KR101683677B1 - Apparatus and method for controlling around view of vehicle - Google Patents

Apparatus and method for controlling around view of vehicle Download PDF

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Publication number
KR101683677B1
KR101683677B1 KR1020150098363A KR20150098363A KR101683677B1 KR 101683677 B1 KR101683677 B1 KR 101683677B1 KR 1020150098363 A KR1020150098363 A KR 1020150098363A KR 20150098363 A KR20150098363 A KR 20150098363A KR 101683677 B1 KR101683677 B1 KR 101683677B1
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KR
South Korea
Prior art keywords
obstacle
vehicle
distance
sensors
sensor
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KR1020150098363A
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Korean (ko)
Inventor
최환
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엘아이지넥스원 주식회사
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R21/00—Arrangements or fittings on vehicles for protecting or preventing injuries to occupants or pedestrians in case of accidents or other traffic risks
    • B60R21/01—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents
    • B60R21/013—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents including means for detecting collisions, impending collisions or roll-over
    • B60R21/0134—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents including means for detecting collisions, impending collisions or roll-over responsive to imminent contact with an obstacle, e.g. using radar systems
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
    • B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/08—Interaction between the driver and the control system
    • B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
    • G01S15/02—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems using reflection of acoustic waves
    • G01S15/04—Systems determining presence of a target
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/08—Interaction between the driver and the control system
    • B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
    • B60W2050/143—Alarm means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/08—Interaction between the driver and the control system
    • B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
    • B60W2050/146—Display means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2420/00—Indexing codes relating to the type of sensors based on the principle of their operation
    • B60W2420/54—Audio sensitive means, e.g. ultrasound

Abstract

The present invention provides an apparatus and a method for controlling around view of a vehicle, which can calculate a position of a barrier in a vehicle of which the full width is more than a reference value, and display the position of the barrier on a screen with a color differentiated from a background color. According to the present invention, the apparatus comprises: a barrier existence determination unit determining whether a barrier is placed in the outside of a vehicle with sensors in the vehicle of which a width is more than a reference value; a position calculation unit calculating a position of the barrier when determining that the barrier is placed in the outside of the vehicle; and an output control unit displaying a position of the barrier on a screen with an icon having a first color differentiated from a background color.

Description

BACKGROUND OF THE INVENTION Field of the Invention [0001]

The present invention relates to an apparatus and method for controlling an Around view of a vehicle. More particularly, the present invention relates to an apparatus and method for controlling an approach view of a vehicle having a full width equal to or greater than a reference value.

Due to the nature of the armored vehicle, it is not easy to operate because it is superior in size and weight compared to a general automobile. If the armored vehicle is damaged by an armored vehicle, it often ends up as serious injury or death. In addition, since armored vehicles have a much larger vehicle width than ordinary vehicles, the driver's vision is so narrow that they are more vulnerable to traffic accidents than ordinary vehicles.

Conventionally, in order to solve such a problem, an object located outside the vehicle was detected using an obstacle detection sensor or an object located outside the vehicle using an Around view monitor using a camera.

However, even when the obstacle detection sensor is used, the driver of the vehicle can only determine whether the object exists or not depending on the hearing, and can not accurately know the position of the object. Moreover, it is very difficult to accurately identify the position of an object detected around an armored car because the driver's view is very narrow due to the nature of the armored vehicle, which is superior in size to a general car.

Also, since the surround view monitor is expensive and the screen range is narrow, it is possible to perform only functions as a parking assistant role. In addition, due to the nature of armored vehicles, which mainly use off-highway roads, there is a high possibility that the camera monitor is easily damaged due to stones or sand protruding from the camera lens.

Korean Patent Laid-Open Publication No. 2009-0041965 proposes an obstacle detecting device for a vehicle. However, the above-described problem can not be solved because this device does not consider the characteristics of a vehicle having a large width such as an armored vehicle.

SUMMARY OF THE INVENTION The present invention has been made to solve the above-mentioned problems, and it is an object of the present invention to provide a vehicle surround view control apparatus for a vehicle, which calculates a position of an obstacle in a vehicle having a full- width reference value or more and displays the position of the obstacle on the screen, And to propose a method.

However, the objects of the present invention are not limited to those mentioned above, and other objects not mentioned can be clearly understood by those skilled in the art from the following description.

The present invention has been made in order to achieve the above object, and it is an object of the present invention to provide an obstacle existence determination unit for determining whether an obstacle is located outside the vehicle using sensors in a vehicle whose vehicle width is equal to or greater than a reference value. A position calculation unit for calculating a position of the obstacle when it is determined that the obstacle is located outside the vehicle; And an output control unit for displaying the position of the obstacle on the screen by using an icon having a first color distinguished from the background color.

Preferably, the vehicle surround-view control apparatus further includes an obstacle sensing unit that senses the obstacle located outside the vehicle using the sensors, and the obstacle presence determining unit may determine that the obstacle exists outside the vehicle It is determined that the obstacle is located.

Preferably, the obstacle sensing unit uses ultrasonic sensors as the sensors.

Preferably, the obstacle sensing unit uses sensors attached to the four sides of the vehicle with the sensors, and the sensors are attached to the rear of the vehicle with a greater number of sensors than the other of the vehicles.

Preferably, the vehicle's surround-view control device includes a distance sensor that calculates the distance between the vehicle and the obstacle using the first sensor, which is one of the sensors, when it is determined that the obstacle is located outside the vehicle The position calculation unit calculates the position of the obstacle based on the distance between the vehicle and the obstacle.

Preferably, the distance calculation unit uses a sensor that detects the obstacle for the first time by the first sensor.

Preferably, the position calculating unit calculates the position of the obstacle by using at least one second sensor selected from the sensors together with the first sensor.

Preferably, the position calculating unit uses the sensor selected by the second sensor based on the distance from the first sensor.

Wherein the distance control unit further comprises a distance difference determination unit for determining whether a distance between the vehicle and the obstacle is less than or equal to a reference distance, A method of displaying the position of the obstacle by changing the color of the icon from the first color to a predetermined second color, determining whether the icon having the color of either the first color or the second color A method of displaying the position of the obstacle by blinking on the screen and a method of displaying the position of the obstacle by enlarging the icon on the screen are used to display the position of the obstacle.

Preferably, the output control unit audibly outputs a warning message when visually displaying the position of the obstacle.

According to another aspect of the present invention, there is provided a method of controlling a vehicle, the method comprising: determining whether an obstacle is located outside the vehicle using sensors in a vehicle having a full-width reference value or more; Calculating a position of the obstacle when it is determined that the obstacle is located outside the vehicle; And displaying the position of the obstacle on the screen using an icon having a first color distinguished from the background color.

Preferably, before the step of determining whether or not the vehicle is located, the method further comprises sensing the obstacle located outside the vehicle using the sensors, It is determined that the obstacle is located outside the obstacle.

Advantageously, said sensing uses ultrasonic sensors as said sensors.

Advantageously, said sensing uses sensors attached to said sensors on all four sides of said vehicle, said sensors being attached to the rear of said vehicle with a greater number of sensors than the other of said vehicles.

Preferably, when it is determined that the obstacle is located outside the vehicle, it is preferable that, between the step of determining whether or not the vehicle is located, and the calculating step, Calculating a distance between the obstacles, wherein the calculating step calculates the position of the obstacle based on the distance between the vehicle and the obstacle.

Preferably, the calculating step uses a sensor which detects the obstacle for the first time by the first sensor.

Preferably, the calculating step calculates the position of the obstacle by using at least one second sensor selected from the sensors together with the first sensor.

Preferably, the calculating step uses a sensor selected on the basis of the distance from the first sensor to the second sensor.

Preferably, the method further comprises, between the calculating step and the calculating step, determining whether a distance between the vehicle and the obstacle is less than or equal to a reference distance, A method of displaying the position of the obstacle by changing the color of the icon from the first color to a predetermined second color when it is determined that the distance between the first color and the second color is less than the reference distance, A method of displaying the position of the obstacle by causing the icon having a color to blink on the screen and a method of displaying the position of the obstacle by enlarging the icon on the screen, Displays the location.

Advantageously, the displaying step further audibly outputs a warning message when visually displaying the position of the obstacle.

Further, the present invention proposes a recording medium on which the above-described method is recorded.

The present invention can achieve the following effects through the above-described configurations.

First, it is possible to quickly and easily identify the entire direction of the armored vehicle which is difficult to be visually recognized, thereby preventing a traffic accident caused by an armored vehicle in advance.

Second, by providing the driver with a full field of view during driving / parking, the convenience of the driver of the armored vehicle can be maximized.

1 is a conceptual diagram schematically showing an overview system of an armored vehicle according to an embodiment of the present invention.
FIG. 2 is a reference view for explaining the function of the exhibition processing module constituting the surround view system of the armored vehicle.
3 is a flowchart illustrating a method of operating an overview system of an armored vehicle according to an embodiment of the present invention.
4 is a reference diagram for explaining the function of the coordinate calculation module constituting the surround view system of the armored vehicle.
5 is a block diagram schematically showing an apparatus for controlling the surround view of a vehicle according to a preferred embodiment of the present invention.
6 is a block diagram illustrating internal configurations that may be added to the surround view control device of the vehicle.
7 is a flowchart illustrating a method of controlling the surround view of a vehicle according to a preferred embodiment of the present invention.

Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings. In the drawings, the same reference numerals are used to designate the same or similar components throughout the drawings. In the following description of the present invention, a detailed description of known functions and configurations incorporated herein will be omitted when it may make the subject matter of the present invention rather unclear. In addition, the preferred embodiments of the present invention will be described below, but it is needless to say that the technical idea of the present invention is not limited thereto and can be variously modified by those skilled in the art.

The present invention relates to an Around view system of an armored vehicle using an ultrasonic sensor. Hereinafter, this will be described in detail with reference to the drawings.

1 is a conceptual diagram schematically showing an overview system of an armored vehicle according to an embodiment of the present invention.

Referring to FIG. 1, an overview system 100 of an armored car includes a sensor unit 110, a signal processing unit 120, and a display processing unit 130.

The sensor unit 110 senses an object with respect to all directions of the armored vehicle using sensors attached to the armored vehicle. The sensor unit 110 includes at least one front sensor 111 located at the front of the armored vehicle, at least one rear sensor 112 located at the rear of the armored vehicle, at least one right sensor 113 located to the right of the armored vehicle ), At least one left sensor 114 located on the left side of the armored vehicle, and the like. The front sensor 111, the rear sensor 112, the right sensor 113, the left sensor 114, and the like may be embodied as an ultrasonic sensor in the present invention.

The signal processing unit 120 calculates the position of an object based on the information obtained by the sensor unit 110 and displays and controls the position of the object. The signal processing unit 120 may include a coordinate calculation module 121 and an exhibition processing module 122.

The coordinate calculation module 121 performs a function of checking whether or not an object is identified in the vicinity of the armored vehicle based on the information obtained by the sensor unit 110. [

In addition, the coordinate calculation module 121 checks the distance between the armored vehicle and the object if there is an object to be identified in the vicinity of the armored vehicle.

Further, when the distance between the armored vehicle and the object is confirmed, the coordinate calculation module 121 calculates the coordinates of the object based on the armored vehicle.

When the coordinate calculation of the object is completed by the coordinate calculation module 121, the display processing module 122 binarizes the coordinates in which the object exists and the coordinates in which there is no object in white, # 1. ≪ / RTI > FIG. 2 is a reference view for explaining the function of the exhibition processing module constituting the surround view system of the armored vehicle. An example of the screen # 1 is as shown in FIG. 2 (a).

In addition, the exhibition processing module 122 performs a function of displaying an object (coordinate) gradually getting closer to the armored vehicle in red in conjunction with the display processing unit 130. [ When there is a risk of an accident with an armored vehicle, the location of the accidental hazard is displayed on the screen # 2 to prevent accident from occurring. An example of the screen # 2 is as shown in FIG. 2 (b).

The display processing unit 130 performs a function of displaying the position of an object located outside the armored vehicle in conjunction with the display processing module 122 of the signal processing unit 120. The display processing unit 130 may include an object orientation detection module 131, an expansion module 132, and a display device 133.

When the coordinates of the object are calculated by the coordinate calculation module 121, the object orientation detection module 131 performs a function of tracking the position of the object in real time.

The object direction detection module 131 can also perform a function of determining whether the distance difference between the armored vehicle and the object is within a reference value by detecting the position of the object in real time.

The enlargement module 132 displays on the screen by the display device 133 under the control of the exhibition processing module 122 when it is determined by the object orientation detection module 131 that the difference in distance between the armored vehicle and the object is within the reference value And controls the display device 133 to enlarge and display the object.

Next, an operation method of the surround view system 100 of the armored vehicle will be described. 3 is a flowchart illustrating a method of operating an overview system of an armored vehicle according to an embodiment of the present invention.

First, the sensor unit 110 collects information on objects surrounding the armored vehicle using n ultrasonic sensors mounted around the armored vehicle (S205). Then, the sensor unit 110 transmits the collected information to the coordinate calculation module 121 of the signal processing unit 120.

The coordinate calculation module 121 checks the distance of the surrounding objects around the armored car when the information on the surrounding objects of the armored car is received (S210).

After the calculation of the distances of the objects near the armored vehicle is completed, the coordinate calculation module 121 calculates coordinates of the objects (S215). The process of calculating the coordinates of the object based on the distance between the armored vehicle and the object by the coordinate calculation module 121 is as shown in FIG.

4 is a reference diagram for explaining the function of the coordinate calculation module constituting the surround view system of the armored vehicle.

The coordinate calculation module 121 can convert the position of the object as coordinates 420 based on the distance 410 between the armored vehicle and the object.

When the distance between the armored vehicle and the object is converted into coordinates by the coordinate calculation module 121, the display processing module 122 stores the coordinate converted data in the memory unit (S220).

Thereafter, the object orientation detection module 131 of the display processing unit 130 determines whether there is data previously stored in the memory unit (S225).

If it is determined that there is no data previously stored in the memory unit, the display device 133 displays a black dot on the coordinates where the object exists under the control of the display processing module 122, and a white dot on the non- And displayed in binarization on the screen (S230).

Thereafter, the display device 133 receives data in the vicinity of the armored vehicle in real time and outputs it to the screen # 1 (S235). As described above, the example of the screen # 1 is as shown in FIG. 2 (a).

If it is determined that there is data previously stored in the memory unit, the object orientation detection module 131 compares the current data with the previous data (S240) and determines whether the object is closer to the armored vehicle (S245).

If it is determined that the object is not closer to the armored vehicle, steps S230 and S235 are sequentially performed.

If it is determined that the object is closer to the armored vehicle, the object orientation detection module 131 determines whether the distance between the armored vehicle and the object is 1 m or more (S250). In the embodiment of FIG. 3, the reference distance is 1 m, but the reference distance is not limited thereto.

If it is determined that the distance between the armored vehicle and the object is 1 m or more, the display device 133 displays a black dot on the coordinates where the object exists under the control of the display processing module 122, In the form of binarization. In addition, the display device 133 displays the coordinates of the objects getting close to the armored vehicle by binarizing the red spot on the screen (S255). Thereafter, step S235 is performed.

On the other hand, if it is determined that the distance between the armored vehicle and the object is less than 1 m, the display device 133 displays a black dot on the coordinates where the object exists under the control of the display processing module 122, It is displayed in binarization on the screen. In addition, the display device 133 displays the coordinate of the object getting closer to the armored vehicle by binarizing the red spot on the screen (S260).

Thereafter, the enlargement module 132 leaves only the objects within 1 m of the armored vehicle and the remaining objects on the screen (S265).

Thereafter, the enlargement module 132 enlarges the object image within 1 m of the armored vehicle on the screen (S270).

Then, the display device 133 outputs the screen # 2 (S275). At this time, the speaker device (not shown) outputs a warning sound so that the driver can recognize the sound. In the above, the screen # 2 means a danger warning screen, for example, as shown in FIG. 2 (b).

As described in the embodiment of FIG. 3, according to the present invention, the armored vehicle driver can easily check whether there is a specific object around the armored car by referring to the binarized screen # 1. It is possible to prevent the accident from occurring by enlarging the location where the accident risk exists.

DESCRIPTION OF THE PREFERRED EMBODIMENTS One embodiment of the present invention has been described with reference to Figs. Best Mode for Carrying Out the Invention Hereinafter, preferred forms of the present invention that can be inferred from the above embodiment will be described.

5 is a block diagram schematically showing an apparatus for controlling the surround view of a vehicle according to a preferred embodiment of the present invention.

5, the vehicle surround view control apparatus 500 includes an obstacle presence determination unit 510, a position calculation unit 520, an output control unit 530, a power source unit 540, and a main control unit 550.

The power supply unit 540 performs a function of supplying power to each configuration of the surround view control apparatus 500 of the vehicle.

The main control unit 550 performs a function of controlling the overall operation of each configuration of the surround view control apparatus 500 of the vehicle.

The obstacle existence determining unit 510 performs a function of determining whether an obstacle is located outside the vehicle using the sensors in the vehicle whose vehicle width is equal to or greater than the reference value. The obstacle presence judgment unit 510 can specify the vehicle by using overall width, lane, etc. instead of the vehicle width.

The position calculating unit 520 calculates the position of the obstacle when it is determined by the obstacle presence determining unit 510 that an obstacle is located outside the vehicle.

When the position of the obstacle is calculated by the position calculating unit 520, the output control unit 530 displays the position of the obstacle on the screen using the icon having the first color, which is distinguished from the background color.

The vehicle's surround view control apparatus 500 may further include at least one of an obstacle sensing unit 560, a distance calculation unit 570 and a distance difference determination unit 580 as shown in FIG. 6 is a block diagram illustrating internal configurations that may be added to the surround view control device of the vehicle.

The obstacle sensing unit 560 senses an obstacle located outside the vehicle using sensors. In this case, the obstacle presence determining unit 510 may determine that an obstacle is located outside the vehicle when the obstacle sensing unit 560 detects the obstacle.

The obstacle sensing unit 560 may use ultrasonic sensors as sensors for sensing an obstacle.

Also, the obstacle sensing unit 560 may use sensors attached to four sides of the vehicle as sensors for sensing an obstacle. In the present embodiment, these sensors may be attached to the rear of the vehicle with a greater number of sensors than the other (front, left, right, etc.) of the vehicle.

The distance calculation unit 570 calculates the distance between the vehicle and the obstacle using the first sensor, which is one of the sensors, if it is determined by the obstacle presence determination unit 510 that the obstacle is located outside the vehicle . In this case, the position calculating unit 520 may calculate the position of the obstacle based on the distance between the vehicle and the obstacle.

The distance calculation unit 570 may use a sensor that detects the obstacle for the first time by the first sensor.

The position calculating unit 520 may calculate the position of the obstacle using the second sensor together with the first sensor. The second sensor, like the first sensor, is at least one sensor selected from the sensors mounted on the vehicle for detecting obstacles.

The position calculation unit 520 calculates the position of the obstacle based on the distance between the vehicle and the obstacle obtained using the first sensor, the distance between the obstacle and the vehicle obtained using the second sensor, the position of the first sensor, The position of the obstacle can be calculated. For example, if the position of the first sensor is (0, 0), the position of the second sensor is (5, 0), the distance between the vehicle and the obstacle obtained by using the first sensor is 10, When the distance between the obtained vehicle and the obstacle is 15, the position calculating unit 520 can calculate the position of the obstacle as (0, 10).

The position calculating unit 520 may use the sensor selected by the second sensor based on the distance from the first sensor. The position calculating unit 520 may use a sensor adjacent to the first sensor as the second sensor. At this time, the second sensor can be selected in the order close to the first sensor. In other words, if the second sensor is one, the sensor located closest to the first sensor may be selected as the second sensor. If the second sensor is two, the sensor positioned closest to the first sensor and the first sensor And a sensor positioned at a close distance from the sensor may be selected as the second sensor.

The distance difference determination unit 580 determines whether the distance between the vehicle and the obstacle is less than or equal to a reference distance. In this case, if it is determined that the distance between the vehicle and the obstacle is less than the reference distance, the output control unit 530 may display the position of the obstacle using at least one of the first method and the third method. The first method is a method of displaying the position of an obstacle by changing the color of the icon from the first color to a second predetermined color. In the second method, an icon having a color of either the first color or the second color is blinked on the screen to indicate the position of the obstacle. The third method is a method of displaying the position of the obstacle by enlarging the icon on the screen.

On the other hand, the output control unit 530 can also output a warning message audibly when the position of the obstacle is visually displayed.

Next, an operation method of the vehicle surround view control apparatus 500 will be described. 7 is a flowchart illustrating a method of controlling the surround view of a vehicle according to a preferred embodiment of the present invention. The following description refers to Fig. 5 to Fig.

First, the obstacle presence determination unit 510 determines whether an obstacle is located outside the vehicle using the sensors in the vehicle whose vehicle width is equal to or greater than the reference value (S610).

If it is determined that an obstacle is located outside the vehicle, the position calculation unit 520 calculates the position of the obstacle (S620).

Thereafter, the output control unit 530 displays the position of the obstacle on the screen using the icon having the first color distinguished from the background color (S630).

Meanwhile, before the obstacle presence determination unit 510 performs step S610, the obstacle sensing unit 560 may sense obstacles located outside the vehicle using the sensors. The obstacle presence determining unit 510 may determine whether an obstacle is located outside the vehicle according to whether or not the obstacle is detected.

If it is determined between the steps S610 and S620 that the obstacle exists in the outside of the vehicle by the obstacle presence determination unit 510, The distance between obstacles can be calculated. The position calculating unit 520 may calculate the position of the obstacle based on the distance between the vehicle and the obstacle.

After the distance calculation unit 570 performs the above-described function, the distance difference determination unit 580 may determine whether the distance between the vehicle and the obstacle is less than or equal to a reference distance before step S620 is performed. If it is determined that the distance between the vehicle and the obstacle is less than the reference distance, the output control unit 530 displays the position of the obstacle by changing the color of the icon from the first color to the predetermined second color, A method of displaying an obstacle position by causing an icon having a color of one of the colors to blink on the screen and a method of displaying an obstacle position by enlarging the icon on the screen, Can be displayed.

It is to be understood that the present invention is not limited to these embodiments, and all elements constituting the embodiment of the present invention described above are described as being combined or operated in one operation. That is, within the scope of the present invention, all of the components may be selectively coupled to one or more of them. In addition, although all of the components may be implemented as one independent hardware, some or all of the components may be selectively combined to perform a part or all of the functions in one or a plurality of hardware. As shown in FIG. In addition, such a computer program may be stored in a computer readable medium such as a USB memory, a CD disk, a flash memory, etc., and read and executed by a computer to implement an embodiment of the present invention. As the recording medium of the computer program, a magnetic recording medium, an optical recording medium, a carrier wave medium, and the like can be included.

Furthermore, all terms including technical or scientific terms have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs, unless otherwise defined in the Detailed Description. Commonly used terms, such as predefined terms, should be interpreted to be consistent with the contextual meanings of the related art, and are not to be construed as ideal or overly formal, unless expressly defined to the contrary.

It will be apparent to those skilled in the art that various modifications, substitutions and substitutions are possible, without departing from the scope and spirit of the invention as disclosed in the accompanying claims. will be. Therefore, the embodiments disclosed in the present invention and the accompanying drawings are intended to illustrate and not to limit the technical spirit of the present invention, and the scope of the technical idea of the present invention is not limited by these embodiments and the accompanying drawings . The scope of protection of the present invention should be construed according to the following claims, and all technical ideas within the scope of equivalents should be construed as falling within the scope of the present invention.

Claims (14)

Determining whether an obstacle is located outside the vehicle using sensors in a vehicle whose vehicle width is equal to or greater than a reference value, and determining whether the obstacle is located outside the vehicle by using a first sensor A coordinate calculation module for calculating a distance between the vehicle and the obstacle and calculating a current position of the obstacle based on a distance between the vehicle and the obstacle;
The distance between the vehicle and the obstacle calculated from the current position of the obstacle and the previous position of the obstacle, if it is determined that the previous position of the obstacle is stored, To determine whether the vehicle is closer to the obstacle, and, if it is determined that the vehicle is closer to the obstacle, determining whether the distance between the vehicle and the obstacle is greater than or equal to a reference distance ;
If it is determined that the previous position of the obstacle is not stored or that the vehicle is not closer to the obstacle, the position of the obstacle is displayed on the screen by using the icon having the first color distinguished from the background color And displaying the position of the obstacle on the screen by changing the first color to a second color having a higher visibility than the first color when it is determined that the distance between the vehicle and the obstacle is equal to or greater than the reference distance Processing module; And
An enlargement module for enlarging the size of the obstacle on the screen and displaying the position of the obstacle on the screen if it is determined that the distance between the vehicle and the obstacle is less than the reference distance;
And a controller for controlling the operation of the vehicle. The method according to claim 1,
A sensor unit for sensing the obstacle located outside the vehicle using the sensors and using ultrasonic sensors as the sensors and using sensors attached to all sides of the vehicle with the sensors,
Further comprising:
Wherein the coordinate calculation module determines that the obstacle is located outside the vehicle when the obstacle is detected,
Wherein the sensors are attached a greater number of sensors to the rear of the vehicle than the other of the vehicles. delete delete delete The method according to claim 1,
Wherein the coordinate calculation module uses a sensor that first detects the obstacle by the first sensor. The method according to claim 1,
Wherein the coordinate calculation module calculates the position of the obstacle by using at least one second sensor selected from the sensors together with the first sensor. 8. The method of claim 7,
Wherein the coordinate calculation module uses a sensor selected on the basis of a distance from the first sensor to the second sensor. The method according to claim 1,
Wherein the display processing module causes the icon having the color of either the first color or the second color to blink on the screen when it is determined that the distance between the vehicle and the obstacle is less than the reference distance, And the position of the obstacle is displayed by using a method of displaying the position of the obstacle. 10. The method of claim 9,
A speaker device for audibly outputting a warning message when displaying the position of the obstacle by enlarging the size of the obstacle on the screen;
Further comprising a control unit for controlling the surrounding view of the vehicle. Determining whether an obstacle is located outside the vehicle using sensors in a vehicle whose vehicle width is equal to or greater than a reference value, and determining whether the obstacle is located outside the vehicle by using a first sensor Calculating a distance between the vehicle and the obstacle and calculating a current position of the obstacle based on a distance between the vehicle and the obstacle as coordinates;
The distance between the vehicle and the obstacle calculated from the current position of the obstacle and the previous position of the obstacle, if it is determined that the previous position of the obstacle is stored, To determine whether the vehicle is closer to the obstacle, and if the vehicle is determined to be closer to the obstacle, determining whether the distance between the vehicle and the obstacle is greater than a reference distance;
If it is determined that the previous position of the obstacle is not stored or that the vehicle is not closer to the obstacle, the position of the obstacle is displayed on the screen by using the icon having the first color distinguished from the background color And displaying the position of the obstacle on the screen by changing the first color to a second color having a higher visibility than the first color when it is determined that the distance between the vehicle and the obstacle is equal to or greater than the reference distance ; And
And displaying the position of the obstacle by enlarging the size of the obstacle on the screen if it is determined that the distance between the vehicle and the obstacle is less than the reference distance
And controlling the angle of view of the vehicle. 12. The method of claim 11,
Using the sensors to detect obstacles located outside the vehicle, using ultrasonic sensors as the sensors and using sensors attached to all sides of the vehicle with the sensors
Further comprising:
Wherein the calculating step determines that the obstacle is located outside the vehicle when the obstacle is detected,
Wherein the sensors are attached to the rear of the vehicle with a greater number of sensors than to the other of the vehicle. 12. The method of claim 11,
Enlarging the size of the obstacle on the screen and outputting a warning message audibly when displaying the position of the obstacle
Further comprising the steps of: determining whether the vehicle is in the vicinity of the vehicle; 13. A recording medium on which a method according to any one of claims 11 to 13 is recorded for carrying out a method for controlling an ambient view of a vehicle, the recording medium being a computer-readable recording medium.
KR1020150098363A 2015-07-10 2015-07-10 Apparatus and method for controlling around view of vehicle KR101683677B1 (en)

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Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2013003641A (en) * 2011-06-13 2013-01-07 Nissan Motor Co Ltd Obstacle warning device for vehicle
KR20130053605A (en) * 2011-11-15 2013-05-24 현대자동차주식회사 Apparatus and method for displaying around view of vehicle
KR20140009148A (en) * 2010-10-22 2014-01-22 히다치 겡키 가부시키 가이샤 Work machine peripheral monitoring device

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR20140009148A (en) * 2010-10-22 2014-01-22 히다치 겡키 가부시키 가이샤 Work machine peripheral monitoring device
JP2013003641A (en) * 2011-06-13 2013-01-07 Nissan Motor Co Ltd Obstacle warning device for vehicle
KR20130053605A (en) * 2011-11-15 2013-05-24 현대자동차주식회사 Apparatus and method for displaying around view of vehicle

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