KR102087359B1 - Methods and apparatuses for attracting driver's eyes based on vehicle path - Google Patents

Abstract

The present invention relates to a method and an apparatus for attracting driver′s eyes based on a path of a vehicle. The method for attracting driver′s eyes based on a path of a vehicle according to an embodiment of the present invention is performed by the apparatus for attracting driver′s eyes and includes the steps of: sensing a path of a driving vehicle and a path of a dynamic obstacle around the vehicle; determining a dangerous obstacle based on a contact point between the sensed path of the vehicle and the sensed path of the dynamic obstacle; and attracting the driver′s eyes to the determined dangerous obstacle.

Description

A method and apparatus for guiding driver's gaze of a vehicle {METHODS AND APPARATUSES FOR ATTRACTING DRIVER'S EYES BASED ON VEHICLE PATH}

The present invention relates to a method and apparatus for inducing a driver's gaze of a vehicle, and more particularly, a method of inducing a driver's gaze based on matching a driver's gaze with a dangerous obstacle around a vehicle. And an apparatus.

The recent rapid development of IT technology has a lot of influence on the automobile industry, and various IT technologies are applied to vehicles. In addition, various safety driving assistance functions are mounted on the vehicle to ensure the safety of the vehicle driving.

According to this trend, a method of detecting a driver's eyes by detecting a pupil of the driver and a direction of the pupil by using a camera has been studied to determine the driver's viewing direction.

Conventional driver gaze related technologies are as follows.

As an example, there is a technique for determining blind spots in the driver's field of view. These techniques relate to driver assistance systems that determine specific blind spots for driver vision and use specific blind spots.

As another example, there is a technology for determining the driver's concentration using the biological characteristics of the eyes, such as a driver's gaze time, blinking eyes, and pupil size. Such technology relates to a technology for analyzing a driver's driving concentration level and using the same to assist the driver.

As another example, there is a technique of detecting an obstacle avoidance movement by using a case in which the driver's field of view is out of the driving direction or by using the driving direction of the vehicle ahead and the driver's line of sight. Such technology relates to a technology for providing interaction with a driver of a vehicle in consideration of the eyes of the driver and the driver of the vehicle.

As another example, there is a technology that checks whether the driver's gaze properly collects data of surrounding obstacles beyond the method using the biometric characteristic. These technologies relate to technology that determines whether data from surrounding obstacles are collected properly, thereby determining concentration or monitoring driver's concentration.

These prior arts do not consider the case where the driver gazes in front of the front, not the obstacle in front. In addition, recently presented methods have a problem that it is not easy to determine the concentration in a plurality of obstacles.

Embodiments of the present invention determine a dangerous obstacle from the dynamic obstacle around the vehicle and induces the driver's gaze based on the dangerous obstacle and the driver's gaze matching, the situation where the driver's gaze may cause an actual accident (eg, dangerous obstacle To provide a method and apparatus for guiding a driver's gaze of a vehicle, which can focus on the vehicle).

According to an embodiment of the present disclosure, a path-based driver's gaze guidance method of a vehicle performed by a driver's gaze guidance device, the method comprising: sensing a path of a driving vehicle and a path of a dynamic obstacle around the vehicle; Determining a dangerous obstacle based on a contact point between the path of the sensed vehicle and the path of the sensed dynamic obstacle; And inducing the driver's gaze to the determined dangerous obstacle.

The sensing may include sensing a moving vehicle and a dynamic obstacle around the vehicle using at least one of a camera, a lidar, and a radar.

The determining of the dangerous obstacle may include determining the dangerous obstacle when the arrival time of the vehicle is less than a predetermined threshold until the contact point between the path of the sensed vehicle and the path of the sensed dynamic obstacle.

Inducing the driver's gaze may output a warning sound or a visual warning indicating a dangerous direction.

Inducing the driver's gaze may adjust the intensity of the warning sound or visual warning according to the arrival time of the vehicle up to a contact point between the path of the sensed vehicle and the path of the sensed dynamic obstacle.

The method may further include sensing the driver's gaze, and inducing the driver's gaze may include inducing the driver's gaze when the sensed driver's gaze matches the determined dangerous obstacle. You can stop.

Inducing the driver's gaze may output a warning sound or a visual warning indicating the blind spot in a dangerous direction when the sensed dynamic obstacle is located in the blind spot of the sensed vehicle.

Inducing the driver's gaze may output a warning sound or a visual warning indicating a dangerous direction based on the path of the vehicle.

Inducing the driver's gaze may output a visual warning of adjusting at least one of blinking, color, and brightness to indicate a dangerous direction based on the path of the vehicle.

Inducing the driver's gaze may calculate a danger angle based on the steering angle of the vehicle and output a visual warning indicating an operation safety area or an operation danger area based on the calculated danger angle.

On the other hand, according to another embodiment of the present invention, the sensing unit for sensing the path of the driving vehicle and the path of the dynamic obstacle around the vehicle; An output unit which outputs a warning to a driver of the vehicle; And a processor configured to determine a dangerous obstacle based on a contact point between the sensed path of the vehicle and the sensed path of the dynamic obstacle, and to guide the driver's gaze to the determined dangerous obstacle through the output unit. Based driver gaze guidance device may be provided.

The sensing unit may sense a moving vehicle and a dynamic obstacle around the vehicle by using at least one of a camera, a lidar, and a radar.

The processor may determine a dangerous obstacle when the arrival time of the vehicle is less than a preset threshold until the contact point between the sensed vehicle path and the sensed dynamic obstacle path.

The processor may output a warning sound or a visual warning indicating a dangerous direction through the output unit.

The processor may adjust the intensity of the warning sound or visual warning according to the arrival time of the vehicle up to a contact point between the path of the sensed vehicle and the path of the sensed dynamic obstacle.

The sensing unit senses a gaze of the driver, and the processor may stop an operation of inducing the driver's gaze when the sensed driver's gaze matches the determined dangerous obstacle.

The processor may output a warning sound or a visual warning indicating the blind spot in a dangerous direction through the output unit when the sensed dynamic obstacle is located in the blind spot of the sensed vehicle.

The processor may output a warning sound or a visual warning indicating a dangerous direction based on the path of the vehicle through the output unit.

The processor may output a visual warning adjusting at least one of blinking, color, and brightness to indicate a dangerous direction based on the path of the vehicle through the output unit.

The processor may calculate a danger angle based on the steering angle of the vehicle through the output unit, and output a visual warning indicating an operation safety area or an operation danger area based on the calculated danger angle.

Meanwhile, according to another embodiment of the present invention, in a computer-readable recording medium recording a program for causing a computer to execute a path-based driver's gaze guidance method of a vehicle, a path of a vehicle being driven and a dynamic obstacle around the vehicle Sensing a path of the; Determining a dangerous obstacle based on a contact point between the path of the sensed vehicle and the path of the sensed dynamic obstacle; And a computer-readable recording medium having recorded thereon a program for executing the step of inducing the driver's gaze to the determined dangerous obstacle.

Embodiments of the present invention determine a dangerous obstacle from the dynamic obstacle around the vehicle and induces the driver's gaze based on the dangerous obstacle and the driver's gaze matching, the situation where the driver's gaze may cause an actual accident (eg, dangerous obstacle Etc.).

1 is a diagram illustrating an example of operating a path-based driver's eye guidance apparatus of a vehicle, according to an exemplary embodiment.
2 is a flowchart illustrating a path-based driver's eye guidance method of a vehicle performed by a driver's eye guidance apparatus according to an exemplary embodiment.
3 is a flowchart illustrating a path-based driver's gaze guidance method of a vehicle performed by a driver's gaze guidance device according to another exemplary embodiment.
FIG. 4 is a diagram for describing an example of a dangerous obstacle determination operation performed by a path-based driver's eye guidance apparatus of a vehicle, according to an exemplary embodiment; FIG.
5 is a view for explaining an example where the dangerous obstacle is located in the blind spot of the vehicle.
6 is a flowchart illustrating a path-based driver's gaze guidance method of a vehicle performed by a driver's gaze guidance device when a dangerous obstacle is in a blind spot, according to an exemplary embodiment.
FIG. 7 is a diagram for describing an example of an operation of outputting a warning based on a path performed by a path-based driver's gaze guidance apparatus of a vehicle according to an exemplary embodiment.
FIG. 8 is a diagram for describing an example of an operation of outputting a dangerous directionality of a dangerous obstacle performed by a vehicle-based driver's gaze guide device according to an exemplary embodiment.
9 is a diagram for describing an example of outputting a visual warning by a route-based driver's gaze guidance device of a vehicle, according to an exemplary embodiment.
FIG. 10 is a diagram for describing another example of outputting a visual warning by a route-based driver's gaze guidance device of a vehicle according to an exemplary embodiment.
FIG. 11 is a block diagram illustrating a path-based driver's gaze guidance device of a vehicle for guiding a driver's gaze as a dangerous obstacle according to an exemplary embodiment.
12 is a block diagram of a path-based driver's gaze guidance device of a vehicle for inducing a driver's gaze to a dangerous obstacle according to another exemplary embodiment.

As the inventive concept allows for various changes and numerous embodiments, particular embodiments will be illustrated in the drawings and described in detail in the written description.

However, this is not intended to limit the present invention to specific embodiments, it should be understood to include all changes, equivalents, and substitutes included in the spirit and scope of the present invention.

Terms such as first and second may be used to describe various components, but the components should not be limited by the terms. The terms are used only for the purpose of distinguishing one component from another. For example, without departing from the scope of the present invention, the first component may be referred to as the second component, and similarly, the second component may also be referred to as the first component. The term and / or includes a combination of a plurality of related items or any item of a plurality of related items.

When a component is said to be "connected" or "connected" to another component, it may be directly connected to or connected to that other component, but it may be understood that another component may be present in the middle. Should be. On the other hand, when a component is said to be "directly connected" or "directly connected" to another component, it should be understood that there is no other component in between.

The terminology used herein is for the purpose of describing particular example embodiments only and is not intended to be limiting of the present invention. Singular expressions include plural expressions unless the context clearly indicates otherwise. In this application, the terms "comprise" or "have" are intended to indicate that there is a feature, number, step, operation, component, part, or combination thereof described in the specification, and one or more other features. It is to be understood that the present invention does not exclude the possibility of the presence or the addition of numbers, steps, operations, components, components, or a combination thereof.

Unless defined otherwise, all terms used herein, including technical or scientific terms, have the same meaning as commonly understood by one of ordinary skill in the art. Terms such as those defined in the commonly used dictionaries should be construed as having meanings consistent with the meanings in the context of the related art, and shall not be construed in ideal or excessively formal meanings unless expressly defined in this application. Do not.

Hereinafter, with reference to the accompanying drawings, it will be described in detail a preferred embodiment of the present invention. In the following description of the present invention, the same reference numerals are used for the same elements in the drawings and redundant descriptions of the same elements will be omitted.

1 is a diagram illustrating an example of operating a path-based driver's eye guidance apparatus of a vehicle, according to an exemplary embodiment.

The vehicle 10 may include a path-based driver's gaze guidance device 100 of a vehicle capable of inducing a driver's gaze to a dangerous obstacle. The driver's gaze guidance apparatus 100 based on the vehicle determines a dangerous obstacle from the dynamic obstacle around the vehicle. In addition, the path-based driver's gaze guide apparatus 100 of the vehicle may induce the driver's gaze based on matching the driver's gaze with a dangerous obstacle having a collision risk in the dynamic obstacle. The driver's gaze can focus on situations (eg, dangerous obstacles, etc.) that may cause an actual accident.

Referring to FIG. 1, the path-based driver's gaze guide apparatus 100 of a vehicle according to an embodiment may threaten a pedestrian 102 who is in danger of collision among the front vehicle 101 and the pedestrian 102, which are dynamic obstacles around the vehicle. It can be judged as an obstacle. The driver gaze guidance device 100 senses a path of the pedestrian 102 determined as a dangerous obstacle, and senses a driver's gaze. Thereafter, the driver's gaze guide device 100 may induce the driver's gaze to the pedestrian 102 based on a matching between the path of the pedestrian 102 and the driver's gaze. The route-based driver's gaze guidance apparatus 100 according to an exemplary embodiment may determine an error between a danger obstacle that requires attention and a current driver's gaze direction through gaze tracking. In addition, the driver's gaze guide device 100 may output a warning, such as sound or light vibration, according to the determined error result to guide the driver's gaze to a dangerous obstacle.

2 is a flowchart illustrating a path-based driver's eye guidance method of a vehicle performed by a driver's eye guidance apparatus according to an exemplary embodiment.

In operation S101, the path-based driver's gaze guide device 100 according to an embodiment senses a path of a dynamic obstacle around a vehicle that is being driven.

In step S102, the driver's gaze guidance device 100 senses a path of a vehicle that is being driven.

In operation S103, the driver gaze guidance apparatus 100 may determine a dangerous obstacle based on a contact point between a path of the sensed vehicle and a path of the sensed dynamic obstacle.

In step S104, the driver's gaze guidance device 100 guides the driver's eyes to the determined dangerous obstacle.

3 is a flowchart illustrating a path-based driver's gaze guidance method of a vehicle performed by a driver's gaze guidance device according to another exemplary embodiment.

In operation S201, the path-based driver's gaze guide device 100 according to another embodiment senses a path of a dynamic obstacle around a vehicle that is being driven.

In operation S202, the driver's gaze guidance device 100 senses a path of a vehicle that is being driven.

In step S203, the driver's gaze guidance device 100 checks whether there is a contact point between the path of the dynamic obstacle and the path of the vehicle.

In step S204, if there is a contact point between the path of the dynamic obstacle and the path of the vehicle, the driver gaze guidance device 100 checks whether the difference in arrival time to the corresponding contact point is less than a threshold.

In operation S205, when the difference in arrival time to the corresponding contact point is less than the threshold value, the driver gaze guidance apparatus 100 determines the dangerous obstacle based on the contact point between the path of the sensed vehicle and the path of the sensed dynamic obstacle.

In step S206, the driver's gaze guidance device 100 checks whether the driver's gaze matches the dangerous obstacle.

In step S207, if the driver's gaze does not match the driver's gaze, the driver's gaze guidance device 100 guides the driver's gaze to the determined danger obstacle.

In operation S208, when the driver's gaze coincides with the dangerous obstacle, the driver's gaze guidance device 100 stops the operation of inducing the driver's gaze to the determined dangerous obstacle.

On the other hand, in step S203, if there is no contact between the path of the dynamic obstacle and the path of the vehicle, the driver gaze guidance device 100 performs step S208.

On the other hand, in step S204, if there is no contact between the path of the dynamic obstacle and the path of the vehicle, the driver gaze guidance device 100 performs step S208.

FIG. 4 is a diagram for describing an example of a dangerous obstacle determination operation performed by a path-based driver's eye guidance apparatus of a vehicle, according to an exemplary embodiment; FIG.

Referring to FIG. 4, the vehicle-based driver's gaze guidance apparatus 100 may sense an operation of sensing a path of a driving vehicle, determining a dynamic obstacle, sensing a path of the dynamic obstacle, and sensing an operator's gaze. To perform. In addition, the driver's gaze guidance apparatus 100 may determine a danger obstacle and perform a gaze guidance operation of inducing the driver's gaze to the danger obstacle.

Here, the driver gaze guidance apparatus 100 may determine a dynamic obstacle by using at least one sensor among a LIDAR, a radar, and a camera.

The driver's gaze guidance device 100 may detect a path of the vehicle by using Equation 1 as follows.

The driver's gaze guidance device 100 may calculate a turning radius that changes according to the speed of the vehicle by using Equation 2 as follows.

Where ρ is rotation radius, δ is steering angle, m is vehicle weight, l is wheelbase, lf is distance from front axle to center of gravity, lr is distance from rear axle to center of gravity, Kf is front corner cornering stiffness, Kr is the rear corner stiffness and V is the vehicle speed.

The driver gaze guidance device 100 may sense the path 410 of the vehicle of FIG. 4 from the radius of rotation of the vehicle. As such, the driver's gaze guide device 100 may detect the path 410 of the vehicle and may be expressed as in Equation 3 below.

Where p is the rotation radius, δ is the steering angle, x is the x position on the path of the dynamic obstacle, and y is the y position on the path of the dynamic obstacle.

The driver's gaze guidance apparatus 100 may determine and track a dynamic obstacle from a measurement device such as a camera, a lidar, or a radar.

The current position of the dynamic obstacle may be represented as the dynamic obstacle position 402 of FIG. 4. The driver's gaze guidance device 100 may predict a linear path, such as the path 420 of the dynamic obstacle of FIG. 4, from the current position. The path 420 of the dynamic obstacle is represented by Equation 4 below.

Here, a is the slope, b is the current x position of the dynamic obstacle, c is the current y position of the dynamic obstacle.

The driver gaze guidance apparatus 100 may predict the linear path from the moving direction of the dynamic obstacle being tracked.

The driver gaze guidance apparatus 100 may calculate the contact point 401 of FIG. 4 based on the path 410 of the vehicle represented by the second equation and the path 420 of the dynamic obstacle represented by the first equation.

The calculated arrival time to the contact point 401 may be calculated as in Equation 5 below for the vehicle, and may be calculated as shown in Equation 6 below for the dynamic obstacle. The driver gaze guidance apparatus 100 may determine that the collision risk is greater as the difference in arrival time to the same point is smaller.

The driver gaze guidance apparatus 100 may determine the dynamic obstacle as a dangerous obstacle when the difference between Equation 5 and Equation 6 is smaller than a predetermined threshold.

If it is determined that the dangerous obstacle, the driver gaze guidance device 100 may give a warning sound or a visual warning to the driver so that the driver can recognize the dangerous obstacle.

5 is a view for explaining an example where the dangerous obstacle is located in the blind spot of the vehicle.

The route-based driver's gaze guidance device 100 according to an embodiment may determine the dynamic obstacle as a dangerous obstacle. As shown in FIG. 5, the dynamic obstacle may be located in a blind spot of the vehicle to obscure the driver's view. The blind spot of the vehicle may include a front blind spot 501 located at the front, a filler blind spot 502 located at the front left and right sides, side mirror blind spots 503 located at the left and right sides, and a rear blind spot 504 located at the rear. have.

In this case, the driver's gaze guidance device 100 may perform an operation of inducing the driver's gaze when the determined danger obstacle is located in the blind spot of FIG. 5. For example, when the driver's gaze guidance apparatus 100 is located at the filler blind spot 502 in the blind spot of FIG. 5, the driver gaze guidance device 100 may perform an operation of inducing the driver's gaze.

If the determined dangerous obstacle is not in the blind spot, the driver's gaze guidance apparatus 100 determines whether the driver's gaze matches the dangerous obstacle. Thereafter, the driver's gaze guidance apparatus 100 may stop the driver's gaze without performing an operation of inducing the driver's gaze when the driver's gaze matches the dangerous obstacle.

6 is a flowchart illustrating a path-based driver's gaze guidance method of a vehicle performed by a driver's gaze guidance device when a dangerous obstacle is in a blind spot, according to an exemplary embodiment.

In operation S301, the driver gaze guidance apparatus 100 may determine a dangerous obstacle based on a contact point between a path of the sensed vehicle and a path of the sensed dynamic obstacle.

In step S302, the driver's gaze guidance device 100 checks whether the dangerous obstacle is in the blind spot.

In operation S303, the driver's gaze guidance device 100 guides the driver's eyes to the determined dangerous obstacle when the dangerous obstacle is in the blind spot.

In step S304, if the driver's gaze induction device 100 is not in the blind spot, the driver's gaze guidance device 100 checks whether the driver's gaze matches the danger.

In operation S305, when the driver's gaze coincides with the dangerous obstacle, the driver's gaze guidance device 100 stops the operation of inducing the driver's gaze to the determined dangerous obstacle.

On the other hand, if the driver's gaze guidance apparatus 100 does not match the driver's gaze, the driver gaze apparatus 100 performs step S303.

FIG. 7 is a diagram for describing an example of an operation of outputting a warning based on a path performed by a path-based driver's gaze guidance apparatus of a vehicle according to an exemplary embodiment.

The path-based driver's gaze guide apparatus 100 of the vehicle may output a warning according to a dangerous direction to the driver. If the difference in arrival time based on the contact point 401 is less than the threshold value, it may be determined as a dangerous obstacle. The dangerous directionality may be output based on the path 410 of the vehicle rather than the current vehicle position in order to give consistency to the position 403 of the dangerous obstacle and the steering operation for avoiding it.

As shown in FIG. 7, the driver gaze guidance device 100 may perform a warning to the left or the right of the path based on the predicted path 410 of the vehicle, not to the left or the right of the front of the vehicle. Can be. In the case of FIG. 7, the position 403 of the dangerous obstacle is located on the right side based on the current position of the vehicle. However, the location 403 of the dangerous obstacle is located on the left side of the path 410 of the vehicle, based on the predicted path 410 of the vehicle. Accordingly, the driver's gaze guidance device 100 may warn the user to the left side in which the dangerous obstacle is located based on the predicted path 410 of the vehicle.

FIG. 8 is a diagram for describing an example of an operation of outputting a dangerous directionality of a dangerous obstacle performed by a vehicle-based driver's gaze guide device according to an embodiment.

In operation S401, the driver gaze guidance apparatus 100 may determine a dangerous obstacle based on a contact point between a path of the sensed vehicle and a path of the sensed dynamic obstacle.

In operation S402, the driver gaze guidance apparatus 100 may identify a dangerous direction of the dangerous obstacle based on the path of the vehicle.

In operation S403, the driver gaze guidance device 100 outputs a warning corresponding to the identified dangerous direction to the driver.

9 is a diagram for describing an example of outputting a visual warning by a route-based driver's gaze guidance device of a vehicle, according to an exemplary embodiment.

The route-based driver's gaze guidance device 100 according to an embodiment may output a visual warning of a visual effect period. The driver's gaze guidance device 100 according to an exemplary embodiment may output a warning by blinking the light to the left or right side of the driver based on a path based on the visual effect based on the light.

As another example, the driver's gaze guide device 100 may provide a warning by calculating a danger angle based on a current steering angle.

The driver's gaze guidance device 100 may output a warning based on an inoperable area of the steering wheel of the vehicle by calculating a danger angle. For example, as in the warning output region 910 adjacent to the steering wheel 901 of FIG. 9, it may be installed in a fixed section to minimize confusion about the warning direction according to the steering operation.

FIG. 10 is a diagram for describing another example of outputting a visual warning by a route-based driver's gaze guidance device of a vehicle according to an exemplary embodiment.

The driver's gaze guidance device 100 may calculate a danger angle and output a visual warning as shown in FIG. 10. The driver's gaze guidance apparatus 100 may output an alert by indicating an area 1010 and an area 1020 that may be further moved based on the current steering wheel angle. If the obstacle on the right side of the path is a dangerous obstacle, the driver's gaze guidance device 100 may generate a warning about steering wheel manipulation to the right to naturally guide the gaze to the right.

The LEDs representing the operable region 1010 and the non-operable region 1020 of the steering wheel may refer to a steering wheel manipulation angle that increases with distance from the center. This interval may vary depending on the condition of the vehicle or the driving speed.

The driver's gaze guidance apparatus 100 may determine a dangerous obstacle by detecting a collision for various steering angles on the left and right sides based on the current steering wheel angle. If it is determined that the dangerous obstacle, the driver gaze guidance device 100 may output an LED-based warning to the driver by blinking, brightness or color conversion.

When the warning on the dangerous obstacle is performed, the driver's gaze guidance apparatus 100 may calculate a gaze error between the driver's current gaze and a dangerous obstacle requiring concentration as a concentration error.

The driver gaze guidance device 100 may calculate the princess distance according to the calculated driver's concentration error as shown in Equation 7 below. The safety system of the vehicle may use the result calculated by the driver's eye guidance apparatus 100 to adjust the timing and ratio of the control intervention of the vehicle.

은 운전자가 장애물을 인식하고 반응하는 시간을 의미한다. 계산된 공주거리는 운전자의 시선 오차가 커짐에 따라 같이 커지게 되며 이 값을 차량의 안전 시스템에 활용할 수 있다.In Equation 7, err represents a concentrated error and α is a constant value for changing the concentrated error into a gaze travel time.

Means the time for the driver to recognize and react to the obstacle. The calculated princess distance increases as the driver's gaze error increases, and this value can be used for the vehicle's safety system.

FIG. 11 is a block diagram illustrating a path-based driver's gaze guidance device of a vehicle for inducing a driver's gaze to a dangerous obstacle according to an exemplary embodiment.

The path-based driver's gaze guidance apparatus 100 of the vehicle may include a sensing unit 110, an output unit 120, and a processor 130 according to an embodiment. The path-based driver's gaze guidance apparatus 100 of the vehicle illustrated in FIG. 11 is only the components related to the present embodiment. Therefore, it will be understood by those skilled in the art that other general-purpose components may be further included in addition to the components illustrated in FIG. 11.

The sensing unit 110 according to an embodiment may sense a path of a vehicle that is driving. The sensing unit 110 may sense a path of a dynamic obstacle around the vehicle. The sensing unit 110 may sense the eyes of the vehicle driver.

The output unit 120 may output a warning to the driver of the vehicle.

The processor 130 according to an embodiment determines a dangerous obstacle based on a contact point between the path of the vehicle sensed by the sensing unit 110 and the path of the sensed dynamic obstacle, and the driver as a dangerous obstacle through the output unit 120. Can lead to

The sensing unit 110 may sense a dynamic obstacle around the vehicle and the vehicle while driving by using at least one of a camera, a lidar, and a radar mounted on the vehicle.

The sensing unit 110 may include a plurality of sensors configured to sense a moving vehicle and a dynamic obstacle around the vehicle or sense the driver's eyes. The sensing unit 110 may include one or more actuators configured to modify the position and / or orientation of the sensors. For example, the sensing unit 110 may include at least one of a Global Positioning System (GPS), an Inertial Measurement Unit (IMU), a RADAR sensor, a LIDAR sensor, and an image sensor. In addition, the sensing unit 110 may include at least one of a temperature / humidity sensor, an infrared sensor, an air pressure sensor, a proximity sensor, and an RGB sensor, but the present invention is not limited thereto. In addition, the sensing unit 110 may be connected to the steering wheel to sense the movement of the wheel. For example, the sensing unit 110 according to an embodiment may include a wheel motion sensor (not shown).

In addition, the sensing unit 110 may be attached to the vehicle 10 to sense the speed of the vehicle 10. Functions of the respective sensors can be intuitively deduced by those skilled in the art from the names, and thus detailed descriptions thereof will be omitted.

In addition, the sensing unit 110 may include a motion sensor that can sense the movement of the vehicle 10. The motion sensor may include a magnetomagnetic sensor, an acceleration sensor, and a gyroscope sensor.

The GPS may be a sensor configured to estimate the geographic location of the vehicle 10. That is, the GPS may include a transceiver configured to estimate the position of the vehicle 10 with respect to the earth.

The IMU can be a combination of sensors configured to detect positional and orientation changes of the vehicle 10 based on inertial acceleration. For example, the combination of sensors may include accelerometers and gyroscopes.

The RADAR sensor may be a sensor configured to detect objects in the environment in which the vehicle 10 is located using a wireless signal. In addition, the RADAR sensor can be configured to sense the speed and / or direction of the objects.

The LIDAR sensor may be a sensor configured to detect objects in the environment in which the vehicle 10 is located using a laser. More specifically, the LIDAR sensor may comprise a laser light source and / or laser scanner configured to emit a laser, and a detector configured to detect reflection of the laser. The LIDAR sensor may be configured to operate in coherent (eg, using hetirodine detection) or noncoherent detection mode.

The image sensor may be a still camera or video camera configured to record an environment outside or inside the vehicle 10. For example, the image sensor may include a plurality of cameras, and the plurality of cameras may be disposed at a plurality of locations on the inside and outside of the vehicle 10.

Meanwhile, the processor 130 may determine the dangerous obstacle when the arrival time of the vehicle is less than a predetermined threshold from the sensing unit 110 to the contact point between the path of the vehicle sensed and the path of the sensed dynamic obstacle.

The processor 130 may output a warning sound or a visual warning indicating a dangerous direction through the output unit 120.

The processor 130 may adjust the intensity of the warning sound or visual warning according to the arrival time of the vehicle to the contact point between the path of the vehicle sensed by the sensing unit 110 and the path of the sensed dynamic obstacle.

The sensing unit 110 senses the driver's eyes. The processor 130 may induce the driver's gaze when the driver's gaze sensed by the sensing unit 110 matches the determined dangerous obstacle.

When the dynamic obstacle sensed in the blind spot of the vehicle sensed by the sensing unit 110 is located, the processor 130 may output a warning sound or a visual warning indicating the blind spot in a dangerous direction through the output unit 120.

The processor 130 may output a warning sound or a visual warning indicating a dangerous direction based on the path of the vehicle through the output unit 120.

The processor 130 may output a visual warning by adjusting at least one of blinking, color, and brightness to indicate a dangerous direction based on the path of the vehicle through the output unit 120.

The processor 130 may calculate a danger angle based on the steering angle of the vehicle through the output unit 120, and output a visual warning indicating an operation safety area or an operation danger area based on the calculated danger angle.

12 is a block diagram of a path-based driver's gaze guidance device of a vehicle for inducing a driver's gaze to a dangerous obstacle according to another exemplary embodiment.

The route-based driver's gaze guidance apparatus 100 of the vehicle includes a sensing unit 110, an output unit 120, and a processor 130, and includes a storage unit 140, a communication unit 150, and an input unit. 160 may further include. The path-based driver's gaze guidance apparatus 100 of the vehicle illustrated in FIG. 12 shows only components related to the present exemplary embodiment. Therefore, it will be understood by those skilled in the art that other general purpose components may be further included in addition to the components illustrated in FIG. 12.

The sensing unit 110, the output unit 120, and the processor 130 will be described with reference to FIG. 11.

The storage unit 140 may include a magnetic disk drive, an optical disk drive, and a flash memory. Alternatively, the storage 140 may be a portable USB data storage device. The storage 140 may store system software for executing examples related to the present application. System software for carrying out the examples relating to the present disclosure may be stored on a portable storage medium.

The communicator 150 may include at least one antenna for wirelessly communicating with another device (eg, a user terminal, a vehicle device, etc.). For example, the communicator 150 may be used to communicate with a cellular network or other wireless protocols and systems wirelessly via Wi-Fi or Bluetooth. The communication unit 150 controlled by the processor 130 may transmit and receive a wireless signal. For example, the user terminal or the vehicle device may receive the warning signal through the communication unit 150 and output the warning to the user.

For example, the processor 130 may execute a program included in the storage 140 in order for the communicator 150 to transmit and receive a wireless signal with the cellular network.

The input unit 160 means a means for inputting data for controlling the vehicle 10. For example, the input unit 160 includes a key pad, a dome switch, a touch pad (contact capacitive type, pressure resistive type, infrared sensing type, surface ultrasonic conduction type, integral tension) Measurement method, piezo effect method, etc.), a jog wheel, a jog switch, and the like, but are not limited thereto. In addition, the input unit 160 may include a microphone, which may be configured to receive audio (eg, a voice command) from a passenger of the vehicle 10.

The output unit 120 may output an audio signal or a video signal, and the output device 280 may include a display 121 and a sound output unit 122.

The display 121 is a liquid crystal display, a thin film transistor-liquid crystal display, an organic light-emitting diode, a flexible display, a three-dimensional display (3D). display, an electrophoretic display. According to the implementation form of the output unit 120, the output unit 120 may include two or more displays 121.

The sound output unit 122 outputs audio data received from the communication unit 150 or stored in the storage unit 140. In addition, the sound output unit 122 may include a speaker, a buzzer, and the like.

The input unit 160 and the output unit 120 may include a network interface, and may be implemented as a touch screen.

The processor 130 controls the sensing unit 110, the communication unit 150, the input unit 160, the storage unit 140, and the output unit 120 by executing programs stored in the storage unit 140. can do.

The above-described method for inducing a driver's gaze of a vehicle according to the exemplary embodiments of the present disclosure may be implemented as computer readable codes on a computer readable recording medium. The vehicle driver's route-based driver's eye guidance method according to embodiments of the present invention may be implemented in the form of program instructions that can be executed by various computer means and recorded in a computer-readable recording medium.

In a computer-readable recording medium recording a program for executing a path-based driver's gaze guidance method of a vehicle according to an embodiment of the present invention, sensing a path of a driving vehicle and a path of a dynamic obstacle around the vehicle Making; Determining a dangerous obstacle based on a contact point between the path of the sensed vehicle and the path of the sensed dynamic obstacle; And a computer-readable recording medium having recorded thereon a program for executing the step of inducing the driver's gaze to the determined dangerous obstacle.

Computer-readable recording media include all kinds of recording media having data stored thereon that can be decrypted by a computer system. For example, there may be a read only memory (ROM), a random access memory (RAM), a magnetic tape, a magnetic disk, a flash memory, an optical data storage device, and the like. The computer readable recording medium can also be distributed over computer systems connected over a computer network, stored and executed as readable code in a distributed fashion.

As described above with reference to the drawings and examples, the protection scope of the present invention is not meant to be limited by the above drawings or embodiments, and those skilled in the art will be aware of the present invention described in the following claims. It will be understood that various modifications and changes can be made in the present invention without departing from the spirit and scope.

Specifically, the described features may be implemented within digital electronic circuitry, or computer hardware, firmware, or combinations thereof. The features may be executed in a computer program product implemented in storage in a machine readable storage device, for example, for execution by a programmable processor. And features may be performed by a programmable processor executing a program of instructions to perform functions of the described embodiments by operating on input data and generating output. The described features include at least one programmable processor, at least one input device, and at least one output coupled to receive data and directives from a data storage system, and to transmit data and directives to a data storage system. It can be executed in one or more computer programs that can be executed on a programmable system comprising a device. A computer program includes a set of directives that can be used directly or indirectly within a computer to perform a particular action on a given result. A computer program is written in any form of programming language, including compiled or interpreted languages, and included as a module, element, subroutine, or other unit suitable for use in another computer environment, or as a standalone program. Can be used in any form.

Suitable processors for the execution of a program of instructions include, for example, both general purpose and special purpose microprocessors, and one of a single processor or multiple processors of another kind of computer. Computer program instructions and data storage devices suitable for implementing the described features are, for example, magnetic memory such as semiconductor memory devices, internal hard disks and removable disks such as EPROM, EEPROM, and flash memory devices. Devices, magneto-optical disks and all forms of non-volatile memory including CD-ROM and DVD-ROM disks. The processor and memory may be integrated in application-specific integrated circuits (ASICs) or added by ASICs.

Although the present invention described above has been described based on a series of functional blocks, the present invention is not limited to the above-described embodiments and the accompanying drawings, and various substitutions, modifications, and changes without departing from the technical spirit of the present invention. It will be apparent to one of ordinary skill in the art that this is possible.

Combinations of the above-described embodiments are not limited to the above-described embodiments, and various types of combinations as well as the above-described embodiments may be provided according to implementation and / or need.

In the above-described embodiments, the methods are described based on a flowchart as a series of steps or blocks, but the invention is not limited to the order of steps, and any steps may occur in a different order or concurrently from the other steps described above. have. Also, one of ordinary skill in the art appreciates that the steps shown in the flowcharts are not exclusive, that other steps may be included, or that one or more steps in the flowcharts may be deleted without affecting the scope of the present invention. I can understand.

The foregoing embodiments include examples of various aspects. Although not all possible combinations may be described to represent the various aspects, one of ordinary skill in the art will recognize that other combinations are possible. Accordingly, the invention is intended to embrace all other replacements, modifications and variations that fall within the scope of the following claims.

Although described above with reference to the drawings and embodiments, it does not mean that the scope of protection of the present invention is limited by the above drawings or embodiments, and those skilled in the art will have the spirit of the present invention described in the claims It will be understood that various modifications and variations can be made in the present invention without departing from the scope of the invention.

10: vehicle
100: driver's eye guidance device
110: sensing unit
120: output unit
130: processor
140: storage unit
150: communication unit
160: input unit

Claims (21)

As a route-based driver's eye guidance method of a vehicle performed by a driver's eye guidance device,
Sensing a path of a driving vehicle and a path of a dynamic obstacle around the vehicle;
Determining a dangerous obstacle based on a contact point between the path of the sensed vehicle and the path of the sensed dynamic obstacle; And
Inducing the driver's gaze to the determined dangerous obstacle,
Inducing the driver's gaze may include calculating a danger angle based on the steering angle of the vehicle and outputting a visual warning indicating an operation safety area or an operation danger area based on the calculated danger angle. How to attract driver's attention. The method of claim 1,
The sensing step,
A method of inducing a driver's gaze of a vehicle for sensing a dynamic obstacle around the vehicle using at least one of a camera, a lidar, and a radar. The method of claim 1,
Determining the dangerous obstacle,
And determining a dangerous obstacle when the arrival time of the vehicle reaches a contact point between the path of the sensed vehicle and the path of the sensed dynamic obstacle less than a preset threshold. The method of claim 1,
Inducing the driver's gaze,
A route-based driver's eye guidance method of a vehicle that outputs a warning sound or visual warning indicating a dangerous direction. The method of claim 1,
Inducing the driver's gaze,
And controlling the intensity of a warning sound or a visual warning according to the arrival time of the vehicle up to a contact point between the path of the sensed vehicle and the path of the sensed dynamic obstacle. The method of claim 1,
Sensing the driver's gaze;
Inducing the driver's gaze may include stopping the driving of the driver's gaze when the sensed driver's gaze coincides with the determined dangerous obstacle. The method of claim 1,
Inducing the driver's gaze,
And when the sensed dynamic obstacle is located in the blind spot of the sensed vehicle, outputting a warning sound or a visual warning indicating the blind spot in a dangerous direction. The method of claim 1,
Inducing the driver's gaze,
And a warning sound or visual warning indicating a dangerous direction based on the path of the vehicle. The method of claim 1,
Inducing the driver's gaze,
And a visual warning of adjusting at least one of flashing, color, and brightness to indicate a dangerous direction based on the path of the vehicle. delete A sensing unit configured to sense a path of a driving vehicle and a path of a dynamic obstacle around the vehicle;
An output unit which outputs a warning to a driver of the vehicle; And
A processor for determining a dangerous obstacle based on a contact point between the sensed path of the vehicle and the sensed path of the dynamic obstacle, and inducing the driver's gaze to the determined dangerous obstacle through the output unit;
The processor calculates a danger angle based on the steering angle of the vehicle through the output unit, and outputs a visual warning indicating an operation safety area or an operation danger area based on the calculated danger angle. guide. The method of claim 11,
The sensing unit,
A driver's route-based driver gaze guidance device for sensing a dynamic obstacle around the vehicle using at least one of a camera, a lidar, and a radar. The method of claim 11,
The processor,
And determining a dangerous obstacle when the arrival time of the vehicle reaches a contact point between the path of the sensed vehicle and the path of the sensed dynamic obstacle less than a preset threshold. The method of claim 11,
The processor,
The vehicle driver's route-based driver's eye guidance device outputting a warning sound or a visual warning indicating a dangerous direction through the output unit. The method of claim 11,
The processor,
And adjusting the intensity of a warning sound or a visual warning according to the arrival time of the vehicle up to a contact point between the path of the sensed vehicle and the path of the sensed dynamic obstacle. The method of claim 11,
The sensing unit senses the eyes of the driver,
And the processor stops the operation of inducing the driver's gaze when the sensed driver's gaze coincides with the determined dangerous obstacle. The method of claim 11,
The processor,
And a path-based driver's gaze guidance device for outputting a warning sound or a visual warning indicating the blind spot in a dangerous direction through the output unit when the sensed dynamic obstacle is located in the blind spot of the sensed vehicle. The method of claim 11,
The processor,
The vehicle's path-based driver's gaze guidance device for outputting a warning sound or a visual warning indicating a dangerous direction based on the path of the vehicle through the output unit. The method of claim 11,
The processor,
The driver's route-based driver's gaze guidance device for outputting a visual warning by adjusting at least one of flashing, color and brightness to indicate a dangerous direction based on the path of the vehicle through the output unit. delete A computer-readable recording medium having recorded thereon a program for causing a computer to execute a path-based driver's gaze guidance method of a vehicle,
Sensing a path of a driving vehicle and a path of a dynamic obstacle around the vehicle;
Determining a dangerous obstacle based on a contact point between the path of the sensed vehicle and the path of the sensed dynamic obstacle; And
Guiding the driver's gaze to the determined dangerous obstacle,
Inducing the driver's gaze may include: calculating a risk angle based on the steering angle of the vehicle and executing a program to output a visual warning indicating an operation safety area or an operation danger area based on the calculated danger angle. Recordable computer-readable recording media.

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