second frame periods.

17A and 17B, similar to FIGS. 5A and 5B, there is a difference in that there is no need to generate a distance map since a mono image and radar-based distance information are used.

First, referring to FIG. 17A, during the first frame period, the mono camera 193 acquires the mono image FR1, and the radar acquires the distance information Sd1.

Accordingly, the segmentation section 432, the object detection section 434, and the object identification section 436 in the processor 2170 determine whether or not the first It is possible to detect and confirm the lane to fourth lanes 538a, 538b, 538c and 538d, the construction area 532, the first front vehicle 534 and the second front vehicle 536. [

Next, referring to Fig. 17B, during the second frame period, the mono camera 193 acquires the mono image FR2, and the radar acquires the distance information Sd2.

Accordingly, the segmentation section 432, the object detection section 434, and the object identification section 436 in the processor 2170 determine whether or not the first (first) and second It is possible to detect and confirm the lane-to-fourth lanes 558a, 558b, 558c and 558d, the construction area 552, the first front vehicle 554 and the second front vehicle 556. [

On the other hand, the object tracking unit 440 can compare the FIG. 17A and FIG. 17B and perform tracking on the identified object.

Specifically, the object tracking unit 440 can track the movement of the object or the like based on the motion or motion vector of each object identified in Figs. 17A and 17B. Accordingly, it is possible to perform tracking on the lane, the construction area, the first forward vehicle, the second forward vehicle, and the like, which are located in the vicinity of the vehicle.

On the other hand, the vehicle driving assistant 2100 including the monaural camera 193 and the radar 194 described in Figs. 14 to 17B is similar to that described in Figs. 8 to 13C, A tunnel mode control signal for controlling at least one of the sunroof driving unit, the lamp driving unit, the window driving unit, and the air conditioning driving unit in the vehicle is generated based on whether or not the vehicle enters the tunnel, can do.

The processor 170 of the vehicle driving assistant apparatus 2100 calculates whether or not the vehicle enters the tunnel based on the mono image received from the mono camera 193 and the distance information detected from the radar 194, A tunnel mode control signal for controlling at least one of the sunroof driving unit, the lamp driving unit, the window driving unit, and the air conditioning driving unit in the vehicle based on whether or not the calculated vehicle enters the tunnel.

On the other hand, the vehicle driving assistant 2150 having the rider 2101 described in FIG. 15B calculates whether or not the vehicle enters the tunnel based on the scanned image, similarly to that described in FIGS. 8 to 13C, The tunnel mode control signal for controlling at least one of the sunroof driving unit, the lamp driving unit, the window driving unit, and the air conditioning driving unit in the vehicle based on whether or not the vehicle enters the tunnel.

Specifically, the processor 2270 of the vehicle driving assistant 2150 calculates whether or not the vehicle enters the tunnel based on the scan image received from the rider 2101, and based on whether the calculated vehicle enters the tunnel, A tunnel mode control signal for controlling at least one of a sunroof driving unit, a lamp driving unit, a window driving unit, and an air conditioning driving unit in a vehicle.

The vehicle driving assist system and the vehicle having the vehicle driving assist system according to the embodiment of the present invention can be applied to the configurations and methods of the embodiments described above in a limited manner, All or some of the examples may be selectively combined.

Meanwhile, the vehicle driving assist device or the vehicle operating method of the present invention can be implemented as a code that can be read by a processor on a recording medium readable by a processor of a vehicle driving assistant or a vehicle. The processor-readable recording medium includes all kinds of recording apparatuses in which data that can be read by the processor is stored. Examples of the recording medium that can be read by the processor include a ROM, a RAM, a CD-ROM, a magnetic tape, a floppy disk, an optical data storage device, and the like, and may also be implemented in the form of a carrier wave such as transmission over the Internet . In addition, the processor-readable recording medium may be distributed over network-connected computer systems so that code readable by the processor in a distributed fashion can be stored and executed.

While the present invention has been particularly shown and described with reference to exemplary embodiments thereof, it is to be understood that the invention is not limited to the disclosed exemplary embodiments, but, on the contrary, It will be understood by those skilled in the art that various changes in form and detail may be made therein without departing from the spirit and scope of the present invention.

Claims (16)

Stereo camera;
And a processor for calculating whether or not the vehicle enters a tunnel based on the stereo image received from the stereo camera and generating a tunnel mode control signal for operating the vehicle in a tunnel mode upon entering the tunnel of the calculated vehicle ,
The tunnel mode control signal is a signal
And a control signal for controlling at least one of a sunroof driving unit, a lamp driving unit, a window driving unit, and an air conditioning driving unit in the vehicle,
The processor comprising:
Performing disparity calculation of the stereo image, performing object detection and object identification in the stereo image based on disparity information of the stereo image,
The processor comprising:
Detecting a tunnel by the object identification based on the stereo image, acquiring distance information for the tunnel,
Generates the tunnel mode control signal based on the distance information,
The second region is detected as a tunnel when the difference between the luminance level of the first region in the stereo image and the luminance level difference in the second region is greater than or equal to a reference value and the size of the second region is sequentially larger,
The processor comprising:
The second region having a luminance lower than that of the first region in the stereo image and a luminance level difference in the second region being equal to or greater than a reference value in the daytime,
And detects the second area having a higher luminance in the nighttime as a tunnel when the difference between the luminance level of the first area in the stereo image and the luminance level difference in the second area is greater than or equal to a reference value. The method according to claim 1,
The processor comprising:
Calculating perimeter information including at least one of a detected lane, a tunnel, a nearby vehicle, and a sign based on the stereo image, calculating whether or not to enter the tunnel based on the perimeter information of the vehicle, And generates the tunnel mode control signal for operating the vehicle in the tunnel mode upon entering the vehicle. The method according to claim 1,
And an interface unit for exchanging data with at least one vehicle internal apparatus,
The interface unit receives map information,
The processor comprising:
And detects the tunnel in front of the vehicle based on the map information and the stereo image. The method according to claim 1,
The processor comprising:
A pre-tunnel mode control signal for operating the vehicle in a pre-tunnel mode at the time of the exit of the tunnel, calculating a perimeter of the vehicle based on the stereo image, calculating whether to exit the tunnel based on the perimeter information of the vehicle, / RTI >
The pre-tunnel mode control signal includes:
And a control signal for controlling at least one of the sunroof driving unit, the lamp driving unit, the window driving unit, and the air conditioning driving unit in the vehicle. The method according to claim 1,
The processor comprising:
A tunnel detector for detecting a tunnel in front of the vehicle;
A lane detecting unit detecting a lane for the front of the vehicle;
A distance detecting unit for detecting a distance to a nearby vehicle with respect to the front of the vehicle;
A speed detector for detecting a speed of the peripheral vehicle; And
And a tunnel mode control signal generator for generating the tunnel mode control signal based on the detected tunnel, the detected lane, the detected distance, and the detected speed. . delete The method according to claim 1,
The processor comprising:
A disparity operation unit for performing a disparity operation of the stereo image;
An object detection unit for performing object detection on at least one of the stereo images based on disparity information of the stereo image;
And an object tracking unit for performing tracking on the detected object. 8. The method of claim 7,
The processor comprising:
A segmentation unit for segmenting an object in the stereo image based on disparity information of the stereo image; And
And an object checking unit for classifying the detected object,
Wherein the object detection unit comprises:
And performs object detection for at least one of the stereo images based on the segmented object. The method according to claim 1,
And an interface unit for exchanging data with at least one vehicle internal apparatus,
The interface unit receives the sensor information,
The processor comprising:
Based on the stereo image, image-based vehicle periphery information including at least one of a lane, a tunnel, a nearby vehicle, a sign, a distance to the nearby vehicle, and speed information of the neighboring vehicle,
Performs vehicle motion estimation based on the vehicle running information among the sensor information,
And based on the image-based vehicle periphery information and the vehicle motion estimation, performs tracking of the traveling direction of the vehicle. 10. The method of claim 9,
The interface unit further receives map information,
The processor comprising:
Map matching is performed based on the map information and the vehicle running information,
And performs tracking of the traveling direction of the vehicle based on the map information, the image-based vehicle periphery information, and the vehicle motion estimation. delete delete A sensor unit for sensing a state of the vehicle;
A sunroof driving unit for driving the sunroof;
A lamp driving unit for driving the lamp;
A window driving unit for driving the window;
An air conditioning driving unit for driving the air conditioning apparatus;
A control unit for controlling the sunroof driving unit, the lamp driving unit, the window driving unit, and the air conditioning driving unit; And
A stereo camera, a processor for calculating a tunnel entrance of the vehicle based on the stereo image received from the stereo camera, and generating a tunnel mode control signal for operating the vehicle in a tunnel mode upon entering the tunnel of the calculated vehicle, And a vehicle driving assist device including the vehicle,
The tunnel mode control signal may include:
And a control signal for controlling at least one of the sunroof driving unit, the lamp driving unit, the window driving unit, and the air conditioning driving unit,
The processor comprising:
Performing disparity calculation of the stereo image, performing object detection and object identification in the stereo image based on disparity information of the stereo image,
The processor comprising:
Detecting a tunnel by the object identification based on the stereo image, acquiring distance information for the tunnel,
Generates the tunnel mode control signal based on the distance information,
The second region is detected as a tunnel when the difference between the luminance level of the first region in the stereo image and the luminance level difference in the second region is greater than or equal to a reference value and the size of the second region is sequentially larger,
The processor comprising:
The second region having a luminance lower than that of the first region in the stereo image and a luminance level difference in the second region being equal to or greater than a reference value in the daytime,
And detects the second area having a higher luminance in the nighttime as a tunnel, the difference between the luminance level of the first area in the stereo image and the luminance level difference in the second area being equal to or greater than a reference value. 14. The method of claim 13,
The vehicle driving assist system (100)
And an interface unit for exchanging data with at least one vehicle internal apparatus,
The interface unit receives map information,
The processor comprising:
And detects the tunnel in front of the vehicle based on the map information and the stereo image. 14. The method of claim 13,
The processor comprising:
A pre-tunnel mode control signal for operating the vehicle in a pre-tunnel mode at the time of the exit of the tunnel, calculating a perimeter of the vehicle based on the stereo image, calculating whether to exit the tunnel based on the perimeter information of the vehicle, / RTI >
The pre-tunnel mode control signal includes:
And a control signal for controlling at least one of the sunroof driving unit, the lamp driving unit, the window driving unit, and the air conditioning driving unit in the vehicle. delete

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