KR102163317B1 - Control method for vehicle - Google Patents

Abstract

The present invention relates to a vehicle control method equipped with an Idle Stop and Go (ISG) function that is turned on in a condition based on whether a vehicle speed and a brake input is received, through at least one camera, a vehicle front image or a vehicle Obtaining a surrounding image; Acquiring information from an image in front of the vehicle or an image around the vehicle; Determining whether the ISG function should be turned off even when the condition is satisfied based on the detected information; And providing a control signal for turning off the ISG function based on the determination result.

Description

Vehicle control method {Control method for vehicle}

The present invention relates to a vehicle control method.

A vehicle is a device that moves in a direction desired by a boarding user. A typical example is a car.

On the other hand, for the convenience of a user using a vehicle, various types of sensors and electronic devices are being provided. In particular, various devices have been developed for the convenience of the user's driving.

As interest in self-driving cars has recently increased, research on sensors mounted on self-driving cars is being actively conducted. Sensors mounted on autonomous vehicles include cameras, infrared sensors, radar, GPS, lidar, and gyroscopes. Among them, cameras occupy an important position as sensors that replace the human eye.

Meanwhile, according to the conventional technology, a vehicle may be equipped with an Idle Stop and Go (ISG) function. ISG is a function that turns off the engine when the vehicle stops and turns the engine back on when starting to improve fuel economy of the vehicle and reduce carbon dioxide emissions by reducing idling. This ISG function was first introduced in 1990 by Volkswagen.

However, the conventional ISG function is simply turned on or off by factors such as vehicle speed, accelerator pedal input, brake pedal input, and the like, and thus has a problem in that it does not reflect various complex road conditions.

In order to solve the above problems, an object of the present invention is to provide a vehicle control method for elaborately turning on or off an ISG function by reflecting complicated road conditions.

The problems of the present invention are not limited to the problems mentioned above, and other problems that are not mentioned will be clearly understood by those skilled in the art from the following description.

In order to achieve the above object, an embodiment of the present invention provides a vehicle control method equipped with an Idle Stop and Go (ISG) function that is turned on in a condition based on whether a vehicle speed and a brake input is received, at least one Obtaining an image in front of the vehicle or an image around the vehicle through the camera of the vehicle; Acquiring information from an image in front of the vehicle or an image around the vehicle; Determining whether the ISG function should be turned off even when the condition is satisfied based on the detected information; It provides a vehicle control method comprising; providing a control signal for the ISG function off (off) based on the determination result.

In order to achieve the above object, an embodiment of the present invention provides a vehicle including the vehicle driving assistance device.

Details of other embodiments are included in the detailed description and drawings.

According to an embodiment of the present invention, one or more of the following effects are provided.

First, the ISG on/off is more precisely controlled by detecting traffic information from the image acquired through the camera, and controlling the ISG function on or off based on the detected traffic information or received navigation information. There is an effect.

Second, the ISG function is controlled on/off by detecting traffic information from images taken of traffic lights, traffic signs, road surfaces, etc., so it is effective to control ISG on/off by obtaining real-time situation information of the current vehicle.

Third, in the case of slowing down or temporarily stopping to join the main road through the rampway, the ISG function is turned off to promptly join the main road, thereby preventing traffic accidents.

Fourth, when a Go signal is output from a vehicle traffic light at an intersection, in case of slowing down or temporarily stopping to go straight or turn left, the ISG function is turned off, thereby unnecessarily turning on the ISG function, resulting in delay in driving It has the effect of reducing.

Fifth, since GPS information or turn signal information is further included to grasp the current situation information of the vehicle, it is possible to accurately determine the situation.

Sixth, since the situation information of the current vehicle is identified by further including a vehicle driving ahead or a vehicle stopping in front, it is possible to accurately determine the situation.

Seventh, there is an effect of providing a more comfortable driving environment by not interfering with the intention of the vehicle driver.

The effects of the present invention are not limited to the effects mentioned above, and other effects that are not mentioned will be clearly understood by those skilled in the art from the description of the claims.

1 is a view showing the exterior of a vehicle including a vehicle driving assistance device according to an embodiment of the present invention.
2A to 2C are views referenced for describing a camera attached to the vehicle of FIG. 1 according to an embodiment of the present invention.
3A to 3C illustrate various examples of internal block diagrams of a vehicle driving assistance apparatus according to various embodiments of the present disclosure.
4A to 4B illustrate various examples of internal block diagrams of the processor of FIGS. 3A to 3B.
5A to 5B are views referenced for explaining the operation of the processor of FIGS. 4A to 4B.
6A to 6B are views referenced for describing the operation of the vehicle driving assistance apparatus of FIGS. 3A to 3C.
7 is an example of an internal block diagram of the vehicle of FIG. 1.
8A is a flow chart referenced to explain the operation of the vehicle driving assistance apparatus according to the first embodiment of the present invention.
9A to 9C are exemplary views referenced to explain a vehicle driving assistance apparatus when a vehicle joins a main road through a rampway according to the first embodiment.
10A is a flow chart referenced to explain the operation of the vehicle driving assistance apparatus according to the second embodiment of the present invention.
11A to 11C are exemplary views referenced for describing a vehicle driving assistance apparatus when a vehicle travels toward or at an intersection according to the second embodiment.
12A to 12B are exemplary diagrams referenced for describing a vehicle driving assistance apparatus when waiting for a left turn (or a right turn in the case of an RHD vehicle) driving at an intersection or performing a left turn driving at an intersection according to the second embodiment.
13A is a flow chart referenced to explain the operation of the vehicle driving assistance apparatus according to the third embodiment of the present invention.
14A to 14D are exemplary diagrams referenced for explaining a vehicle driving assistance apparatus when a vehicle slowly moves or stops temporarily for a right turn according to the third embodiment.
15A is a flowchart referenced to explain the operation of the vehicle driving assistance apparatus according to the fourth embodiment of the present invention.
16A to 16C are exemplary diagrams referenced for describing a vehicle driving assistance apparatus when a vehicle is slowing down or temporarily stops for an unprotected left turn (in case of an RHD vehicle, a right turn) according to the fourth embodiment.
17A is a flow chart referenced to explain the operation of the vehicle driving assistance apparatus according to the fifth embodiment of the present invention.
18A to 18D are exemplary diagrams referenced for describing a vehicle driving assistance apparatus when a vehicle is slowing down for parking or temporarily stopping according to the fifth embodiment.
19A to 19B are flowcharts referenced to explain the operation of the vehicle driving assistance apparatus according to the sixth embodiment of the present invention.
20A to 20B are exemplary diagrams referenced for explaining a vehicle driving assistance apparatus when a vehicle slowly moves or stops on a road, an alley, or a back road formed in a residential area according to the sixth embodiment.
21A to 21B are flow charts referenced for explaining the operation of the vehicle driving assistance apparatus according to the seventh embodiment of the present invention.
22A to 22B are exemplary diagrams referenced for describing a vehicle driving assistance apparatus when a vehicle is slowing down or temporarily stops for a left turn in a central left turn lane according to the seventh embodiment.
23A is a flowchart referenced to explain the operation of the vehicle driving assistance apparatus according to the eighth embodiment of the present invention.
24A to 24B are exemplary diagrams referenced for describing a vehicle driving assistance apparatus when a vehicle slows down or stops temporarily for a U-turn in a U-turn lane according to the eighth embodiment.

Hereinafter, exemplary embodiments disclosed in the present specification will be described in detail with reference to the accompanying drawings, but identical or similar elements are denoted by the same reference numerals regardless of reference numerals, and redundant descriptions thereof will be omitted. The suffixes "module" and "unit" for components used in the following description are given or used interchangeably in consideration of only the ease of preparation of the specification, and do not have meanings or roles that are distinguished from each other by themselves. In addition, in describing the embodiments disclosed in the present specification, when it is determined that a detailed description of related known technologies may obscure the subject matter of the embodiments disclosed in the present specification, the detailed description thereof will be omitted. In addition, the accompanying drawings are for easy understanding of the embodiments disclosed in the present specification, and the technical idea disclosed in the present specification is not limited by the accompanying drawings, and all modifications included in the spirit and scope of the present invention It should be understood to include equivalents or substitutes.

Terms including ordinal numbers, such as first and second, may be used to describe various elements, but the elements are not limited by the terms. These terms are used only for the purpose of distinguishing one component from another component.

When a component is referred to as being "connected" or "connected" to another component, it is understood that it may be directly connected or connected to the other component, but other components may exist in the middle. Should be. On the other hand, when a component is referred to as being "directly connected" or "directly connected" to another component, it should be understood that there is no other component in the middle.

Singular expressions include plural expressions unless the context clearly indicates otherwise.

In the present application, terms such as "comprises" or "have" are intended to designate the presence of features, numbers, steps, actions, components, parts, or combinations thereof described in the specification, but one or more other features. It is to be understood that the presence or addition of elements or numbers, steps, actions, components, parts, or combinations thereof, does not preclude in advance.

Vehicles described herein may be concepts including automobiles and motorcycles. Hereinafter, the vehicle will be mainly described.

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

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

Unless otherwise stated in the following description, an LHD vehicle will be described.

1 is a view showing the exterior of a vehicle including a vehicle driving assistance device according to an embodiment of the present invention.

Referring to the drawings, the vehicle 700 includes a wheel (103FR, 103FL, 103RL, ...) that rotates by a power source, a steering input means 721a for adjusting the traveling direction of the vehicle 700, and a vehicle 700. ) A vehicle driving assistance device 100 provided therein may be provided.

Meanwhile, the vehicle 700 described in the present specification is equipped with an Idle Stop and Go (ISG) function. For example, the ISG stops driving the power source of the vehicle and turns off the engine when there is an input to the brake pedal while the vehicle speed is less than the reference speed during driving and there is no input to the accelerator pedal. In addition, when there is an input to the accelerator pedal or no input to the brake pedal again, the ISG drives the vehicle power source again to turn on the engine. Through this ISG function, the fuel consumption rate is improved by approximately 5-29% and the carbon dioxide emission is reduced by 6%.

However, the conventional ISG function is simply turned on or off by factors such as a vehicle speed, an accelerator pedal, and a brake pedal, and thus, there is a problem in that it does not reflect various complicated road conditions.

A vehicle driving assistance apparatus according to an embodiment of the present invention acquires an image in front of a vehicle or an image around the vehicle, detects information in the image, and controls the detected information to turn on or off the ISG function. By providing signals, it is possible to control ISG functions to reflect various complex road conditions. In this case, the control signal may be output to the controller (770 of FIG. 7), and the controller (770 of FIG. 7) may control the ISG based on the control signal.

The vehicle driving assistance apparatus 100 may include at least one camera, and an image obtained by the at least one camera may be signal-processed in a processor (170 of FIGS. 3A to 3B ).

Meanwhile, in the drawing, it is illustrated that the vehicle driving assistance apparatus 100 includes two cameras.

2A to 2C are views referenced for describing a camera attached to the vehicle of FIG. 1 according to an embodiment of the present invention.

A driving assistance device including cameras 195a and 195b that acquires an image of a vehicle front will be described with reference to FIG. 2A.

In FIG. 2A, it is shown that the vehicle driving assistance apparatus 100 includes two cameras, but it is noted that the present invention is not limited to the number of cameras.

Referring to the drawings, the vehicle driving assistance apparatus 100 may include a first camera 195a having a first lens 193a and a second camera 195b having a second lens 193b. . In this case, the camera 195 may be referred to as a stereo camera.

Meanwhile, the vehicle driving assistance apparatus 100 includes a first light shield 192a, a second light shield 192a for shielding light incident on the first lens 193a and the second lens 193b, respectively. A light shielding part 192b may be provided.

The vehicle driving assistance apparatus 100 of the drawing may have a structure that can be attached to and detached from the ceiling or windshield of the vehicle 700.

The vehicle driving assistance device 100 obtains a stereo image of the front of the vehicle from the first and second cameras 195a and 195b, performs disparity detection based on the stereo image, and performs disparity. Based on the information, object detection may be performed on at least one stereo image, and after object detection, movement of the object may be continuously tracked.

A driving assistance device including cameras 195d, 195e, 195f, and 195g for obtaining images around the vehicle will be described with reference to FIGS. 2B to 2C.

Although it is shown that the vehicle driving assistance apparatus 100 includes four cameras in FIGS. 2B to 2C, it is specified that the present invention is not limited to the number of cameras.

Referring to the drawings, the vehicle driving assistance apparatus 100 may include a plurality of cameras 195d, 195e, 195f, and 195g. In this case, the camera 195 may be referred to as an around view camera.

The plurality of cameras 195d, 195e, 195f, and 195g may be disposed on the left, rear, right, and front sides of the vehicle, respectively.

The left camera 195d may be disposed in a case surrounding the left side mirror. Alternatively, the left camera 195d may be disposed outside the case surrounding the left side mirror. Alternatively, the left camera 195d may be disposed in a region outside the left front door, the left rear door, or the left fender.

The right camera 195e may be disposed in a case surrounding the right side mirror. Alternatively, the right camera 195d may be disposed outside the case surrounding the right side mirror. Alternatively, the right camera 195d may be disposed in a region outside the right front door, the right rear door, or the right fendere.

Meanwhile, the rear camera 195e may be disposed near a rear license plate or a trunk switch.

The front camera 195g may be disposed near the emblem or near the radiator grill.

Each image captured by the plurality of cameras 195d, 195e, 195f, and 195g is transmitted to the processor 170, and the processor 170 synthesizes each of the images to generate an image around the vehicle.

2C shows an example of an image around a vehicle. The vehicle surrounding image 201 is captured by a first image area 195di captured by the left camera 195d, a second image area 195ei captured by the rear camera 195e, and the right camera 195f. A third image area 195fi and a fourth image area 195gi photographed by the front camera 195g may be included.

On the other hand, when generating an around view image from a plurality of cameras, a boundary portion between each image area is generated. This boundary portion can be naturally displayed by image blending.

Meanwhile, boundary lines 202a, 202b, 202c, and 202d may be displayed on the boundary of each of the plurality of images.

Meanwhile, a vehicle image 700i may be included in the vehicle surrounding image 201. Here, the vehicle image 700i may be an image generated by the processor 170.

Meanwhile, the vehicle surrounding image 201 may be displayed through the display unit 741 of the vehicle or the display unit 180 of the vehicle driving assistance device.

3A to 3C illustrate various examples of internal block diagrams of a vehicle driving assistance apparatus according to various embodiments of the present disclosure.

The vehicle driving assistance apparatus 100 of FIGS. 3A to 3B may generate vehicle-related information by processing an image received from the camera 195 based on computer vision. Here, the vehicle-related information may include vehicle control information for direct control of the vehicle, or vehicle driving assistance information for a driving guide to a vehicle driver.

Here, the camera 195 may be a mono camera. Alternatively, the camera 195 may be a stereo camera 195a and 195b that captures an image in front of the vehicle. Alternatively, the camera 195 may be an around view camera 195d, 195e, 195f, 195g that photographs an image around the vehicle.

3A is an internal block diagram of a vehicle driving assistance apparatus 100 according to an embodiment of the present invention.

Referring to FIG. 3A, the vehicle driving assistance device 100 of FIG. 3A includes an input unit 110, a communication unit 120, an interface unit 130, a memory 140, a processor 170, a power supply unit 190, and A camera 195, a display unit 180, and an audio output unit 185 may be included.

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

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

The communication unit 120 may receive weather information, road traffic condition information, for example, Transport Protocol Expert Group (TPEG) information from the mobile terminal 600 or the server 500. Meanwhile, the vehicle driving assistance apparatus 100 may transmit the determined real-time information to the mobile terminal 600 or the server 500.

On the other hand, when a user boards a vehicle, the user's mobile terminal 600 and the vehicle driving assistance device 100 may perform pairing with each other automatically or by executing an application by the user.

The communication unit 120 may receive traffic light change information from the external server 510. Here, the external server 510 may be a server located in a traffic control center that controls traffic.

The interface unit 130 may receive vehicle-related data or transmit a signal processed or generated by the processor 170 to the outside. To this end, the interface unit 130 may perform data communication with the control unit 770 inside the vehicle, the audio video navigation (AVN) device 400, and the sensor unit 760 by wired communication or wireless communication. have.

The interface unit 130 may receive navigation information through data communication with the control unit 770, the AVN device 400, or a separate navigation device. Here, the navigation information may include set destination information, route information according to the destination, map information related to vehicle driving, and current location information of the vehicle. Meanwhile, the navigation information may include location information of a vehicle on a road.

Meanwhile, the interface unit 130 may receive sensor information from the control unit 770 or the sensor unit 760.

Here, the sensor information is vehicle direction information, vehicle position information (GPS information), vehicle angle information, vehicle speed information, vehicle acceleration information, vehicle tilt information, vehicle forward/reverse information, battery information, fuel information, tire information, vehicle ramp It may include at least one of information, vehicle internal temperature information, and vehicle internal humidity information.

Such sensor information includes a heading sensor, a yaw sensor, a gyro sensor, a position module, a vehicle forward/reverse sensor, a wheel sensor, a vehicle speed sensor, It may be obtained from a vehicle body tilt sensor, a battery sensor, a fuel sensor, a tire sensor, a steering sensor by steering wheel rotation, a temperature sensor inside a vehicle, a humidity sensor inside a vehicle, and the like. Meanwhile, the position module may include a GPS module for receiving GPS information.

Meanwhile, among the sensor information, vehicle direction information, vehicle position information, vehicle angle information, vehicle speed information, vehicle inclination information, and the like related to vehicle driving may be referred to as vehicle driving information.

The interface unit 130 may receive turn signal information. Here, the turn signal information may be a turn-on signal of a direction indicator for left or right turn input by the user. When a turn-on input of a left or right direction indicator is received through a user input unit (724 in FIG. 7) of the vehicle, the interface unit 130 may receive left or right direction turn signal information.

The interface unit 130 may receive vehicle speed information, steering wheel rotation angle information, or gear shift information. The interface unit 130 may receive vehicle speed information, steering wheel rotation angle information, or gear shift information sensed through the vehicle sensing unit 760. Alternatively, the interface unit 130 may receive vehicle speed information, steering wheel rotation angle information, or gear shift information from the vehicle controller 770. Meanwhile, here, the gear shift information may be information on which state the shift lever of the vehicle is in. For example, the gear shift information may be information on which state of the shift lever is parked (P), reversed (R), neutral (N), traveled (D), and one of a first to multi-stage gear state. .

The interface unit 130 may receive a user input received through the user input unit 724 of the vehicle 700. The interface unit 130 may receive a user input from the input unit 720 of the vehicle 700 or through the control unit 770.

The interface unit 130 may receive information obtained from the external server 510. The external server 510 may be a server located in a traffic control center that controls traffic. For example, when traffic light change information is received from the external server 510 through the communication unit 710 of the vehicle, the interface unit 130 may receive the traffic light change information from the control unit 770 of FIG. 7. The memory 140 may store various data for the overall operation of the vehicle driving assistance apparatus 100, such as a program for processing or controlling the processor 170.

The memory 140 may store data for object identification. For example, when a predetermined object is detected in an image acquired through the camera 195, the memory 140 may store data for confirming what the object corresponds to by a predetermined algorithm.

The memory 140 may store data on traffic information. For example, when predetermined traffic information is detected in the image acquired through the camera 195, the memory 140 may store data for confirming what the traffic information corresponds to by a predetermined algorithm. have.

Meanwhile, in terms of hardware, the memory 140 may be various storage devices such as ROM, RAM, EPROM, flash drive, and hard drive.

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

The processor 170 may process an image in front of the vehicle or an image around the vehicle acquired by the camera 195. In particular, the processor 170 performs computer vision-based signal processing. Accordingly, the processor 170 may acquire an image of the front of the vehicle or around the vehicle from the camera 195 and perform object detection and object tracking based on the image. In particular, the processor 170, when detecting an object, lane detection (LD), vehicle detection (VD), pedestrian detection (PD), light detection (Brightspot Detection, BD), traffic Traffic Sign Recognition (TSR), road surface detection, and the like can be performed.

Meanwhile, a traffic sign may mean predetermined information that can be transmitted to the driver of the vehicle 700. Traffic signals can be transmitted to the driver through traffic lights, traffic signs or road surfaces. For example, the traffic signal may be a Go or Stop signal of a vehicle or pedestrian output from a traffic light. For example, the traffic signal may be various patterns or texts displayed on the traffic sign. For example, the traffic signal may be various patterns or texts displayed on the road surface.

The processor 170 may detect information from an image in front of the vehicle or an image around the vehicle obtained by the camera 195.

The information may be information on the driving situation of the vehicle. For example, the information may be a concept including road information on which the vehicle is running, traffic law information, surrounding vehicle information, vehicle or pedestrian traffic light information, construction information, traffic situation information, parking lot information, lane information, and the like.

The information may be traffic information. The processor 170 may detect traffic information from any one of a traffic light, a traffic sign, and a road surface included in the image acquired by the camera 195. For example, the processor 170 may detect a Go or Stop signal of a vehicle or a pedestrian from a traffic light included in the image. For example, the processor 170 may detect various designs or texts from traffic signs included in an image. For example, the processor 170 may detect various designs or texts from a road surface included in an image.

The processor 170 may check the information by comparing the detected information with the information stored in the memory 140.

For example, the processor 170 detects a pattern or text indicating a rampway from an object included in the acquired image. Here, the object may be a traffic sign or a road surface. Detect design or text. The processor 170 may compare traffic information stored in the memory 140 with a detected pattern or text to check rampway information.

For example, the processor 170 detects a pattern or text indicating a vehicle or pedestrian stop from an object included in the acquired image. Here, the object may be a traffic sign or a road surface. The processor 170 may check stop information by comparing the traffic information stored in the memory 140 with the detected pattern or text. Alternatively, the processor 170 detects a stop line from the road surface included in the acquired image. The processor 170 may check stop information by comparing the traffic information stored in the memory 140 with a stop line.

For example, the processor 170 may detect the presence or absence of a lane in an object included in the acquired image. Here, the object may be a road surface. The processor 170 may check the color of the detected lane. The processor 170 may check whether the detected lane is a driving lane or a standby lane.

For example, the processor 170 may detect Go or Stop information of a vehicle from an object included in the acquired image. Here, the object may be a vehicle traffic light. Here, the vehicle Go information may be a signal instructing the vehicle to go straight, turn left, or turn right. Stop information of the vehicle may be a signal instructing the vehicle to stop. Go information of the vehicle may be displayed in green, and stop information of the vehicle may be displayed in red.

For example, the processor 170 may detect Go or Stop information of a pedestrian from an object included in the acquired image. Here, the object may be a pedestrian traffic light. Here, the pedestrian's Go information may be a signal instructing the pedestrian to cross the lane at the crosswalk. The stop information of the pedestrian may be a signal instructing the pedestrian to stop at the crosswalk.

Meanwhile, the processor 170 may control the zoom of the camera 195. For example, the processor 170 may control the zoom of the camera 195 according to the object detection result. For example, when a traffic sign is detected but content displayed on the traffic sign is not detected, the processor 170 may control the camera 195 to zoom in.

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

Meanwhile, the processor 170 may, in the vehicle driving assistance apparatus 100, grasp traffic situation information around the vehicle, which is determined based on a stereo image, in real time.

Meanwhile, the processor 170 may receive navigation information or the like from the AVN device 400 or a separate navigation device (not shown) through the interface unit 130.

Meanwhile, the processor 170 may receive sensor information from the control unit 770 or the sensor unit 760 through the interface unit 130. Here, the sensor information is vehicle direction information, vehicle position information (GPS information), vehicle angle information, vehicle speed information, vehicle acceleration information, vehicle tilt information, vehicle forward/reverse information, battery information, fuel information, tire information, vehicle It may include at least one of lamp information, vehicle internal temperature information, vehicle internal humidity information, and steering wheel rotation information.

Meanwhile, the processor 170 may receive navigation information from the control unit 770, the AVN device 400, or a separate navigation device (not shown) through the interface unit 130.

The processor 170 may generate and provide a control signal for an ISG function on or off. The processor 170 may generate a control signal for an ISG function on or off based on information or navigation information detected from an image in front of the vehicle or an image around the vehicle. The processor 170 may provide the generated control signal to the control unit 770 of the vehicle 700.

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

The processor 170 may be controlled by the controller 770.

The display unit 180 may display various types of information processed by the processor 170. The display unit 180 may display an image related to the operation of the vehicle driving assistance apparatus 100. In order to display such an image, the display unit 180 may include a cluster in front of the vehicle interior or a head up display (HUD). Meanwhile, when the display unit 180 is a HUD, it may include a projection module that projects an image onto the windshield of the vehicle 700.

The audio output unit 185 may output sound to the outside based on the audio signal processed by the processor 170. To this end, the audio output unit 185 may include at least one speaker.

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

The power supply unit 190 may supply power required for operation of each component under the control of the processor 170. In particular, the power supply unit 190 may receive power from a battery inside a vehicle.

The camera 195 acquires an image in front of the vehicle or an image around the vehicle. The camera 195 may be a mono camera or stereo cameras 195a and 195b for capturing an image in front of the vehicle. Alternatively, the camera 195 may be a plurality of cameras 195d, 195e, 195f, and 195g for capturing images around the vehicle.

The camera 195 may include an image sensor (eg, CMOS or CCD) and an image processing module.

The camera 144 may process a still image or video obtained by an image sensor. The image processing module may process a still image or a moving image acquired through an image sensor. Meanwhile, according to an embodiment, the image processing module may be configured separately or integrated with the processor 170.

The camera 195 may acquire an image of at least one of a traffic light, a traffic sign, and a road surface.

The camera 195 may be set to zoom according to the control of the processor 170. For example, according to the control of the processor 170, a zoom barrel (not shown) included in the camera 195 is moved, and the zoom may be set.

The camera 195 may set a focus according to the control of the processor 170. For example, under the control of the processor 170, a focus barrel (not shown) included in the camera 195 may be moved, and the focus may be set. The focus may be automatically set based on the zoom setting.

Meanwhile, the processor 170 may automatically control the focus in response to the zoom control of the camera 195.

3B is an internal block diagram of a vehicle driving assistance apparatus 100 according to another embodiment of the present invention.

Referring to FIG. 3B, there is a difference in that the vehicle driving assistance apparatus 100 of FIG. 3B includes stereo cameras 195a and 195b as compared to the vehicle driving assistance apparatus 100 of FIG. 3A. Hereinafter, it will be described focusing on the differences.

The vehicle driving assistance apparatus 100 may include first and second cameras 195a and 195b. Here, the first and second cameras 195a and 195b may be referred to as stereo cameras.

The stereo cameras 195a and 195b may be formed to be detachably attached to the ceiling or windshield of the vehicle 700. The stereo cameras 195a and 195b may include a first lens 193a and a second lens 193b.

On the other hand, the stereo cameras (195a, 195b), for shielding the light incident on the first lens (193a) and the second lens (193b), a first light shield (192a), a second It may include a light shielding part (192b).

The first camera 195a acquires a first image in front of the vehicle. The second camera 195b acquires a second image in front of the vehicle. The second camera 195b is disposed to be spaced apart from the first camera 195a by a predetermined distance. Since the first and second cameras 195a and 195b are disposed to be spaced apart by a predetermined distance, disparity occurs, and a distance to an object according to the disparity can be detected.

On the other hand, when the vehicle driving assistance apparatus 100 includes stereo cameras 195a and 195b, the processor 170 performs computer vision-based signal processing. Accordingly, the processor 170 obtains a stereo image of the front of the vehicle from the stereo cameras 195a and 195b, performs a disparity operation on the front of the vehicle based on the stereo image, and uses the calculated disparity information. Based on this, object detection is performed on at least one of the stereo images, and after object detection, movement of the object may be continuously tracked. Here, the stereo image is based on a first image received from the first camera 195a and a second image received from the second camera 195b.

In particular, the processor 170, when detecting an object, lane detection (LD), surrounding vehicle detection (VD), pedestrian detection (PD), light detection (Brightspot Detection, BD), traffic Traffic Sign Recognition (TSR), road surface detection, and the like can be performed.

In addition, the processor 170 may perform a distance calculation with respect to the detected surrounding vehicle, a speed calculation of the detected surrounding vehicle, and a speed difference calculation with the detected surrounding vehicle.

The processor 170 may individually control the zoom of the first and second cameras 195a and 195b. The processor 170 may periodically change the zoom magnification of the second camera 195b while the zoom of the first camera 195a is fixed. The processor 170 may periodically change the zoom magnification of the first camera 195a while the zoom of the second camera 195b is fixed.

The processor 170 may control the first or second cameras 195a and 195b to zoom in or out at a predetermined period.

The processor 170 may set the zoom of the first camera 195a to a high magnification so as to be advantageous in detecting an object from a distance. Also, the processor 170 may set the zoom of the second camera 195b to a low magnification so as to be advantageous for object detection in a short distance. In this case, the processor 170 may control the first camera 195a to zoom in and the second camera 195b to zoom out.

Conversely, the processor 170 may set the zoom of the first camera 195a to a low magnification so as to be advantageous for object detection in a short distance. Also, the processor 170 may set the zoom of the second camera 195b to a high magnification so as to be advantageous in detecting an object from a distance. In this case, the processor 170 may control the first camera 195a to zoom out and the second camera 195b to zoom in.

For example, the processor 170 may control the zoom of the first camera 195a or the second camera 195b according to the object detection result. For example, when a traffic sign is detected but content displayed on the traffic sign is not detected, the processor 170 may control the first camera 195a or the second camera 195b to zoom in.

Meanwhile, the processor 170 may automatically control the focus in response to the zoom control of the camera 195.

3C is an internal block diagram of a vehicle driving assistance apparatus 100 according to another embodiment of the present invention.

Referring to FIG. 3A, the vehicle driving assistance device 100 of FIG. 3C differs in that it includes the around-view cameras 195d, 195e, 195f, and 195g as compared to the vehicle driving assistance device 100 of FIG. 3A. There is. Hereinafter, it will be described focusing on the differences.

The vehicle driving assistance apparatus 100 may include around view cameras 195d, 195e, 195f, and 195g.

The around view cameras 195d, 195e, 195f, and 195g may each include a lens and a light shield for shielding light incident on the lens.

The around view camera may include a left camera 195d, a rear camera 195e, a right camera 195f, and a front camera 195g.

The left camera 195d acquires an image of the left side of the vehicle. The rear camera 195e acquires a rear image of the vehicle. The right camera 195f acquires an image on the right side of the vehicle. The front camera 195g acquires an image in front of the vehicle.

Each image acquired by the around-view cameras 195d, 195e, 195f, and 195g is transmitted to the processor 170.

The processor 170 may generate an image around the vehicle by synthesizing a left image, a rear image, a right image, and a front image of the vehicle. In this case, the image around the vehicle may be a top view or a bird eye view image. The processor 170 may each receive a left image, a rear image, a right image, and a front image of the vehicle, synthesize the received image, and convert the image to a top view, thereby generating an image around the vehicle.

Meanwhile, the processor 170 may detect an object based on an image around the vehicle. In particular, the processor 170, when detecting an object, lane detection (LD), vehicle detection (VD), pedestrian detection (PD), light detection (Brightspot Detection, BD), traffic Traffic Sign Recognition (TSR), road surface detection, and the like can be performed.

Meanwhile, the processor 170 may individually control the zoom of the around-view cameras 195d, 195e, 195f, and 195g. The zoom control of the processor 170 may be operated in the same manner as in the case of the stereo camera described with reference to FIG. 3B.

4A to 4B are diagrams illustrating various examples of internal block diagrams of the processor of FIGS. 3A to 3B, and FIGS. 5A to 5B are views referenced for describing the operation of the processor of FIGS. 4A to 4B.

First, referring to FIG. 4A, FIG. 4A is an example of an internal block diagram of the processor 170, and the processor 170 in the vehicle driving assistance apparatus 100 includes an image preprocessor 410 and a disparity calculator 420. ), an object detection unit 434, an object tracking unit 440, and an application unit 450.

The image preprocessor 410 may receive an image from the camera 195 and perform preprocessing.

Specifically, the image preprocessor 410 includes, for an image, noise reduction, rectification, calibration, color enhancement, and color space conversion (CSC). ), interpolation, and camera gain control. Accordingly, an image that is clearer than the stereo image captured by the camera 195 may be obtained.

The disparity calculator 420 receives the image signal-processed by the image preprocessor 410, performs stereo matching on the received images, and performs disparity matching according to the stereo matching. It is possible to obtain a parity map. That is, disparity information for the front of the vehicle and for a stereo image may be obtained.

In this case, stereo matching may be performed in units of pixels of stereo images or in units of predetermined blocks. Meanwhile, the disparity map may refer to a stereo image, that is, a map in which binocular parallax information of left and right images is expressed numerically.

The segmentation unit 432 may perform segmentation and clustering on at least one of the images based on disparity information from the disparity operation unit 420.

Specifically, the segmentation unit 432 may separate a background and a foreground with respect to at least one of the stereo images based on the disparity information.

For example, an area in the disparity map in which disparity information is less than or equal to a predetermined value may be calculated as a background and the corresponding part may be excluded. Accordingly, the foreground can be relatively separated.

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

In this way, by separating the foreground and the background based on the disparity information information extracted based on the stereo image, it is possible to shorten the signal processing speed and the amount of signal processing in the subsequent object detection.

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

That is, the object detection unit 434 may detect an object for at least one of the images based on the disparity information information.

Specifically, the object detection unit 434 may detect an object for at least one of the images. For example, it is possible to detect an object from a foreground separated by an image segment.

Next, the object verification unit 436 may classify and verify the separated object.

To this end, the object identification unit 436 is an identification method using a neural network, a support vector machine (SVM) technique, a technique for identification by AdaBoost using Haar-like features, or Histograms of Oriented Gradients (HOG). Techniques, etc. can be used.

Meanwhile, the object checking unit 436 may check the object by comparing the detected object with objects stored in the memory 140.

For example, the object identification unit 436 may check surrounding vehicles, lanes, road surfaces, signs, danger areas, tunnels, etc. located around the vehicle.

The object tracking unit 440 may perform tracking on the identified object. For example, sequentially, in the acquired stereo images, the object is identified, the motion or motion vector of the identified object is calculated, and the movement of the corresponding object is tracked based on the calculated motion or motion vector. I can. Accordingly, it is possible to track surrounding vehicles, lanes, road surfaces, signs, danger areas, tunnels, etc. located around the vehicle.

Next, the application unit 450 may calculate a risk of the vehicle 700 based on various objects positioned around the vehicle, for example, other vehicles, lanes, road surfaces, signs, and the like. In addition, it is possible to calculate the possibility of a collision with the vehicle in front, whether the vehicle slips or not.

Further, the application unit 450 may output, as vehicle driving assistance information, a message for notifying the user of such information based on the calculated risk, collision probability, or slip. Alternatively, a control signal for attitude control or driving control of the vehicle 700 may be generated as vehicle control information.

Meanwhile, the image preprocessing unit 410, the disparity operation unit 420, the segmentation unit 432, the object detection unit 434, the object identification unit 436, the object tracking unit 440 and the application unit 450 are 7 or less may be an internal configuration of the image processing unit 810 in the processor 170.

Meanwhile, according to an embodiment, the processor 170 includes an image preprocessing unit 410, a disparity operation unit 420, a segmentation unit 432, an object detection unit 434, an object identification unit 436, and an object tracking unit ( 440) and only a part of the application unit 450 may be included. For example, when the camera 195 is configured as a mono camera or an around view camera, the disparity calculating unit 420 may be excluded. Also, according to an embodiment, the segmentation unit 432 may be excluded.

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

Referring to the drawings, the processor 170 of FIG. 4B has the same internal configuration unit as the processor 170 of FIG. 4A, but differs in that the signal processing order is different. Only the difference is described below.

The object detection unit 434 may receive a stereo image and detect an object for at least one of the stereo images. Unlike FIG. 4A, based on disparity information, an object may be directly detected from a stereo image rather than an object for a segmented image.

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

To this end, the object identification unit 436 is an identification method using a neural network, a support vector machine (SVM) technique, a technique for identification by AdaBoost using Haar-like features, or Histograms of Oriented Gradients (HOG). Techniques, etc. can be used.

5A and 5B are diagrams referred to for describing a method of operating the processor 170 of FIG. 4A based on stereo images respectively acquired in first and second frame intervals.

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

The disparity operation unit 420 in the processor 170 receives the stereo images FR1a and FR1b, signal-processed by the image preprocessor 410, and performs stereo matching on the received stereo images FR1a and FR1b. Thus, a dispartiy map 520 is obtained.

The dispartiy map 520 is a leveled parallax between the stereo images FR1a and FR1b, and the larger the disparity level, the closer the distance to the vehicle, and the smaller the disparity level, the more It can be calculated as the distance of.

On the other hand, when such a disparity map is displayed, the larger the disparity level, the higher the luminance, and the smaller the disparity level, the lower the luminance.

In the drawing, in the disparity map 520, the first to fourth lanes 528a, 528b, 528c, and 528d each have a corresponding disparity level, and the construction area 522 and the first vehicle ahead 524 ), the second front vehicle 526 each has a corresponding disparity level.

The segmentation unit 432, the object detection unit 434, and the object identification unit 436, based on the disparity map 520, detect a segment and an object for at least one of the stereo images FR1a and FR1b, and Object check is performed.

In the drawing, it is illustrated that object detection and confirmation are performed on the second stereo image FR1b using the disparity map 520.

That is, in the image 530, the first to fourth lanes 538a, 538b, 538c, and 538d, the construction area 532, the first vehicle ahead 534, and the second vehicle ahead 536, object detection And confirmation can be performed.

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

The disparity operation unit 420 in the processor 170 receives the stereo images FR2a and FR2b, signal-processed by the image preprocessor 410, and performs stereo matching on the received stereo images FR2a and FR2b. Thus, a dispartiy map 540 is obtained.

In the drawing, in the disparity map 540, the first to fourth lanes 548a, 548b, 548c, and 548d each have a corresponding disparity level, and a construction area 542 and a first vehicle ahead 544 ), the second front vehicle 546 each has a corresponding disparity level.

The segmentation unit 432, the object detection unit 434, and the object identification unit 436, based on the disparity map 540, detect a segment and an object for at least one of the stereo images FR2a and FR2b, and Object check is performed.

In the drawing, it is illustrated that object detection and confirmation are performed on the second stereo image FR2b using the disparity map 540.

That is, in the image 550, the first to fourth lanes 558a, 558b, 558c, and 558d, the construction area 552, the first vehicle ahead 554, and the second vehicle ahead 556, object detection And confirmation can be performed.

Meanwhile, the object tracking unit 440 may perform tracking on the identified object by comparing FIGS. 5A and 5B.

Specifically, the object tracking unit 440 may track the movement of a corresponding object based on the movement or motion vector of each object identified in FIGS. 5A and 5B. Accordingly, it is possible to perform tracking of a lane, a construction area, a first vehicle in front, a vehicle in front of the second vehicle, and the like located around the vehicle.

6A to 6B are views referenced for describing the operation of the vehicle driving assistance apparatus of FIGS. 3A to 3C.

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

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

Next, FIG. 6B exemplifies the display of the situation in front of the vehicle identified by the vehicle driving assistance device together with various types of information. In particular, the image as shown in FIG. 6B may be displayed on the display unit 180, the AVN device 400, or the display unit 741 provided in the vehicle driving assistance device.

FIG. 6B illustrates that, unlike FIG. 6A, information is displayed based on an image captured by the stereo camera 195.

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

The vehicle driving assistance apparatus 100 processes a signal based on a stereo image captured by the stereo cameras 195a and 195b, and processes the construction area 610b, the first vehicle in front 620b, and the second vehicle in front 630b. You can check the object for ). In addition, a first lane 642b, a second lane 644b, a third lane 646b, and a fourth lane 648b may be identified.

Meanwhile, in the drawing, in order to indicate object confirmation for the construction area 610b, the first vehicle ahead 620b, and the second vehicle ahead 630b, it is illustrated that each is highlighted with a frame.

On the other hand, the vehicle driving assistance device 100, based on the stereo image captured by the stereo camera 195, the distance to the construction area (610b), the first vehicle ahead 620b, the second vehicle ahead (630b) Information can be computed.

In the drawing, the calculated first distance information 611b, second distance information 621b, and third distance corresponding to each of the construction area 610b, the first front vehicle 620b, and the second front vehicle 630b It exemplifies that the information 631b is displayed.

Meanwhile, the vehicle driving assistance apparatus 100 may receive sensor information about a vehicle from the control unit 770 or the sensor unit 760. In particular, vehicle speed information, gear information, yaw rate information indicating a speed at which the vehicle's rotation angle (yaw angle) changes, and vehicle angle information can be received, and such information can be displayed.

In the drawing, it is illustrated that vehicle speed information 672, gear information 671, and yaw rate information 673 are displayed on an upper portion of the vehicle front image 670, and in the lower portion of the vehicle front image 680, the angle of the vehicle Although the display of the information 682 is illustrated, various examples are possible. In addition, vehicle width information 683 and road curvature information 681 may be displayed together with vehicle angle information 682.

Meanwhile, the vehicle driving assistance apparatus 100 may receive, through the communication unit 120 or the interface unit 130, speed limit information about a road on which the vehicle is running. In the figure, it is illustrated that the speed limit information 640b is displayed.

The vehicle driving assistance apparatus 100 may display various types of information shown in FIG. 6B through the display unit 180 or the like, but, unlike this, may store various types of information without a separate display. And, by using this information, it can be used for various applications.

7 is an example of an internal block diagram of the vehicle of FIG. 1.

The vehicle 700 includes a communication unit 710, an input unit 720, a sensing unit 760, an output unit 740, a vehicle driving unit 750, a memory 730, an interface unit 780, a control unit 770, and a power supply unit. 790, a vehicle driving assistance device 100 and an AVN device 400 may be included.

The communication unit 710 is one or more that enable wireless communication between the vehicle 700 and the mobile terminal 600, between the vehicle 700 and the external server 510, or between the vehicle 700 and other vehicles 520 May contain modules. In addition, the communication unit 710 may include one or more modules that connect the vehicle 700 to one or more networks.

The communication unit 710 may include a broadcast reception module 711, a wireless Internet module 712, a short-range communication module 713, a location information module 714, and an optical communication module 715.

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

The wireless Internet module 712 refers to a module for wireless Internet access, and may be built-in or external to the vehicle 700. The wireless Internet module 712 is configured to transmit and receive wireless signals in a communication network according to wireless Internet technologies.

As a wireless Internet technology, for example, WLAN (Wireless LAN), Wi-Fi (Wireless-Fidelity), Wi-Fi (Wireless Fidelity) Direct, DLNA (Digital Living Network Alliance), WiBro (Wireless Broadband), WiMAX ( World Interoperability for Microwave Access), HSDPA (High Speed Downlink Packet Access), HSUPA (High Speed Uplink Packet Access), LTE (Long Term Evolution), LTE-A (Long Term Evolution-Advanced), etc., and the wireless Internet module 712 transmits and receives data according to at least one wireless Internet technology in a range including Internet technologies not listed above. For example, the wireless Internet module 712 may wirelessly exchange data with the external server 510. The wireless Internet module 712 may receive weather information and traffic condition information (eg, TPEG (Transport Protocol Expert Group)) information from the external server 510.

The short range communication module 713 is for short range communication, and includes Bluetooth™, Radio Frequency Identification (RFID), Infrared Data Association (IrDA), Ultra Wideband (UWB), ZigBee, Near field communication may be supported by using at least one of NFC (Near Field Communication), Wi-Fi (Wireless-Fidelity), Wi-Fi Direct, and Wireless USB (Wireless Universal Serial Bus) technologies.

The short-range communication module 713 may form short-range wireless communication networks (Wireless Area Networks) to perform short-range communication between the vehicle 700 and at least one external device. For example, the short-range communication module 713 may wirelessly exchange data with the mobile terminal 600. The short-range communication module 713 may receive weather information and road traffic condition information (eg, Transport Protocol Expert Group (TPG)) from the mobile terminal 600. For example, when the user boards the vehicle 700, the user's mobile terminal 600 and the vehicle 700 may perform pairing with each other automatically or by executing an application by the user.

The location information module 714 is a module for acquiring a location of the vehicle 700, and a representative example thereof is a Global Positioning System (GPS) module. For example, if a vehicle uses a GPS module, it can acquire the location of the vehicle using a signal transmitted from a GPS satellite.

The optical communication module 715 may include an optical transmitting unit and an optical receiving unit.

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

The light-emitting unit may include at least one light-emitting element for converting an electrical signal into an optical signal. Here, the light emitting device is preferably an LED (Light Emitting Diode). The optical transmitter converts the electric signal into an optical signal and transmits it to the outside. For example, the light transmitting unit may emit an optical signal to the outside through blinking of a light emitting device corresponding to a predetermined frequency. Depending on the embodiment, the light emitting unit may include a plurality of light emitting device arrays. Depending on the embodiment, the light transmitting unit may be integrated with a lamp provided in the vehicle 700. For example, the light transmitting unit may be at least one of a headlight, a taillight, a brake light, a turn signal, and a vehicle width light. For example, the optical communication module 715 may exchange data with another vehicle 520 through optical communication.

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

The driving operation means 721 receives a user input for driving the vehicle 700. The driving operation means 721 may include a steering input means 721a, a shift input means 721b, an acceleration input means 721c, and a brake input means 721d.

The steering input means 721a receives an input of a traveling direction of the vehicle 700 from a user. The steering input means 721a is preferably formed in a wheel shape to enable steering input by rotation. According to an embodiment, the steering input means 721a may be formed of a touch screen, a touch pad, or a button.

The shift input means 721b receives inputs of parking (P), forward (D), neutral (N), and reverse (R) of the vehicle 700 from the user. It is preferable that the shift input means 721b is formed in a lever shape. According to an embodiment, the shift input means 721b may be formed of a touch screen, a touch pad, or a button.

The acceleration input means 721c receives an input for acceleration of the vehicle 700 from a user. The brake input means 721d receives an input for deceleration of the vehicle 700 from a user. It is preferable that the acceleration input means 721c and the brake input means 721d are formed in a pedal shape. Depending on the embodiment, the acceleration input means 721c or the brake input means 721d may be formed of a touch screen, a touch pad, or a button.

The camera 195 may include an image sensor and an image processing module. The camera 195 may process a still image or a moving picture obtained by an image sensor (eg, CMOS or CCD). The image processing module may process a still image or a moving image acquired through an image sensor, extract necessary information, and transmit the extracted information to the controller 770. Meanwhile, the vehicle 700 may include a camera 195 for capturing an image in front of the vehicle or an image around the vehicle and an internal camera 195c for capturing an image inside the vehicle.

The internal camera 195c may acquire an image of a passenger. The internal camera 195c may acquire an image for biometric recognition of the occupant.

Meanwhile, in FIG. 7, the camera 195 is shown to be included in the input unit 720, but the camera 195 is a configuration included in the vehicle driving assistance device 100 as described with reference to FIGS. 2 to 6. It may be explained.

The microphone 723 may process external sound signals as electrical data. The processed data may be used in various ways according to a function being performed by the vehicle 700. The microphone 723 may convert a user's voice command into electrical data. The converted electrical data may be transmitted to the controller 770.

Meanwhile, according to an embodiment, the camera 722 or the microphone 723 may not be a component included in the input unit 720, but may be a component included in the sensing unit 760.

The user input unit 724 is for receiving information from a user. When information is input through the user input unit 724, the control unit 770 may control the operation of the vehicle 700 to correspond to the input information. The user input unit 724 may include a touch input means or a mechanical input means. Depending on the embodiment, the user input unit 724 may be disposed in one area of the steering wheel. In this case, the driver can manipulate the user input unit 724 with a finger while holding the steering wheel.

The sensing unit 760 senses a signal related to driving of the vehicle 700 and the like. To this end, the sensing unit 760 includes a collision sensor, a wheel sensor, a speed sensor, a tilt sensor, a weight detection sensor, a heading sensor, a yaw sensor, a gyro sensor. , Position module, vehicle forward/reverse sensor, battery sensor, fuel sensor, tire sensor, steering sensor by steering wheel rotation, vehicle interior temperature sensor, vehicle interior humidity sensor, ultrasonic sensor, radar, rider, etc. I can.

Accordingly, the sensing unit 760 includes vehicle collision information, vehicle direction information, vehicle position information (GPS information), vehicle angle information, vehicle speed information, vehicle acceleration information, vehicle inclination information, vehicle forward/reverse information, and battery information. , Fuel information, tire information, vehicle lamp information, vehicle internal temperature information, vehicle internal humidity information, and a sensing signal for a steering wheel rotation angle.

Meanwhile, the sensing unit 760 includes, in addition, an accelerator pedal sensor, a pressure sensor, an engine speed sensor, an air flow sensor (AFS), an intake air temperature sensor (ATS), a water temperature sensor (WTS), and a throttle. It may further include a position sensor (TPS), a TDC sensor, a crank angle sensor (CAS), and the like.

The sensing unit 760 may include a biometric information sensing unit. The biometric information detector detects and acquires biometric information of a passenger. Biometrics information includes fingerprint recognition (Fingerprint) information, iris recognition (Iris-scan) information, retina-scan information, hand geo-metry information, facial recognition information, and voice recognition ( Voice recognition) information may be included. The biometric information sensing unit may include a sensor for sensing biometric information of a passenger. Here, the internal camera 195c and the microphone 723 may operate as sensors. The biometric information detector may obtain hand shape information and face recognition information through the internal camera 195c.

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

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

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

The display unit 741 may form a mutual layer structure with the touch sensor or be integrally formed to implement a touch screen. Such a touch screen may function as a user input unit 724 that provides an input interface between the vehicle 700 and a user, and may provide an output interface between the vehicle 700 and the user. In this case, the display unit 741 may include a touch sensor that senses a touch on the display unit 741 so as to receive a control command by a touch method. By using this, when a touch is made to the display unit 741, the touch sensor detects the touch, and the controller 770 may be configured to generate a control command corresponding to the touch based on this. Content input by the touch method may be letters or numbers, or menu items that can be indicated or designated in various modes.

Meanwhile, the display unit 741 may include a cluster so that the driver can check vehicle status information or vehicle operation information while driving. Clusters can be placed on the dashboard. In this case, the driver can check information displayed on the cluster while keeping the gaze in front of the vehicle.

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

The sound output unit 742 converts the electrical signal from the control unit 770 into an audio signal and outputs it. To this end, the sound output unit 742 may include a speaker or the like. The sound output unit 742 may output sound corresponding to the operation of the user input unit 724.

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

The vehicle driving unit 750 may control operations of various vehicle devices. The vehicle driving unit 750 includes a power source driving unit 751, a steering driving unit 752, a brake driving unit 753, a lamp driving unit 754, an air conditioning driving unit 755, a window driving unit 756, an airbag driving unit 757, and a sunroof. A driving unit 758 and a suspension driving unit 759 may be included.

The power source driving unit 751 may perform electronic control on a power source in the vehicle 700.

For example, when a fossil fuel-based engine (not shown) is a power source, the power source driving unit 751 may perform electronic control on the engine. Thereby, it is possible to control the output torque of the engine and the like. When the power source driving unit 751 is an engine, the speed of the vehicle may be limited by limiting the engine output torque under the control of the control unit 770.

As another example, when an electricity-based motor (not shown) is a power source, the power source driver 751 may control the motor. Thereby, it is possible to control the rotational speed and torque of the motor.

The steering drive unit 752 may perform electronic control on a steering apparatus in the vehicle 700. Thereby, the traveling direction of the vehicle can be changed.

The brake driving unit 753 may perform electronic control for a brake apparatus (not shown) in the vehicle 700. For example, by controlling the operation of a brake disposed on a wheel, the speed of the vehicle 700 may be reduced. As another example, the moving direction of the vehicle 700 may be adjusted to the left or to the right by different operations of the brakes disposed on the left and right wheels.

The lamp driving unit 754 may control turn on/off of lamps disposed inside or outside the vehicle. In addition, it is possible to control the light intensity and direction of the lamp. For example, it is possible to control a direction indicator lamp, a brake lamp, and the like.

The air conditioning driver 755 may perform electronic control on an air cinditioner (not shown) in the vehicle 700. For example, when the temperature inside the vehicle is high, the air conditioner is operated to control the supply of cold air into the vehicle.

The window driver 756 may perform electronic control on a window apparatus in the vehicle 700. For example, it is possible to control the opening or closing of the left and right windows on the side of the vehicle.

The airbag driver 757 may perform electronic control of an airbag apparatus in the vehicle 700. For example, in case of danger, the airbag can be controlled to fire.

The sunroof driver 758 may perform electronic control on a sunroof apparatus (not shown) in the vehicle 700. For example, it is possible to control the opening or closing of the sunroof.

The suspension driving unit 759 may perform electronic control on a suspension apparatus (not shown) in the vehicle 700. For example, when there is a curvature in the road surface, the suspension device may be controlled to reduce vibration of the vehicle 700.

The memory 730 is electrically connected to the controller 770. The memory 770 may store basic data for a unit, control data for controlling the operation of the unit, and input/output data. In terms of hardware, the memory 790 may be various storage devices such as ROM, RAM, EPROM, flash drive, and hard drive. The memory 730 may store various data for the overall operation of the vehicle 700, such as a program for processing or controlling the controller 770.

The interface unit 780 may serve as a passage for various types of external devices connected to the vehicle 700. For example, the interface unit 780 may include a port that can be connected to the mobile terminal 600, and may connect to the mobile terminal 600 through the port. In this case, the interface unit 780 may exchange data with the mobile terminal 600.

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

The controller 770 may control the overall operation of each unit in the vehicle 700. The control unit 770 may be referred to as an ECU (Electronic Control Unit).

In hardware, the control unit 770 includes application specific integrated circuits (ASICs), digital signal processors (DSPs), digital signal processing devices (DSPs), programmable logic devices (PLDs), field programmable gate arrays (FPGAs), and processors. processors), controllers, micro-controllers, microprocessors, and electrical units for performing other functions.

The controller 770 may control the ISG function. If the first condition is met, the controller 770 controls the power source driving unit 751 to stop driving the power source, thereby implementing the ISG function. For example, the control unit 770 receives vehicle speed information through the sensing unit 760 while driving. The control unit 770 receives input information of the brake input means 721d. The control unit 770 receives input information of the acceleration input means 721c. Here, the first condition may be a condition in which an input from the brake input unit 721d is received while the vehicle speed is less than or equal to the reference speed during driving and there is no input through the acceleration input unit 721c.

When the driving of the power source is stopped and the second condition is met, the controller 770 controls the power source driving unit 751 to re-drive the power source, thereby performing the ISG function. Here, the second condition may be a condition in which an input of the brake input means 721d is released or an input of the acceleration input means 721c is received.

Meanwhile, the above-described configuration including the control unit 770, the brake input unit 721d, the acceleration input unit 721c, the sensing unit 760 for sensing vehicle speed information, the power source driving unit 751, and the power source is an ISG device or It can be named as an ISG system.

The controller 770 may control the ISG function based on a control signal provided from the vehicle driving assistance apparatus 100. When a control signal for turning off the ISG function is received from the vehicle driving assistance apparatus 100, even when the first condition is satisfied, the controller 770 may control the ISG function not to be operated. When a control signal for turning on the ISG function is received from the vehicle driving assistance apparatus 100, when the first condition is satisfied, the controller 770 may control the ISG function to be implemented.

The power supply unit 790 may supply power required for operation of each component under the control of the controller 770. In particular, the power supply unit 770 may receive power from a battery (not shown) inside the vehicle.

The vehicle driving assistance apparatus 100 may exchange data with the controller 770. A control signal generated by the vehicle driving assistance apparatus 100 may be output to the controller 770. The controller 770 may control the ISG based on a control signal received from the vehicle driving assistance apparatus 100. Here, the vehicle driving assistance device 100 may be the vehicle driving assistance device described above with reference to FIGS. 1 to 6B.

The audio video navigation (AVN) device 400 may exchange data with the control unit 770. The controller 770 may receive navigation information from the AVN device 400 or a separate navigation device (not shown). Here, the navigation information may include set destination information, route information according to the destination, map information related to vehicle driving, or vehicle location information.

8A is a flow chart referenced to explain the operation of the vehicle driving assistance apparatus according to the first embodiment of the present invention.

Referring to FIG. 8A, the processor 170 may acquire an image in front of the vehicle or an image around the vehicle through the camera 195 (S810 ). Here, the camera 195 may be a camera described with reference to FIGS. 2A to 3C. According to an embodiment, three or more cameras 195 may be provided.

The camera 195 may capture an image in front of the vehicle or an image around the vehicle under the control of the processor 170. The image acquired by the camera 195 may include at least one object.

The camera 195 may acquire an image of at least one of a traffic light, a traffic sign, and a road surface under the control of the processor 170.

In a state in which the vehicle front image or the vehicle surrounding image is acquired, the processor 170 may process the acquired vehicle front image or the vehicle surrounding image (S815). The processor 170 detects an object from an image in front of the vehicle or an image around the vehicle. The processor 170 may detect information from the detected object. Here, the object may be at least one of a traffic light, a traffic sign, and a road surface. In addition, the object may be at least one of a lane, a nearby vehicle, a pedestrian, a light, and a traffic signal.

The information may be information on the driving situation of the vehicle. For example, the information may be information on a rampway. Here, the rampway is a part connecting two intersecting roads. That is, the vehicle can join the main road through the rampway.

The processor 170 may detect an object in an image and detect a pattern or text indicating a rampway from the detected object. Here, the object may be a traffic sign or a road surface.

The processor 170 may check information on the rampway by comparing the detected information with the information stored in the memory 140.

Meanwhile, the processor 170 may detect a side portion of another vehicle from an image in front of the vehicle or an image around the vehicle.

Meanwhile, the processor 170 may detect a preceding vehicle from an image in front of the vehicle or an image around the vehicle. When the camera 195 is a mono camera, the processor 170 may detect the distance to the preceding vehicle based on a change in the size of the preceding vehicle detected in a plurality of frames generated over time. In addition, when the camera 195 is a stereo camera, the processor 170 can detect the distance to the preceding vehicle based on the disparity according to the distance difference between the first and second cameras 195a and 195b. Do.

Thereafter, the processor 170 may determine whether the vehicle 700 is slowing down or temporarily stops while entering the rampway (S820). Here, the slow driving is one of conditions in which the ISG function operates, and may mean driving less than a preset speed (for example, less than 10 km per hour). Here, the temporary stop is one of conditions in which the ISG function operates, and may mean a state in which the vehicle stops for a short period of time (eg, less than 1 second) and then accelerates.

The processor 170 may determine whether the vehicle 700 has entered the rampway based on the detected information.

For example, when rampway information is detected from a traffic sign included in an image in front of the vehicle or an image around the vehicle, the processor 170 may determine that the vehicle 700 enters the rampway.

For another example, when a side portion of another vehicle is detected in an image in front of the vehicle or an image around the vehicle, the processor 170 may determine that the vehicle enters the rampway based on the detected side portion. This is because when the vehicle 700 enters the main road through the rampway, the side portion of the vehicle traveling on the main road is detected in the image in front of the vehicle or the image around the vehicle.

For another example, the processor 170 may determine whether the vehicle 700 enters a rampway based on the navigation information. Here, the navigation information may be received from the AVN device 400, the control unit 770, or a separate navigation device (not shown) through the interface unit 130.

In a state in which the vehicle 700 enters the rampway, the processor 170 determines whether the vehicle 700 is moving slowly or stops temporarily.

For example, the processor 170 may detect a predetermined object in an image in front of the vehicle or an image around the vehicle, track the detected object, and determine whether the vehicle 700 is slowing down or temporarily stops. Specifically, the processor 170 may determine whether the vehicle 700 is slowing down or temporarily stops based on a relative distance or a relative speed with the detected object.

For example, the processor 170 may receive vehicle speed information from the sensing unit 760 or the control unit 770 through the interface unit 130 and determine whether to slow down or stop temporarily based on the vehicle speed. .

Thereafter, the processor 170 may determine whether the preceding vehicle is detected from the image in front of the vehicle or the image around the vehicle, or whether the detected preceding vehicle is stopped (S830 and S840).

The processor 170 may determine whether the preceding vehicle is stopped based on vehicle speed information and distance information from the preceding vehicle. Specifically, the processor 170 may determine whether the preceding vehicle is stopped based on the vehicle speed and the relative speed with the preceding vehicle calculated based on the relative distance with the preceding vehicle. Alternatively, the processor 170 may determine whether the preceding vehicle is stopped based on the detected braking light of the preceding vehicle. When the detected brake light is in an on state, the processor 170 may determine that the preceding vehicle is stopped.

If the preceding vehicle is detected and it is determined that the preceding vehicle is stopped, the processor 170 may generate a control signal for turning on the ISG function (S850). The control signal may be provided to the control unit 770.

If the preceding vehicle is not detected or it is determined that the preceding vehicle is traveling, the processor 170 may generate a control signal for turning off the ISG function (S860). The control signal may be provided to the control unit 770.

Meanwhile, the vehicle 700 may be a Left Hand Drive (LHD) or a Right Hand Drive (RHD). LHD vehicles are vehicles whose driver's seat is to the left of the vehicle driving direction. RHD vehicles are vehicles whose driver's seat is to the right of the vehicle driving direction. Depending on whether the vehicle is LHD or RHD, the left or right traffic is determined by country. It is common for LHD vehicles to travel on the right. RHD vehicles are generally left-handed.

For example, when the vehicle is an LHD, the vehicle 700 may join the main road by turning right on the rampway.

In addition, when the vehicle is an RHD, the vehicle 700 may join the main road through a left turn on the rampway.

In general, when an input is received from the brake pedal 721d while the vehicle is traveling or stopped at a preset speed or lower and an input through the accelerator pedal 721c is not received, the ISG function is turned on and the power source Is stopped. However, according to the first embodiment of the present invention, when the vehicle 700 slows down or stops temporarily while entering the rampway, the ISG function is not operated even under the condition in which the ISG function is to be operated. In this case, the vehicle 700 can quickly join the main road without delay. Accordingly, the vehicle driving assistance apparatus 100 according to the embodiment of the present invention prevents driving delay due to the ISG function on while driving on a rampway, and derives an accident prevention effect due to driving delay.

8B is a detailed block diagram of a processor according to the first embodiment of the present invention.

Referring to FIG. 8B, the processor 170 may include an image processing unit 810, a determination unit 820, and a control signal generation unit 830.

The image processing unit 810 includes an image preprocessing unit 410, a disparity operation unit 420, a segmentation unit 432, an object detection unit 434, an object identification unit 436, and object tracking described with reference to FIGS. 4A to 4B. It may include a unit 440 and an application unit 450.

The image processing unit 810 may process an image in front of the vehicle or an image around the vehicle acquired through the camera 195. The image processing unit 810 may detect an object based on an image in front of the vehicle or an image around the vehicle. The image processing unit 810 may detect information from the detected object. Here, the object may be at least one of a traffic light, a traffic sign, and a road surface. In addition, the object may be at least one of a lane, a nearby vehicle, a pedestrian, a light, and a traffic signal.

The information may be information on the driving situation of the vehicle. For example, the information may be information on a rampway.

The image processing unit 810 may detect information on a rampway based on a traffic sign or a pattern or text displayed on a road surface. The image processing unit 810 may compare the detected information with information stored in the memory 140 to check information on the rampway.

The image processing unit 810 may detect a side portion of another vehicle from an image in front of the vehicle or an image around the vehicle.

The image processing unit 810 may detect a preceding vehicle from an image in front of the vehicle or an image around the vehicle. When the camera 195 is a mono camera, the image processing unit 810 may detect the distance to the preceding vehicle based on a change in the size of the preceding vehicle detected in a plurality of frames generated over time. In addition, when the camera 195 is a stereo camera, the image processing unit 810 detects the distance to the preceding vehicle based on the disparity according to the distance difference between the first and second cameras 195a and 195b. It is possible.

The determination unit 820 may determine whether the vehicle 700 proceeds slowly or temporarily stops while entering the rampway.

For example, when information on a rampway is detected from a traffic sign included in an image in front of the vehicle or an image around the vehicle, the determination unit 820 may determine whether the vehicle 700 enters the rampway.

For another example, when a side portion of another vehicle is detected in an image in front of the vehicle or an image around the vehicle, the determination unit 820 may determine whether to enter the rampway based on the detected side portion of the vehicle.

For another example, the determination unit 820 may determine whether the vehicle 700 enters the rampway based on the navigation information. Here, the navigation information may be received from the AVN device 400, the control unit 770, or a separate navigation device (not shown) through the interface unit 130.

In a state in which the vehicle 700 enters the rampway, the determination unit 820 determines whether the vehicle 700 moves slowly or stops temporarily.

For example, the image processing unit 810 detects an object and tracks the detected object. In this case, the determination unit 820 may determine whether the vehicle 700 is moving slowly or stops temporarily through the tracking information. Specifically, the determination unit 820 may determine whether the vehicle 700 slows down or stops temporarily based on whether the relative distance or the relative speed with the detected object decreases.

For example, the determination unit 820 may receive vehicle speed information from the sensing unit 760 or the control unit 770 through the interface unit 130 and determine whether to slow down or stop temporarily based on the vehicle speed. have.

The determination unit 820 determines whether the preceding vehicle detected in the image in front of the vehicle or the image around the vehicle is stopped. The determination unit 820 may determine whether the preceding vehicle is stopped based on vehicle speed information and distance information from the preceding vehicle. Specifically, the determination unit 820 may determine whether the preceding vehicle is stopped based on the vehicle speed and the relative speed with the preceding vehicle calculated based on the relative distance with the preceding vehicle. Alternatively, the determination unit 820 may determine whether the preceding vehicle is stopped based on the detected braking light of the preceding vehicle. The image processing unit 810 detects a brake light of a preceding vehicle. When the detected brake light is on, the determination unit 820 may determine that the preceding vehicle is stopped.

The control signal generator 830 may generate a control signal for turning on or off the ISG function based on the determination result of the determination unit 820.

As a result of the determination by the determination unit 820, when it is determined that the vehicle 700 does not enter the rampway, the control signal generation unit 830 generates a control signal for turning on the ISG function.

As a result of the determination of the determination unit 820, when it is determined that the vehicle is slowing down or does not stop temporarily even when the vehicle 700 enters the rampway, the control signal generator 830 controls the ISG function to be turned on. Generate a signal.

As a result of the determination of the determination unit 820, when the vehicle 700 enters the rampway, the vehicle is slowing down or temporarily stops, the preceding vehicle is detected, and when it is determined that the preceding vehicle is stopped, a control signal is generated. The unit 830 generates a control signal for the ISG function on.

As a result of the determination of the determination unit 820, when the vehicle 700 enters the rampway and it is determined that the vehicle is slowing down or temporarily stopping, the control signal generation unit 830 controls the ISG function to be turned off. Generate a signal.

As a result of the determination of the determination unit 820, when the vehicle 700 enters the rampway, the vehicle is slow or temporarily stops, and the preceding vehicle is not detected, the control signal generator 830 turns off the ISG function. Generate a control signal for (off).

As a result of the determination of the determination unit 820, when the vehicle 700 enters the rampway, when the vehicle is slow or temporarily stopped, the preceding vehicle is detected, and the detected preceding vehicle is determined to be the preceding vehicle. In this case, the control signal generator 830 generates a control signal for turning off the ISG function.

The control signal generated by the control signal generator 830 may be provided to the control unit 770. In this case, the control signal generation unit 830 may output a control signal to the control unit 770 through the interface unit 130.

9A to 9C are exemplary views referenced to explain a vehicle driving assistance apparatus when a vehicle joins a main road through a rampway according to the first embodiment. 9A-9B are shown in a bird eye view.

Referring to FIG. 9A, the vehicle 700 may join the main road 905 through a right turn on the rampway 900.

The processor 170 acquires an image in front of the vehicle or an image around the vehicle through the camera 195.

The processor 170 detects a traffic sign 910 or a road surface from an image. The processor 170 may detect information on the rampway based on the traffic sign 910 or a pattern or text displayed on the road surface.

The processor 170 may detect side portions of other vehicles 920 and 930 from an image in front of the vehicle or an image around the vehicle.

The processor 170 may determine whether the vehicle 700 has entered the rampway 900 based on the information on the rampway.

For example, when rampway information is detected from a traffic sign included in an image in front of the vehicle or an image around the vehicle, the processor 170 may determine that the vehicle 700 enters the rampway 900.

For another example, when a side portion of another vehicle is detected in an image in front of the vehicle or an image around the vehicle, the processor 170 may determine that the vehicle enters the rampway based on the detected side portion of the other vehicle. When the vehicle 700 is located on the rampway and an image in front of the vehicle is acquired, a side portion of another vehicle driving on the main road may be detected in the image. Accordingly, when the side portion of another vehicle is detected, the processor 170 may determine that it enters the rampway.

For another example, the processor 170 may determine whether the vehicle 700 enters a rampway based on the navigation information.

In a state in which the vehicle 700 enters the rampway, the processor 170 determines whether the vehicle 700 is moving slowly or stops temporarily.

For example, the processor 170 may detect a predetermined object in an image in front of the vehicle or an image around the vehicle, track the detected object, and determine whether the vehicle 700 is slowing down or temporarily stops.

The processor 170 may receive vehicle speed information from the sensing unit 760 or the control unit 770 through the interface unit 130 and determine whether to slow down or stop temporarily based on the vehicle speed.

In a state in which the vehicle 700 enters the rampway, when the vehicle is slow or temporarily stopped, the processor 170 generates a control signal for turning off the ISG function. The control signal may be provided to the control unit 770. In this case, when the ISG function is not operated, the vehicle 700 is driven or stopped at a preset speed or lower, and an input is received from the brake pedal 721d while an input through the accelerator pedal 721c is not received. Even, the drive of the power source is not stopped. That is, the power source is continuously driven.

That is, when the vehicle 700 is slow or temporarily stopped while entering the rampway, the ISG function is not operated even under the condition in which the ISG function is to be operated.

9B has a difference in detecting a preceding vehicle compared to FIG. 9A. It will be described focusing on the differences with reference to FIG. 9B.

The processor 170 may detect the preceding vehicle 940 from an image in front of the vehicle or an image around the vehicle. When the camera 195 is a mono camera, the processor 170 may detect the distance to the preceding vehicle based on a change in the size of the preceding vehicle detected in a plurality of frames generated over time. In addition, when the camera 195 is a stereo camera, the processor 170 can detect the distance to the preceding vehicle based on the disparity according to the distance difference between the first and second cameras 195a and 195b. Do.

The processor 170 may determine whether the preceding vehicle is stopped based on vehicle speed information and distance information from the preceding vehicle. Specifically, the processor 170 may determine whether the preceding vehicle is stopped based on the vehicle speed and the relative speed with the preceding vehicle calculated based on the relative distance with the preceding vehicle. Alternatively, the processor 170 may determine whether the preceding vehicle is stopped based on the detected braking light of the preceding vehicle.

In a state in which the vehicle 700 enters the rampway, in a state in which the vehicle 700 is slow or temporarily stopped, the preceding vehicle 940 is detected, and when it is determined that the preceding vehicle is stopped, the processor 170 It generates a control signal for function on. In this case, when the ISG function operates normally, the vehicle 700 is traveling or stopped at a preset speed or lower, and an input is received from the brake pedal 721d in a state in which no input through the accelerator pedal 721c is received. , The drive of the power source is stopped.

When the vehicle 700 enters the rampway, the vehicle 700 is slow or temporarily stopped, the preceding vehicle 940 is detected, and when it is determined that the detected preceding vehicle is the preceding vehicle, the processor (170) generates a control signal for the ISG function off (off).

9C differs from that of FIG. 9A in that the vehicle is an RHD. Referring to FIG. 9C, when the vehicle 700 is RHD, it may join the main road 905 through a left turn on the rampway 900.

10A is a flow chart referenced to explain the operation of the vehicle driving assistance apparatus according to the second embodiment of the present invention.

Referring to FIG. 10A, the processor 170 may acquire an image in front of the vehicle or an image around the vehicle through the camera 195 (S1010 ). Here, the camera 195 may be a camera described with reference to FIGS. 2A to 3C. According to an embodiment, three or more cameras 195 may be provided.

The camera 195 may capture an image in front of the vehicle or an image around the vehicle under the control of the processor 170. The image acquired by the camera 195 may include at least one object.

The camera 195 may acquire an image of at least one of a traffic light, a traffic sign, and a road surface under the control of the processor 170.

In a state in which the vehicle front image or the vehicle surrounding image is acquired, the processor 170 may process the obtained vehicle front image or the vehicle surrounding image (S1015). The processor 170 detects an object from an image in front of the vehicle or an image around the vehicle. The processor 170 may detect information from the detected object. Here, the object may be at least one of a traffic light, a traffic sign, and a road surface. In addition, the object may be at least one of a lane, a nearby vehicle, a pedestrian, a light, and a traffic signal.

The information may be information on the driving situation of the vehicle. For example, the information may be information on an intersection or signal information output from a traffic light.

The processor 170 may detect an object in an image and detect information about an intersection or output information of a traffic light from the detected object. Here, the object may be a lane, a traffic light, or a traffic sign.

For example, the processor 170 may detect information on an intersection located in front of the vehicle based on the detected lane on the road surface.

For another example, the processor 170 may detect information on an intersection located in front of the vehicle based on a traffic light disposed at the detected intersection.

For another example, the processor 170 may detect information on an intersection based on a pattern or text of a detected traffic sign.

Meanwhile, the processor 170 may detect signal information output from a traffic light based on a traffic light detected from an image in front of the vehicle or an image around the vehicle.

For example, the processor 170 may detect signal information output from a traffic light based on a color or shape of an image of the traffic light.

The processor 170 may compare the detected information with information stored in the memory 140 to check information on an intersection or signal information output from a traffic light.

The processor 170 may detect a preceding vehicle from an image in front of the vehicle or an image around the vehicle. In addition, when the camera 195 is a mono camera, the processor 170 may detect the distance to the preceding vehicle based on a change in the size of the preceding vehicle detected in a plurality of frames generated over time. In addition, when the camera 195 is a stereo camera, the processor 170 can detect the distance to the preceding vehicle based on the disparity according to the distance difference between the first and second cameras 195a and 195b. Do.

The processor 170 determines whether the vehicle 700 is moving slowly toward the intersection or temporarily stops in front of the intersection. In addition, the processor 170 may determine whether a signal output from a traffic light is a Go signal (S1020). Here, the slow driving is one of conditions in which the ISG function operates, and may mean driving less than a preset speed (for example, less than 10 km per hour). Here, the temporary stop is one of conditions in which the ISG function operates, and may mean a state in which the vehicle stops for a short period of time (eg, less than 1 second) and then accelerates.

Based on the detected information, the processor 170 may determine whether the vehicle 700 slows toward the intersection or temporarily stops in front of the intersection.

For example, the processor 170 detects a predetermined object (for example, information on an intersection arrangement traffic light, lane or traffic sign) from an image in front of the vehicle or an image around the vehicle, tracks the detected object, and tracks the vehicle ( 700) can be judged whether it is slowing toward the intersection or temporarily stopping in front of the intersection. Specifically, the processor 170 may determine whether the vehicle 700 is slowing down or temporarily stops based on a relative distance or a relative speed with the detected object.

For another example, the processor 170 may determine whether the vehicle 700 is moving slowly toward the intersection or temporarily stops in front of the intersection based on the navigation information. Here, the navigation information may be received from the AVN device 400, the control unit 770, or a separate navigation device (not shown) through the interface unit 130.

When the vehicle 700 proceeds slowly toward the intersection or temporarily stops in front of the intersection, the processor 170 determines whether the signal output from the traffic light is a Go signal. Here, the traffic light is a traffic light that outputs a predetermined signal toward the vehicle 700 at an intersection.

The processor 170 may determine whether a signal output from a traffic light is a Go signal based on the detected information. Here, the Go signal may be a signal of a vehicle going straight at an intersection or a left turn (in the case of an RHD vehicle, a right turn) signal.

The processor 170 may detect the color or shape of the traffic light and determine whether a signal output from the traffic light is a Go signal. For example, if the color of the detected traffic light is green, the processor 170 may determine that the vehicle goes straight. For example, when the shape of the detected traffic light is a left arrow, the processor 170 may determine the vehicle left turn signal. On the other hand, when the vehicle is RHD, if the shape of the detected traffic light is a right arrow, the processor 170 may determine the vehicle right turn signal.

Thereafter, the processor 170 may determine whether the preceding vehicle is detected from the image in front of the vehicle or the image around the vehicle or whether the detected preceding vehicle is stopped (S1030 and S1040).

The processor 170 may determine whether the preceding vehicle is stopped based on vehicle speed information and distance information from the preceding vehicle. Specifically, the processor 170 may determine whether the preceding vehicle is stopped based on the vehicle speed and the relative speed with the preceding vehicle calculated based on the relative distance with the preceding vehicle. Alternatively, the processor 170 may determine whether the preceding vehicle is stopped based on the detected braking light of the preceding vehicle. When the detected brake light is in an on state, the processor 170 may determine that the preceding vehicle is stopped.

If the preceding vehicle is detected and it is determined that the preceding vehicle is stopped, the processor 170 may generate a control signal for the ISG function on (S1050). The control signal may be provided to the control unit 770.

If the preceding vehicle is not detected or it is determined that the preceding vehicle is traveling, the processor 170 may generate a control signal for turning off the ISG function (S1060). The control signal may be provided to the control unit 770.

In general, when an input is received from the brake pedal 721d while the vehicle is traveling or stopped at a preset speed or lower and an input through the accelerator pedal 721c is not received, the ISG function is turned on and the power source Is stopped. However, according to the second embodiment of the present invention, when a signal output from a traffic light is a Go signal when a signal is outputted from a traffic light when traveling slowly toward an intersection or temporarily stops in front of an intersection, the ISG function is not operated even under a condition in which the ISG function is to be operated. In this case, the vehicle 700 can quickly go straight or turn left (in the case of an RHD vehicle, turn right) without delay at an intersection. The vehicle driving assistance apparatus 100 according to an embodiment of the present invention prevents driving delay due to the ISG function on in a predetermined situation at an intersection, and derives an accident prevention effect due to driving delay.

10B is a detailed block diagram of a processor according to the second embodiment of the present invention.

Referring to FIG. 10B, the processor 170 may include an image processing unit 810, a determination unit 820, and a control signal generation unit 830.

The image processing unit 810 may process an image in front of the vehicle or an image around the vehicle acquired through the camera 195. The image processing unit 810 detects an object based on an image in front of the vehicle or an image around the vehicle. The image processing unit 810 may detect information from the detected object. Here, the object may be at least one of a traffic light, a traffic sign, and a road surface. In addition, the object may be at least one of a lane, a nearby vehicle, a pedestrian, a light, and a traffic signal.

The information may be information on the driving situation of the vehicle. For example, the information may be information on an intersection or signal information output from a traffic light.

The image processing unit 810 may detect information on the intersection based on a traffic light or road surface included in an image in front of the vehicle or an image around the vehicle.

The image processing unit 810 may detect information on an intersection located in front of the vehicle based on the detected lane on the road surface. The image processing unit 810 may detect information on an intersection located in front of the vehicle based on a traffic light disposed at the detected intersection.

The image processing unit 810 may detect information on an intersection based on a pattern or text of a detected traffic sign.

The image processing unit 810 may detect signal information output from a traffic light based on a traffic light image included in an image in front of the vehicle or an image around the vehicle.

The image processing unit 810 may compare the detected information with information stored in the memory 140 to check information on an intersection or signal information output from a traffic light.

The image processing unit 810 may detect a preceding vehicle from an image in front of the vehicle or an image around the vehicle. In addition, when the camera 195 is a mono camera, the image processing unit 810 may detect the distance to the preceding vehicle based on a change in the size of the preceding vehicle detected in a plurality of frames generated over time. In addition, when the camera 195 is a stereo camera, the image processing unit 810 detects the distance to the preceding vehicle based on the disparity according to the distance difference between the first and second cameras 195a and 195b. It is possible.

The determination unit 820 may determine whether the vehicle 700 is moving slowly toward the intersection or temporarily stops in front of the intersection.

For example, after detecting information on an intersection, the image processing unit 810 tracks information on the detected intersection. In this case, the determination unit 820 may determine whether the vehicle 700 is moving slowly toward the intersection or temporarily stops in front of the intersection through the tracking information. In this case, the determination unit 820 may receive vehicle speed information from the sensing unit 760 or the control unit 770 through the interface unit 130 and determine whether to slow down or pause based on the vehicle speed.

For another example, the determination unit 820 may determine whether the vehicle 700 is moving slowly toward an intersection or temporarily stops in front of the intersection based on the navigation information. Here, the navigation information may be received from the AVN device 400, the control unit 770, or a separate navigation device (not shown) through the interface unit 130.

When the vehicle 700 proceeds slowly toward the intersection or temporarily stops in front of the intersection, the determination unit 820 determines whether the signal output from the traffic light is a Go signal. The determination unit 820 may determine whether a signal output from a traffic light is a Go signal based on the detected information. Here, the Go signal may be a signal of a vehicle going straight at an intersection or a left turn (in the case of an RHD vehicle, a right turn) signal.

The determination unit 820 may detect a color or shape of a traffic light and determine whether a signal output from the traffic light is a Go signal. For example, when the color of the detected traffic light is green, the determination unit 820 may determine a vehicle straight signal. For example, when the shape of the detected traffic light is a left arrow, the determination unit 820 may determine the vehicle left turn signal.

The determination unit 820 determines whether the preceding vehicle detected in the image in front of the vehicle or the image around the vehicle is stopped. The determination unit 820 may determine whether the preceding vehicle is stopped based on vehicle speed information and distance information from the preceding vehicle. Specifically, the determination unit 820 may determine whether the preceding vehicle is stopped based on the vehicle speed and the relative speed with the preceding vehicle calculated based on the relative distance with the preceding vehicle. Alternatively, the determination unit 820 may determine whether the preceding vehicle is stopped based on the detected braking light of the preceding vehicle. When the detected brake light is on, the determination unit 820 may determine that the preceding vehicle is stopped.

The control signal generator 830 may generate a control signal for turning on or off the ISG function based on the determination result of the determination unit 820.

As a result of the determination of the determination unit 820, when it is determined that the vehicle 700 is traveling slowly toward the intersection or does not temporarily stop in front of the intersection, the control signal generator 830 generates a control signal for the ISG function on. can do.

As a result of the determination of the determination unit 820, when the vehicle 700 is slow toward the intersection or temporarily stops in front of the intersection, when the signal output from the traffic light is not a Go signal, the control signal generation unit 830 It is possible to generate a control signal for the ISG function on (on).

As a result of the determination of the determination unit 820, even in a state in which the vehicle 700 is slowing toward the intersection or temporarily stops in front of the intersection, and the signal output from the traffic light is a Go signal, the preceding vehicle is detected, and the preceding vehicle stops. If it is determined that the control signal generation unit 830 generates a control signal for the ISG function on (on).

As a result of the determination of the determination unit 820, when the vehicle 700 is slow toward the intersection or temporarily stops in front of the intersection, and the signal output from the traffic light is a Go signal, the control signal generation unit 830 turns off the ISG function. Generate a control signal for (off).

As a result of the determination of the determination unit 820, when the vehicle 700 is slow toward the intersection or temporarily stops in front of the intersection, and the signal output from the traffic light is a Go signal, and the preceding vehicle is not detected, the control signal The generator 830 generates a control signal for turning off the ISG function.

As a result of the determination of the determination unit 820, when the vehicle 700 is slow toward the intersection or temporarily stops in front of the intersection, and the signal output from the traffic light is a Go signal, the preceding vehicle is detected, and the detected preceding vehicle When it is determined that the vehicle is traveling, the control signal generator 830 generates a control signal for turning off the ISG function.

The control signal generated by the control signal generator 830 may be provided to the control unit 770. In this case, the control signal generation unit 830 may output a control signal to the control unit 770 through the interface unit 130.

11A to 11C are exemplary views referenced for describing a vehicle driving assistance apparatus when a vehicle travels toward or at an intersection according to the second embodiment. 11A-11C are shown in a bird eye view.

Referring to FIG. 11A, the processor 170 acquires an image in front of the vehicle or an image around the vehicle through the camera 195.

The processor 170 may detect information on the intersection 1105 based on a traffic light, a traffic sign 1120, or a road surface included in the image in front of the vehicle or the image around the vehicle.

For example, the processor 170 may detect information on an intersection located in front of the vehicle based on the detected lane on the road surface. That is, when the lane 1150 formed in a direction different from the driving direction of the vehicle is detected, the processor 170 may detect information on whether the intersection 1105 exists.

For another example, the processor 170 may detect information on an intersection located in front of the vehicle based on the traffic light 1110 disposed at the detected intersection 1105. That is, when the detected traffic light 1110 is a stop signal 1111, a standby signal 1113, a left turn signal 1115, and a traffic light that outputs the straight signal 1117, the presence of an intersection Whether or not information can be detected.

For another example, the processor 170 may detect information on an intersection based on a pattern or text of the detected traffic sign 1120. That is, the processor 170 may detect information on whether the intersection exists or not based on the design of the intersection displayed on the traffic sign 1120.

The processor 170 may detect signal information output from a traffic light based on a traffic light image included in an image in front of the vehicle or an image around the vehicle.

For example, the processor 170 may detect signal information output from a traffic light based on a color or shape of an image of the traffic light.

Based on the detected information, the processor 170 may determine whether the vehicle 700 slows toward the intersection or temporarily stops in front of the intersection.

For example, the processor 170 may detect information on an intersection, track the information on the detected intersection, and determine whether the vehicle 700 is moving slowly toward the intersection or temporarily stops in front of the intersection. In this case, the processor 170 may receive vehicle speed information from the sensing unit 760 or the control unit 770 through the interface unit 130 and determine whether to slow down or pause based on the vehicle speed.

For another example, the processor 170 may determine whether the vehicle 700 is moving slowly toward the intersection or temporarily stops in front of the intersection based on the navigation information. Here, the navigation information may be received from the AVN device 400, the control unit 770, or a separate navigation device (not shown) through the interface unit 130.

When the vehicle 700 proceeds slowly toward the intersection or temporarily stops in front of the intersection, the processor 170 may determine whether a signal output from a traffic light is a Go signal based on the detected information. Here, the Go signal may be a signal of a vehicle going straight at an intersection or a left turn (in the case of an RHD vehicle, a right turn) signal.

For example, when a green image is detected in the detected traffic light image, the processor 170 may detect a straight signal.

When the vehicle 700 is slow toward the intersection or temporarily stops in front of the intersection, when the signal output from the traffic light is a straight signal, the control signal generator 830 generates a control signal for turning off the ISG function. . The control signal may be provided to the control unit 770. In this case, when the ISG function is not operated, the vehicle 700 is driven or stopped at a preset speed or lower, and an input is received from the brake pedal 721d while an input through the accelerator pedal 721c is not received. Even, the drive of the power source is not stopped. That is, the power source is continuously driven.

That is, when a signal output from a traffic light is a Go signal when moving slowly toward an intersection or temporarily stopping in front of an intersection, the ISG function is not operated even under the condition in which the ISG function is to be operated.

Compared with FIG. 11A, FIG. 11B has a difference in detecting a preceding vehicle. The difference will be mainly described with reference to FIG. 11B.

The processor 170 may detect the preceding vehicle 1140 from an image in front of the vehicle or an image around the vehicle. In addition, when the camera 195 is a mono camera, the processor 170 may detect the distance to the preceding vehicle based on a change in the size of the preceding vehicle detected in a plurality of frames generated over time. In addition, when the camera 195 is a stereo camera, the processor 170 can detect the distance to the preceding vehicle based on the disparity according to the distance difference between the first and second cameras 195a and 195b. Do.

The processor 170 may determine whether the preceding vehicle is stopped based on vehicle speed information and distance information from the preceding vehicle. Specifically, the processor 170 may determine whether the preceding vehicle is stopped based on the vehicle speed and the relative speed with the preceding vehicle calculated based on the relative distance with the preceding vehicle. Alternatively, the processor 170 may determine whether the preceding vehicle is stopped based on the detected braking light of the preceding vehicle.

In a state in which the vehicle 700 proceeds slowly toward the intersection or temporarily stops in front of the intersection, even when the signal output from the traffic light is a Go signal, the preceding vehicle 1140 is detected, and it is determined that the preceding vehicle is stopped. In this case, the processor 170 generates a control signal for the ISG function on. In this case, when the ISG function operates normally, the vehicle 700 is traveling or stopped at a preset speed or lower, and an input is received from the brake pedal 721d in a state in which no input through the accelerator pedal 721c is received. , The drive of the power source is stopped.

When the vehicle 700 is slow toward the intersection or temporarily stops in front of the intersection, when the signal output from the traffic light is a Go signal, the preceding vehicle 1140 is detected, and the detected preceding vehicle is When it is determined that the vehicle is traveling, the control signal generator 830 generates a control signal for turning off the ISG function.

11C is a diagram referenced for explaining the operation of the vehicle driving assistance apparatus when the vehicle 700 is running in the intersection area 1105 according to an embodiment of the present invention. In the situation of FIG. 11C, the vehicle 700 may drive straight through the intersection area 1105 or drive a left turn (or a right turn in the case of an RHD vehicle).

The processor 170 may determine that the vehicle 700 is driving in the intersection area 1105 based on the image in front of the vehicle, the image around the vehicle, or navigation information acquired by the camera 195.

For example, the processor 170 may detect information on an intersection, track the information on the detected intersection, and determine that the vehicle 700 is driving in the intersection area 1105.

For another example, the processor 170 receives navigation information from the AVN device 400, the control unit 770, or a separate navigation device (not shown) through the interface unit 130. Based on the received navigation information, the processor 170 may check a road on which the vehicle 700 is currently driving and location information of the vehicle 700. The processor 170 may determine that the vehicle 700 is driving in the intersection area 1105 based on the driving road and location information.

When the vehicle 700 is driving in the intersection area 1105, the processor 170 generates a control signal for turning off the ISG function.

If, while driving in the intersection area 1105, the ISG condition is satisfied and the ISG function is operated, there is a risk of an accident. Specifically, when driving at an intersection, in a state in which the ISG function is operated, when a user releases his or her foot from the brake pedal and presses the accelerator pedal, a delay for a predetermined time may occur. This is because it takes a certain time for the power source to be driven again. Therefore, in this case, there is a risk that an accident may be caused by another vehicle running in a direction different from the driving direction of the vehicle.

However, according to an embodiment of the present invention, when entering an intersection and driving in the intersection area 1105, the risk of the accident may be reduced by turning off the ISG function.

12A to 12B are exemplary diagrams referenced for describing a vehicle driving assistance apparatus when waiting for a left turn (or a right turn in the case of an RHD vehicle) driving at an intersection or a left turn driving according to the second embodiment. 11A-11C are shown in a bird eye view.

12A is a situation in which the vehicle 700 turns left, unlike FIG. 11A, which is a case where the vehicle 700 goes straight. Hereinafter, it will be described focusing on the differences.

As described with reference to FIG. 11A, the processor 170 may detect information on the intersection 1105 and signal information output from a traffic light.

When the vehicle 700 proceeds slowly toward the intersection or temporarily stops in front of the intersection, the processor 170 may determine whether a signal output from a traffic light is a Go signal based on the detected information. Here, the Go signal may be a signal of a vehicle going straight at an intersection or a left turn (in the case of an RHD vehicle, a right turn) signal.

For example, when the vehicle is an LHD, when an arrow image in the left direction is detected from the detected traffic light image, the processor 170 may detect a left turn signal.

For another example, when the vehicle is an RHD, when an arrow image in the right direction is detected from the detected traffic light image, the processor 170 may detect a right turn signal.

When the vehicle 700 is slow toward the intersection or temporarily stops in front of the intersection, when the signal output from the traffic light is a left turn (right turn in the case of an RHD vehicle), the control signal generator 830 turns off the ISG function. Generate a control signal for ). The control signal may be provided to the control unit 770. In this case, when the ISG function is not operated, the vehicle 700 is driven or stopped at a preset speed or lower, and an input is received from the brake pedal 721d while an input through the accelerator pedal 721c is not received. Even, the drive of the power source is not stopped. That is, the power source is continuously driven.

12B shows a difference in detecting a preceding vehicle compared to FIG. 12A. The difference will be mainly described with reference to FIG. 12B.

The processor 170 may detect the preceding vehicle 1140 from an image in front of the vehicle or an image around the vehicle. In addition, when the camera 195 is a mono camera, the processor 170 may detect the distance to the preceding vehicle based on a change in the size of the preceding vehicle detected in a plurality of frames generated over time. In addition, when the camera 195 is a stereo camera, the processor 170 can detect the distance to the preceding vehicle based on the disparity according to the distance difference between the first and second cameras 195a and 195b. Do.

The processor 170 may determine whether the preceding vehicle is stopped based on vehicle speed information and distance information from the preceding vehicle. Specifically, the processor 170 may determine whether the preceding vehicle is stopped based on the vehicle speed and the relative speed with the preceding vehicle calculated based on the relative distance with the preceding vehicle. Alternatively, the processor 170 may determine whether the preceding vehicle is stopped based on the detected braking light of the preceding vehicle.

In a state in which the vehicle 700 proceeds slowly toward the intersection or temporarily stops in front of the intersection, even when the signal output from the traffic light is a left turn (in case of an RHD vehicle, a right turn) signal, the preceding vehicle 940 is detected, and the preceding vehicle is When it is determined that the vehicle is stopped, the processor 170 generates a control signal for turning on the ISG function. In this case, when the ISG function operates normally, the vehicle 700 is traveling or stopped at a preset speed or lower, and an input is received from the brake pedal 721d in a state in which no input through the accelerator pedal 721c is received. , The drive of the power source is stopped.

When the vehicle 700 is slow toward the intersection or temporarily stops in front of the intersection, and the signal output from the traffic light is a left turn (or right turn in case of an RHD vehicle), the preceding vehicle 1140 is detected, and the detected preceding When it is determined that the vehicle is driving the preceding vehicle, the control signal generator 830 generates a control signal for turning off the ISG function.

13A is a flow chart referenced to explain the operation of the vehicle driving assistance apparatus according to the third embodiment of the present invention.

13A, the processor 170 may acquire an image in front of the vehicle or an image around the vehicle through the camera 195 (S1310 ). Here, the camera 195 may be a camera described with reference to FIGS. 2A to 3C. According to an embodiment, three or more cameras 195 may be provided.

The camera 195 may capture an image in front of the vehicle or an image around the vehicle under the control of the processor 170. The image acquired by the camera 195 may include at least one object.

The camera 195 may acquire an image of at least one of a traffic light, a traffic sign, and a road surface under the control of the processor 170.

In a state in which the vehicle front image or the vehicle surrounding image is acquired, the processor 170 may process the acquired vehicle front image or the vehicle surrounding image (S1315). The processor 170 detects an object from an image in front of the vehicle or an image around the vehicle. The processor 170 may detect information from the detected object. Here, the object may be at least one of a traffic light, a traffic sign, and a road surface.

The information may be information on the driving situation of the vehicle. For example, the information may be intersection information or signal information output from a traffic light. The traffic light may be a vehicle traffic light or a pedestrian traffic light.

The processor 170 may detect information on an intersection based on a traffic light, a traffic sign, or a road surface included in the image in front of the vehicle or the image around the vehicle. The processor 170 may detect information on the intersection in the same manner as described with reference to FIGS. 10A to 12B.

The processor 170 may detect signal information output from a traffic light based on a traffic light image included in an image in front of the vehicle or an image around the vehicle. The processor 170 may detect signal information output from the traffic light based on the color or shape of the traffic light image. The processor 170 may check signal information output from a traffic light by comparing the detected information with the information stored in the memory 140.

The processor 170 may detect a preceding vehicle from an image in front of the vehicle or an image around the vehicle. When the camera 195 is a mono camera, the processor 170 may detect the distance to the preceding vehicle based on a change in the size of the preceding vehicle detected in a plurality of frames generated over time. In addition, when the camera 195 is a stereo camera, the processor 170 can detect the distance to the preceding vehicle based on the disparity according to the distance difference between the first and second cameras 195a and 195b. do.

The processor 170 may determine whether the vehicle 700 proceeds slowly or temporarily stops for a right turn (S1320). Here, the slow driving is one of conditions in which the ISG function operates, and may mean driving less than a preset speed (for example, 10 km per hour or less). Here, the temporary stop is one of conditions in which the ISG function operates, and may mean a state in which the vehicle stops for a short period of time (eg, less than 1 second) and then accelerates.

The processor 170 determines a right turn situation based on information, navigation information, or turn signal information.

For example, the processor 170 may determine a right turn situation based on the navigation information. Here, the processor 170 may receive navigation information from the AVN device 400, the control unit 770, or a separate navigation device (not shown) through the interface unit 130. The navigation information includes route information from the current location of the vehicle to the destination. The processor 170 may determine a right turn state at a point where the vehicle is currently located, based on the route information.

For another example, the processor 170 may determine a right turn situation based on the turn signal information. Here, the processor 170 may receive turn signal information from the control unit 770 through the interface unit 130. The turn signal information may be a turn on signal of a direction indicator for a left turn or a right turn input by a user. When a turn-on input of a left or right turn indicator is received through a user input unit (724 in FIG. 7) of a vehicle, the processor 170 may receive turn signal information through the interface unit 130. When receiving the right turn turn signal information in a state close to the intersection, the processor 170 may determine the right turn state.

The processor 170 may determine whether the vehicle 700 proceeds slowly or stops temporarily.

For example, the processor 170 detects a predetermined object (for example, information about an intersection) from an image in front of the vehicle or an image around the vehicle, tracks the detected object, and causes the vehicle 700 to slowly move toward the intersection. Or you can determine if you are paused in front of an intersection. Specifically, the processor 170 may determine whether the vehicle 700 is slowing down or temporarily stops based on a relative distance or a relative speed with the detected object.

For example, the processor 170 may receive vehicle speed information from the sensing unit 760 or the control unit 770 through the interface unit 130 and determine whether to slow down or pause based on the vehicle speed. .

In a state in which it is determined whether to go slowly or temporarily stop for a right turn, the processor 170 may determine whether the signal output from the detected pedestrian traffic light is stop information of the pedestrian (S1330).

The processor 170 may determine whether a signal output from a pedestrian traffic light is a stop signal of a pedestrian based on the detected information.

The processor 170 may detect a color or shape of a pedestrian traffic light and determine whether a signal output from the pedestrian traffic light is a stop signal of a pedestrian. For example, when the color of the detected pedestrian traffic light is red, the processor 170 may determine the pedestrian stop signal. For example, when the shape of a pedestrian traffic light to be detected is a shape of a person at a stop, the processor 170 may determine a stop signal of the pedestrian.

Thereafter, the processor 170 may determine whether the preceding vehicle is detected from the image in front of the vehicle or the image around the vehicle, or whether the detected preceding vehicle is stopped (S1340).

The processor 170 may determine whether the preceding vehicle is stopped based on vehicle speed information and distance information from the preceding vehicle. Specifically, the processor 170 may determine whether the preceding vehicle is stopped based on the vehicle speed and the relative speed with the preceding vehicle calculated based on the relative distance with the preceding vehicle. Alternatively, the processor 170 may determine whether the preceding vehicle is stopped based on the detected braking light of the preceding vehicle. When the detected brake light is in an on state, the processor 170 may determine that the preceding vehicle is stopped.

If the preceding vehicle is detected and it is determined that the preceding vehicle is stopped, the processor 170 may generate a control signal for turning on the ISG function (S1350). The control signal may be provided to the control unit 770.

If the preceding vehicle is not detected or it is determined that the preceding vehicle is traveling, the processor 170 may generate a control signal for turning off the ISG function (S1360). The control signal may be provided to the control unit 770.

In general, when an input is received from the brake pedal 721d while the vehicle is traveling or stopped at a preset speed or lower and an input through the accelerator pedal 721c is not received, the ISG function is turned on and the power source Is stopped. However, according to the third embodiment of the present invention, when slowing down or temporarily stopping for a right turn, the ISG function is not operated even under a condition in which it is to be operated. In this case, the ISG function is operated irrespective of the intention of the driver, thereby preventing side effects of delaying driving.

13B is a detailed block diagram of a processor according to a third embodiment of the present invention.

13B, the processor 170 may include an image processing unit 810, a determination unit 820, and a control signal generation unit 830.

The image processing unit 810 may process an image in front of the vehicle or an image around the vehicle acquired through the camera 195. The image processing unit 810 detects an object based on an image in front of the vehicle or an image around the vehicle. The image processing unit 810 may detect information from the detected object. Here, the object may be at least one of a traffic light, a traffic sign, and a road surface.

The information may be information on the driving situation of the vehicle. For example, the information may be information on an intersection or signal information output from a traffic light. The traffic light may be a vehicle traffic light or a pedestrian traffic light.

The image processing unit 810 may detect information on an intersection based on a traffic light, a traffic sign, or a road surface detected from an image in front of the vehicle or an image around the vehicle. The image processing unit 810 may detect information on an intersection in the same manner as described with reference to FIGS. 10A to 12B.

The image processing unit 810 may detect signal information output from a traffic light based on a traffic light image detected from an image in front of the vehicle or an image around the vehicle. The image processing unit 810 may detect signal information output from a traffic light based on a color or shape of an image of the traffic light.

The image processing unit 810 may compare the detected information with information stored in the memory 140 to check information on an intersection or signal information output from a traffic light.

The image processing unit 810 may detect a preceding vehicle from an image in front of the vehicle or an image around the vehicle. When the camera 195 is a mono camera, the image processing unit 810 may detect the distance to the preceding vehicle based on a change in the size of the preceding vehicle detected in a plurality of frames generated over time. In addition, when the camera 195 is a stereo camera, the image processing unit 810 detects the distance to the preceding vehicle based on the disparity according to the distance difference between the first and second cameras 195a and 195b. It is possible.

The determination unit 820 may determine whether the vehicle 700 proceeds slowly or temporarily stops for a right turn.

The determination unit 820 determines a right turn situation based on navigation information or turn signal information.

For example, the determination unit 820 may determine the right turn situation based on the navigation information. Here, the determination unit 820 may receive the navigation information through the interface unit 130, the AVN device 400, the control unit 770, or a separate navigation device (not shown). The navigation information includes route information from the current location of the vehicle to the destination. The determination unit 820 may determine a right turn state at a point where the vehicle is currently located, based on the route information.

For another example, the determination unit 820 may determine a right turn situation based on the turn signal information. Here, the determination unit 820 may receive turn signal information from the barrel control unit 770 through the interface unit 130. When receiving the right turn turn signal information in a state close to the intersection, the determination unit 820 may determine the right turn state.

The determination unit 820 may determine whether the vehicle 700 proceeds slowly or stops temporarily.

For example, the image processing unit 810 detects an object and tracks the detected object. In this case, the determination unit 820 may determine whether the vehicle 700 is moving slowly or stops temporarily through the tracking information. Specifically, the determination unit 820 may determine whether the vehicle 700 slows down or stops temporarily based on whether the relative distance or the relative speed with the detected object decreases.

For example, the determination unit 820 may receive vehicle speed information from the sensing unit 760 or the control unit 770 through the interface unit 130 and determine whether to slow down or stop temporarily based on the vehicle speed. have.

The determination unit 820 determines whether the signal output from the detected pedestrian traffic light is stop information of the pedestrian. The determination unit 820 may determine whether a signal output from a pedestrian traffic light is a stop signal of a pedestrian based on the detected information.

The image processing unit 810 may detect a color or shape of a pedestrian traffic light, and the determination unit 820 may determine whether a signal output from the pedestrian traffic light is a stop signal of a pedestrian based on the color or shape. For example, when the color of the detected pedestrian traffic light is red, the determination unit 820 may determine as a stop signal of the pedestrian. For example, when a shape of a pedestrian traffic light to be detected is a shape of a person at a stop, the determination unit 820 may determine a stop signal of a pedestrian.

The determination unit 820 determines whether the preceding vehicle detected in the image in front of the vehicle or the image around the vehicle is stopped. The determination unit 820 may determine whether the preceding vehicle is stopped based on vehicle speed information and distance information from the preceding vehicle. Specifically, the determination unit 820 may determine whether the preceding vehicle is stopped based on the vehicle speed and the relative speed with the preceding vehicle calculated based on the relative distance with the preceding vehicle. Alternatively, the determination unit 820 may determine whether the preceding vehicle is stopped based on the detected braking light of the preceding vehicle. When the detected brake light is on, the determination unit 820 may determine that the preceding vehicle is stopped.

The control signal generator 830 may generate a control signal for turning on or off the ISG function based on the determination result of the determination unit 820.

As a result of the determination of the determination unit 820, when it is determined that the vehicle 700 does not move slowly for a right turn, or if it is determined that it does not temporarily stop for a right turn, the control signal generator 830 turns on the ISG function. It generates a control signal for

As a result of the determination of the determination unit 820, if the signal output from the pedestrian traffic light is a Go signal of a pedestrian in a state in which the vehicle 700 is slowly moving or temporarily stopped for a right turn, the control signal generation unit 830 Generates a control signal for ISG function on.

As a result of the determination of the determination unit 820, in a state in which the vehicle 700 is slowing down or temporarily stopped for a right turn, when the preceding vehicle is detected and it is determined that the preceding vehicle is stopped, the control signal generation unit 830 It generates a control signal for on.

As a result of the determination of the determination unit 820, when it is determined that the vehicle 700 is slowing down or temporarily stopping for a right turn, the control signal generation unit 830 generates a control signal for turning off the ISG function.

As a result of the determination of the determination unit 820, when the vehicle 700 is slowing down or temporarily stopping for a right turn, when the signal output from the pedestrian traffic light is a stop signal of the pedestrian, the control signal generation unit 820 It generates a control signal for the ISG function off.

As a result of the determination of the determination unit 820, in a state in which the vehicle 700 is slowing down or temporarily stopped for a right turn, when the preceding vehicle is detected and it is determined that the detected preceding vehicle is traveling, the control signal generator 830 Generates a control signal for the ISG function off.

The control signal generated by the control signal generator 830 may be provided to the control unit 770. In this case, the control signal generation unit 830 may output a control signal to the control unit 770 through the interface unit 130.

14A to 14D are exemplary diagrams referenced for explaining a vehicle driving assistance apparatus when a vehicle slowly moves or stops temporarily for a right turn according to the third embodiment. 14A-14D are shown with a bird eye view.

Referring to FIG. 14A, the processor 170 acquires an image in front of the vehicle or an image around the vehicle through the camera 195.

The processor 170 detects a traffic light, a traffic sign, or a road surface from an image in front of the vehicle or an image around the vehicle. The processor 170 may detect information on an intersection based on the detected traffic lights, traffic signs, or road surfaces.

The processor 170 determines whether the vehicle 700 proceeds slowly or temporarily stops for a right turn.

For example, the processor 170 may determine the right turn state of the vehicle 700 based on the navigation information. Here, the processor 170 may receive navigation information through the interface unit 130, through the AVN device 400, the control unit 770, or a separate navigation device (not shown). The navigation information includes route information from the current location of the vehicle to the destination. The processor 170 may determine a right turn state at a point where the vehicle is currently located, based on the route information.

For another example, the processor 170 may determine a right turn state of the vehicle 700 based on the turn signal information. Here, the processor 170 may receive turn signal information from the control unit 770 through the interface unit 130. When receiving the right turn turn signal information in a state close to the intersection, the processor 170 may determine the right turn state.

The processor 170 may determine whether the vehicle 700 proceeds slowly or stops temporarily.

For example, the processor 170 detects a predetermined object (for example, information about an intersection) from an image in front of the vehicle or an image around the vehicle, tracks the detected object, and causes the vehicle 700 to slowly move toward the intersection. Or you can determine if you are paused in front of an intersection.

For example, the processor 170 may receive vehicle speed information from the sensing unit 760 or the control unit 770 through the interface unit 130 and determine whether to slow down or pause based on the vehicle speed. .

When it is determined that the vehicle 700 is slowing down or temporarily stopping for a right turn, the processor 170 generates a control signal for turning off the ISG function. The control signal may be provided to the control unit 770. In this case, when the ISG function is not operated, the vehicle 700 is driven or stopped at a preset speed or lower, and an input is received from the brake pedal 721d while an input through the accelerator pedal 721c is not received. Even, the drive of the power source is not stopped. That is, the power source is continuously driven.

That is, when the vehicle 700 is slowing down or temporarily stops for a right turn, the ISG function is not operated even under a condition in which it is to be operated.

14B has a difference in detecting a preceding vehicle compared to FIG. 14A. The difference will be mainly described with reference to FIG. 14B.

The processor 170 may detect the preceding vehicle 1440 from an image in front of the vehicle or an image around the vehicle. When the camera 195 is a mono camera, the processor 170 may detect the distance to the preceding vehicle based on a change in the size of the preceding vehicle detected in a plurality of frames generated over time. In addition, when the camera 195 is a stereo camera, the processor 170 can detect the distance to the preceding vehicle based on the disparity according to the distance difference between the first and second cameras 195a and 195b. Do.

The processor 170 may determine whether the preceding vehicle is stopped based on vehicle speed information and distance information from the preceding vehicle. Specifically, the processor 170 may determine whether the preceding vehicle is stopped based on the vehicle speed and the relative speed with the preceding vehicle calculated based on the relative distance with the preceding vehicle. Alternatively, the processor 170 may determine whether the preceding vehicle is stopped based on the detected braking light of the preceding vehicle.

In a state in which the vehicle 700 moves slowly or stops temporarily for a right turn, the processor 170 detects the preceding vehicle 1440 and determines whether the detected preceding vehicle 1440 is stopped. The processor 170 may determine whether the preceding vehicle 1440 is stopped based on vehicle speed information and distance information from the preceding vehicle. Specifically, the processor 170 may determine whether the preceding vehicle is stopped based on the vehicle speed and the relative speed with the preceding vehicle calculated based on the relative distance with the preceding vehicle. Alternatively, the processor 170 may determine whether the preceding vehicle is stopped based on the detected braking light of the preceding vehicle.

In a state in which the vehicle 700 is slowing down or temporarily stopping for a right turn, when the preceding vehicle 1440 is detected and it is determined that the preceding vehicle 1440 is stopped, the processor 170 is used for ISG on. Generate a control signal. In this case, when the ISG function operates normally, the vehicle 700 is traveling or stopped at a preset speed or lower, and an input is received from the brake pedal 721d in a state in which no input through the accelerator pedal 721c is received. , The drive of the power source is stopped.

In a state in which the vehicle 700 is slowly moving or temporarily stopped for a right turn, when the preceding vehicle 1440 is detected and it is determined that the preceding vehicle 1440 is traveling, the processor 170 turns off the ISG function. It generates a control signal for

14C shows a difference in detecting a pedestrian traffic light compared to FIG. 14A. The difference will be mainly described with reference to FIG. 14C.

The processor 170 may detect signal information output from the traffic light based on the traffic light 1410 detected from the image in front of the vehicle or the image around the vehicle. The processor 170 may detect signal information output from the traffic light based on the color or shape of the traffic light image. The processor 170 may check signal information output from a traffic light by comparing the detected information with the information stored in the memory 140. Here, the traffic light may be a vehicle traffic light or a pedestrian traffic light.

The processor 170 may detect and determine a pedestrian Go signal 1413 or a pedestrian Stop signal 1411 from the pedestrian traffic light 1410.

For example, when the color of the detected pedestrian traffic light is red, the processor 170 may determine a signal output from the pedestrian traffic light 1410 as a pedestrian stop signal. For example, when the shape of the detected pedestrian traffic light has a shape of a person at a stop, the processor 170 may determine a signal output from the pedestrian traffic light 1410 as a pedestrian stop signal.

For example, when the color of the detected pedestrian traffic light is green, the processor 170 may determine a signal output from the pedestrian traffic light 1410 as a pedestrian high signal. For example, when the shape of the detected pedestrian traffic light is the shape of a walking person, the processor 170 may determine a signal output from the pedestrian traffic light 1410 as a pedestrian high signal.

In a state in which the vehicle 700 is slowly moving or temporarily stopped for a right turn, when the signal output from the pedestrian traffic light 1410 is the high signal 1413 of the pedestrian, the processor 170 controls the ISG function on (on). Generate a signal.

In a state in which the vehicle 700 is slowly moving or temporarily stopped for a right turn, when the signal output from the pedestrian traffic light 1410 is the stop signal 1411 of a pedestrian, the processor 170 controls the ISG function off. Generate a signal.

14D differs from that of FIG. 14A in that it is an RHD vehicle. The difference will be mainly described with reference to FIG. 14D.

The processor 170 determines whether the RHD vehicle 700 proceeds slowly or temporarily stops for a left turn.

When it is determined that the RHD vehicle 700 is slowing down or temporarily stopping for a left turn, the processor 170 generates a control signal for turning off the ISG function. The control signal may be provided to the control unit 770.

The RHD vehicle differs from the LHD vehicle only in the left or right traffic on the road, and the operations such as image processing, judgment, and control signal generation are performed in the same manner as the LHD vehicle.

15A is a flowchart referenced to explain the operation of the vehicle driving assistance apparatus according to the fourth embodiment of the present invention.

Referring to FIG. 15A, the processor 170 may acquire an image in front of the vehicle or an image around the vehicle through the camera 195 (S1510 ). Here, the camera 195 may be a camera described with reference to FIGS. 2A to 3C. According to an embodiment, three or more cameras 195 may be provided.

The camera 195 may capture an image in front of the vehicle or an image around the vehicle under the control of the processor 170. The image acquired by the camera 195 may include at least one object.

The camera 195 may acquire an image of at least one of a traffic light, a traffic sign, and a road surface under the control of the processor 170.

In a state in which the vehicle front image or the vehicle surrounding image is acquired, the processor 170 may process the acquired vehicle front image or the vehicle surrounding image (S1515). The processor 170 detects an object from an image in front of the vehicle or an image around the vehicle. The processor 170 may detect information from the detected object. Here, the object may be at least one of a traffic light, a traffic sign, and a road surface. In addition, the object may be at least one of a lane, a nearby vehicle, a pedestrian, a light, and a traffic signal.

The information may be information on the driving situation of the vehicle. For example, the information may be unprotected left turn information. The unprotected left turn information may include information about an unprotected left turn situation or an unprotected left turn lane.

The processor 170 may detect a traffic light, a traffic sign, or a road surface from an image, and detect unprotected left turn information from the detected traffic light, a traffic sign, or a road surface.

For example, the processor 170 detects a pattern or text from a traffic sign detected from an image in front of the vehicle or an image around the vehicle. The processor 170 may detect unprotected left turn information based on the detected pattern or text.

For another example, the processor 170 detects a pattern or text from a road surface detected from an image in front of the vehicle or an image around the vehicle. The processor 170 may detect unprotected left turn information based on the detected pattern or text.

The processor 170 detects a design or text from a road surface detected from an image in front of the vehicle or an image around the vehicle. When a pattern or text indicating an unprotected left turn is detected, a lane including the pattern or text may be an unprotected left turn lane.

The processor 170 may check the unprotected left turn information by comparing the detected information with the information stored in the memory 140.

The processor 170 may detect a preceding vehicle from an image in front of the vehicle or an image around the vehicle. When the camera 195 is a mono camera, the processor 170 may detect the distance to the preceding vehicle based on a change in the size of the preceding vehicle detected in a plurality of frames generated over time. In addition, when the camera 195 is a stereo camera, the processor 170 can detect the distance to the preceding vehicle based on the disparity according to the distance difference between the first and second cameras 195a and 195b. do.

The processor 170 may determine whether the vehicle 700 proceeds slowly or temporarily stops for an unprotected left turn (S1520). Here, the slow driving is one of conditions in which the ISG function operates, and may mean driving less than a preset speed (for example, 10 km per hour or less). Here, the temporary stop is one of conditions in which the ISG function operates, and may mean a state in which the vehicle stops for a short period of time (eg, less than 1 second) and then accelerates.

The processor 170 determines an unprotected left turn situation based on information, navigation information, or turn signal information.

For example, the processor 170 may determine an unprotected left turn situation based on the navigation information. Here, the processor 170 may receive navigation information from the AVN device 400, the control unit 770, or a separate navigation device (not shown) through the interface unit 130. Here, the processor 170 may receive turn signal information from the control unit 770 through the interface unit 130. The navigation information includes route information from the current location of the vehicle to the destination. The processor 170 may determine a state of unprotected left turn at a point where the vehicle is currently located based on the route information.

For another example, the processor 170 may determine an unprotected left turn situation based on the turn signal information. The turn signal information may be a turn on signal of a direction indicator for a left turn or a right turn input by a user. When a turn-on input of a left or right turn indicator is received through a user input unit (724 in FIG. 7) of a vehicle, the processor 170 may receive turn signal information through the interface unit 130. When receiving the left turn turn signal information in the unprotected left turn lane, the processor 170 may determine an unprotected left turn situation.

The processor 170 may determine whether the vehicle 700 is located in the unprotected left turn lane based on the detected lane displayed on the road surface and a pattern or text indicating the detected unprotected left turn.

The processor 170 may determine whether the vehicle 700 proceeds slowly or stops temporarily.

For example, the processor 170 detects a predetermined object (for example, a lane) from an image in front of the vehicle or an image around the vehicle, and tracks information on the detected object, so that the vehicle 700 proceeds slowly or stops temporarily. You can determine if it is. Specifically, the processor 170 may determine whether the vehicle 700 is slowing down or temporarily stops based on a relative distance or a relative speed with the detected object.

For example, the processor 170 may receive vehicle speed information from the sensing unit 760 or the control unit 770 through the interface unit 130 and determine whether to slow down or stop temporarily based on the vehicle speed. .

Thereafter, the processor 170 may determine whether the preceding vehicle is detected from the image in front of the vehicle or the image around the vehicle, or whether the detected preceding vehicle is stopped (S1540). The processor 170 may determine whether the preceding vehicle is stopped based on vehicle speed information and distance information from the preceding vehicle. Specifically, the processor 170 may determine whether the preceding vehicle is stopped based on the vehicle speed and the relative speed with the preceding vehicle calculated based on the relative distance with the preceding vehicle. Alternatively, the processor 170 may determine whether the preceding vehicle is stopped based on the detected braking light of the preceding vehicle. When the detected brake light is in an on state, the processor 170 may determine that the preceding vehicle is stopped.

If the preceding vehicle is detected and it is determined that the preceding vehicle is stopped, the processor 170 may generate a control signal for turning on the ISG function (S1550). The control signal may be provided to the control unit 770.

If the preceding vehicle is not detected or it is determined that the preceding vehicle is traveling, the processor 170 may generate a control signal for turning off the ISG function (S1560). The control signal may be provided to the control unit 770.

In general, when an input is received from the brake pedal 721d while the vehicle is traveling or stopped at a preset speed or lower and an input through the accelerator pedal 721c is not received, the ISG function is turned on and the power source Is stopped. However, according to the fourth embodiment of the present invention, when slowing down or temporarily stopping for an unprotected left turn, the ISG function is not operated even under a condition in which it is to be operated. In this case, the ISG function is operated irrespective of the intention of the driver, thereby preventing side effects of delaying driving.

15B is a detailed block diagram of a processor according to the fourth embodiment of the present invention.

Referring to FIG. 15B, the processor 170 may include an image processing unit 810, a determination unit 820, and a control signal generation unit 830.

The image processing unit 810 may process an image in front of the vehicle or an image around the vehicle acquired through the camera 195. The image processing unit 810 detects an object based on an image in front of the vehicle or an image around the vehicle. The image processing unit 810 may detect information from the detected object. Here, the object may be at least one of a traffic light, a traffic sign, and a road surface. In addition, the object may be at least one of a lane, a nearby vehicle, a pedestrian, a light, and a traffic signal.

The information may be information on the driving situation of the vehicle. For example, the information may be unprotected left turn information.

The image processing unit 810 may detect unprotected left turn information based on a traffic light, a traffic sign, or a road surface included in the image in front of the vehicle or the image around the vehicle. The unprotected left turn information may include information about an unprotected left turn situation or an unprotected left turn lane.

For example, the image processing unit 170 detects a pattern or text from a traffic sign or road surface image detected from an image in front of the vehicle or an image around the vehicle. The image processing unit 170 may detect unprotected left turn information based on the detected pattern or text. The image processing unit 810 may check the unprotected left turn information by comparing the detected information with information stored in the memory 140.

The image processing unit 170 may detect unprotected left turn lane information on a road surface detected from an image in front of the vehicle or an image around the vehicle.

The image processing unit 810 may detect a preceding vehicle from an image in front of the vehicle or an image around the vehicle. When the camera 195 is a mono camera, the image processing unit 810 may detect the distance to the preceding vehicle based on a change in the size of the preceding vehicle detected in a plurality of frames generated over time. In addition, when the camera 195 is a stereo camera, the image processing unit 810 detects the distance to the preceding vehicle based on the disparity according to the distance difference between the first and second cameras 195a and 195b. It is possible.

The determination unit 820 may determine whether the vehicle 700 proceeds slowly or temporarily stops for an unprotected left turn.

The determination unit 820 determines an unprotected left turn situation based on the unprotected left turn information detected by the image processing unit 810.

The determination unit 820 may determine whether the vehicle 700 is located in the unprotected left turn lane based on the unprotected left turn lane information.

For example, the determination unit 820 may determine an unprotected left turn situation based on the navigation information. The navigation information includes route information from the current location of the vehicle to the destination. The determination unit 820 may determine an unprotected left turn situation at a point where the vehicle is currently located, based on the route information.

For another example, the determination unit 820 may determine an unprotected left turn situation based on the turn signal information. When receiving the left turn turn signal information in the unprotected left turn lane, the determination unit 820 may determine the unprotected left turn situation.

The determination unit 820 may determine whether the vehicle 700 is located in the unprotected left turn lane based on the detected lane displayed on the road surface and a pattern or text indicating the detected unprotected left turn.

The determination unit 820 may determine whether the vehicle 700 proceeds slowly or stops temporarily.

For example, the image processing unit 810 detects an object and tracks the detected object. In this case, the determination unit 820 may determine whether the vehicle 700 is moving slowly or stops temporarily through the tracking information. Specifically, the determination unit 820 may determine whether the vehicle 700 slows down or stops temporarily based on whether the relative distance or the relative speed with the detected object decreases.

For example, the determination unit 820 may receive vehicle speed information from the sensing unit 760 or the control unit 770 through the interface unit 130 and determine whether to slow down or stop temporarily based on the vehicle speed. have.

The control signal generator 830 may generate a control signal for turning on or off the ISG function based on the determination result of the determination unit 820.

As a result of the determination of the determination unit 820, when it is determined that the vehicle 700 does not slow down for an unprotected left turn or temporarily stops for an unprotected left turn, the control signal generation unit 830 turns on the ISG function. It generates a control signal for

As a result of the determination of the determination unit 820, in a state in which the vehicle 700 is slowing down or temporarily stopped for an unprotected left turn, when the preceding vehicle is detected and it is determined that the preceding vehicle is stopped, the control signal generation unit 830 Generates a control signal for ISG on.

As a result of the determination by the determination unit 820, when it is determined that the vehicle 700 is slowing down or temporarily stopping for an unprotected left turn, the control signal generation unit 830 generates a control signal for turning off the ISG function.

As a result of the determination of the determination unit 820, in a state in which the vehicle 700 is slowing down or temporarily stopped for an unprotected left turn, when the preceding vehicle is detected and it is determined that the detected preceding vehicle is traveling, the control signal generation unit 830 ) Generates a control signal for the ISG function off.

The control signal generated by the control signal generator 830 may be provided to the control unit 770. In this case, the control signal generation unit 830 may output a control signal to the control unit 770 through the interface unit 130.

16A to 16C are exemplary diagrams referenced for describing a vehicle driving assistance apparatus when a vehicle is slowing down or temporarily stops for an unprotected left turn (in case of an RHD vehicle, a right turn) according to the fourth embodiment. 16A-16C are shown in a bird eye view.

Referring to FIG. 16A, the processor 170 acquires an image in front of the vehicle or an image around the vehicle through the camera 195.

The processor 170 detects a traffic sign 1610 or a road surface from an image in front of the vehicle or an image around the vehicle. The processor 170 may detect information on an unprotected left turn based on the detected traffic sign 1610 or a pattern or text displayed on the road surface.

For example, the processor 170 detects a "left-handed arrow" design and a text marked "unprotected" from a traffic sign image included in the image in front of the vehicle or the image around the vehicle. The processor 170 may detect unprotected left turn information based on the detected pattern or text.

For another example, the processor 170 detects a "left-handed arrow" design and a text 1615 marked "unprotected" from a road surface image included in an image in front of the vehicle or an image around the vehicle. The processor 170 may detect unprotected left turn information based on the detected pattern or text.

The processor 170 determines whether the vehicle 700 proceeds slowly or temporarily stops for an unprotected left turn.

For example, the processor 170 may determine an unprotected left turn situation based on the navigation information. The navigation information includes route information from the current location of the vehicle to the destination. The processor 170 may determine a state of unprotected left turn at a point where the vehicle is currently located based on the route information.

For another example, the processor 170 may determine an unprotected left turn situation based on the turn signal information. When receiving the left turn turn signal information in the unprotected left turn lane, the processor 170 may determine an unprotected left turn situation.

The processor 170 may determine whether the vehicle 700 proceeds slowly or stops temporarily.

For example, the processor 170 detects a predetermined object (for example, a lane or a traffic sign) from an image in front of the vehicle or an image around the vehicle, and tracks information on the detected object, so that the vehicle 700 moves slowly. You can decide whether you are going to stop or stop temporarily.

For example, the processor 170 may receive vehicle speed information from the sensing unit 760 or the control unit 770 through the interface unit 130 and determine whether to slow down or stop temporarily based on the vehicle speed. .

When it is determined that the vehicle 700 is slowing down or temporarily stopping for an unprotected left turn, the processor 170 generates a control signal for turning off the ISG function. The control signal may be provided to the control unit 770. In this case, when the ISG function is not operated, the vehicle 700 is driven or stopped at a preset speed or lower, and an input is received from the brake pedal 721d while an input through the accelerator pedal 721c is not received. Even, the drive of the power source is not stopped. That is, the power source is continuously driven.

That is, when the vehicle 700 is slow or temporarily stopped for unprotected left turn, the ISG function is not operated even under a condition in which the ISG function is to be operated.

In FIG. 16B, compared to FIG. 16A, when driving the vehicle 700 unprotected left turn (in the case of an RHD vehicle, turn right), an approaching pedestrian traffic light is detected. The difference will be mainly described with reference to FIG. 16B.

When the vehicle 700 travels in an unprotected left turn, the processor 170 may detect a pedestrian traffic light 1620 approaching from an image in front of the vehicle or an image around the vehicle.

The processor 170 determines whether the signal output from the detected pedestrian traffic light is stop information of the pedestrian. The processor 170 may detect a color or shape of a pedestrian traffic light and determine whether a signal output from the pedestrian traffic light is a stop signal of a pedestrian. For example, when the color of the detected pedestrian traffic light is green, the processor 170 may determine the pedestrian's Go signal. For example, when the shape of the detected pedestrian traffic light is the shape of a walking person, the processor 170 may determine the pedestrian's Go signal.

When the vehicle 700 is an unprotected left turn (in the case of an RHD vehicle, an unprotected right turn), when a pedestrian Go signal is detected from an image including a pedestrian traffic light, the processor 170 generates a control signal for turning off the ISG function. .

In this case, when the pedestrian stop signal is output from the pedestrian traffic light 1620, the vehicle 700 can quickly drive.

16C differs from that of FIG. 16A in that it is an RHD vehicle. The difference will be mainly described with reference to FIG. 16C.

The processor 170 determines whether the RHD vehicle 700 proceeds slowly or temporarily stops for an unprotected right turn.

When it is determined that the RHD vehicle 700 proceeds slowly or temporarily stops for an unprotected right turn, the processor 170 generates a control signal for turning off the ISG function. The control signal may be provided to the control unit 770.

The RHD vehicle differs from the LHD vehicle only in the left or right traffic on the road, and the operations such as image processing, judgment, and control signal generation are performed in the same manner as the LHD vehicle.

17A is a flow chart referenced to explain the operation of the vehicle driving assistance apparatus according to the fifth embodiment of the present invention.

Referring to FIG. 17A, the processor 170 may acquire an image in front of the vehicle or an image around the vehicle through the camera 195 (S1710 ). Here, the camera 195 may be a camera described with reference to FIGS. 2A to 3C. According to an embodiment, three or more cameras 195 may be provided.

The camera 195 may capture an image in front of the vehicle or an image around the vehicle under the control of the processor 170. The image acquired by the camera 195 may include at least one object.

The camera 195 may acquire an image of at least one of a traffic light, a traffic sign, and a road surface under the control of the processor 170.

In a state in which the vehicle front image or the vehicle surrounding image is acquired, the processor 170 may process the acquired vehicle front image or the vehicle surrounding image (S1715). The processor 170 detects an object from an image in front of the vehicle or an image around the vehicle. The processor 170 may detect information from the detected object. Here, the object may be at least one of other previously parked vehicles, traffic lights, traffic signs, and road surfaces. In addition, the object may be at least one of a lane, a nearby vehicle, a pedestrian, a light, and a traffic signal.

The information may be information on the driving situation of the vehicle. For example, the information may be parking information. Here, the parking information may be information indicating that the vehicle 700 is located in a parking lot.

The processor 170 may detect parking information based on a traffic light, a traffic sign, or a road surface detected from an image in front of the vehicle or an image around the vehicle.

For example, the processor 170 detects a pattern or text from a traffic sign detected from an image in front of the vehicle or an image around the vehicle. The processor 170 may detect parking information based on the detected pattern or text.

For another example, the processor 170 detects a pattern or text from a road surface detected from an image in front of the vehicle or an image around the vehicle. The processor 170 may detect parking information based on the detected pattern or text.

For another example, the processor 170 detects another parked vehicle from an image in front of the vehicle or an image around the vehicle. The processor 170 may detect parking information based on the detected other vehicle.

The processor 170 may check parking information by comparing the detected information with the information stored in the memory 140.

The processor 170 may determine whether the vehicle 700 proceeds slowly or temporarily stops for parking (S1720). Here, the slow driving is one of conditions in which the ISG function operates, and may mean driving less than a preset speed (for example, 10 km per hour or less). Here, the temporary stop is one of conditions in which the ISG function operates, and may mean a state in which the vehicle stops for a short period of time (eg, less than 1 second) and then accelerates.

The processor 170 may determine the parking situation.

The processor 170 may detect parking lot information from a traffic sign or road surface detected from an image in front of the vehicle or an image around the vehicle. The processor 170 may determine a parking situation based on the detected parking lot information. The processor 170 may detect a parking division line on the detected road surface. The processor 170 may detect parking lot information based on the detected parking partition line.

For example, when a "vehicle" design or text "Parking" indicating parking is detected in the traffic sign image, the processor 170 may determine the parking situation.

For example, when at least one parking demarcation line is detected in the road surface image, the processor 170 may determine the parking situation. Here, the parking partition line may be any one of a vertical parking partition line, a parallel parking partition line, and an oblique parking partition line.

For example, the processor 170 may determine the parking situation when the number of previously parked other vehicles detected in the image in front of the vehicle or the image around the vehicle is greater than or equal to a predetermined number.

The processor 170 may determine the parking situation based on the navigation information. Specifically, the processor 170 may determine a parking situation based on whether the vehicle 700 is located in the parking lot among the navigation information.

For example, when it is determined that the vehicle 700 enters the parking lot based on the navigation information, the processor 170 may determine the parking situation.

The processor 170 may determine whether a parking operation is performed based on vehicle speed information, steering wheel rotation angle information, or gear shift information. The processor 170 may determine a parking situation based on the detected parking operation.

For example, the processor 170 may receive vehicle speed information, rotation angle information of a steering wheel, or gear shift information from the sensing unit 760 or the control unit 770 through the interface unit 130. For example, when the vehicle 700 is traveling at a low speed or stopped, and the rotation angle of the steering wheel is equal to or greater than the reference angle to the left or right, the processor 170 may determine the parking situation. For example, when the steering wheel is rotated to the left or right more than a preset number of times while the vehicle 700 is traveling at a low speed or stopped, the processor 170 may determine the parking situation. For example, in a state in which the vehicle 700 is traveling at a low speed or is stopped, when a gear shift for backward or forward is repeated along with a steering wheel rotation, the processor 170 may determine the parking situation.

The processor 170 may determine a parking situation based on a user input.

For example, the processor 170 may receive a user input for entering the automatic parking mode, which is received through the interface unit 130 and through the user input unit 724 of the vehicle 700. When a user input for entering the automatic parking mode is received, the processor 170 may determine a parking situation based on the user input.

The processor 170 may determine whether the vehicle 700 proceeds slowly or stops temporarily.

For example, the processor 170 detects a predetermined object (e.g., a parking partition line) from an image in front of the vehicle or an image around the vehicle, and tracks the detected object to determine whether the vehicle 700 is slowing down or stopping temporarily. can do. Specifically, the processor 170 may determine whether the vehicle 700 is slowing down or temporarily stops based on a relative distance or a relative speed with the detected object.

For example, the processor 170 may receive vehicle speed information from the sensing unit 760 or the control unit 770 through the interface unit 130 and determine whether to slow down or stop temporarily based on the vehicle speed. .

If it is determined that the vehicle 700 is slowing down for parking or temporarily stopping, the processor 170 may generate a control signal for turning off the ISG function (S1730). The control signal may be provided to the control unit 770.

If it is not determined that the vehicle 700 is slowing down for parking or temporarily stopping, the processor 170 may generate a control signal for the ISG function on (S1740). The control signal may be provided to the control unit 770.

In general, when an input is received from the brake pedal 721d while the vehicle is traveling or stopped at a preset speed or lower and an input through the accelerator pedal 721c is not received, the ISG function is turned on and the power source Is stopped. However, according to the fifth embodiment of the present invention, when slowing down or temporarily stopping for parking, the ISG function is not operated even under the condition in which it is to be operated. In this case, there is an effect of preventing side effects of operating the ISG function regardless of the driver's intention.

17B is a detailed block diagram of a processor according to a fifth embodiment of the present invention.

Referring to FIG. 17B, the processor 170 may include an image processing unit 810, a determination unit 820, and a control signal generation unit 830.

The image processing unit 810 may process an image in front of the vehicle or an image around the vehicle acquired through the camera 195. The image processing unit 810 may detect an object based on an image in front of the vehicle or an image around the vehicle. The image processing unit 810 may detect information from the detected object. Here, the object may be at least one of a traffic light, a traffic sign, and a road surface. In addition, the object may be at least one of a lane, a nearby vehicle, a pedestrian, a light, and a traffic signal.

The information may be information on the driving situation of the vehicle. For example, the information may be parking information. Here, the parking information may be information indicating that the vehicle 700 is located in a parking lot.

The image processing unit 810 may detect parking information based on a traffic light, a traffic sign, or a road surface detected from an image in front of the vehicle or an image around the vehicle.

For example, the image processing unit 810 detects a pattern or text from a traffic sign image included in an image in front of the vehicle or an image around the vehicle. The image processing unit 810 may detect parking information based on the detected pattern or text.

For another example, the image processing unit 810 detects a design or text from a road surface image included in an image in front of the vehicle or an image around the vehicle. The image processing unit 810 may detect parking information based on the detected pattern or text.

For another example, the image processing unit 810 detects another vehicle previously parked from an image in front of the vehicle or an image around the vehicle. The image processing unit 810 may detect parking information based on the detected other vehicle.

The determination unit 820 may determine whether the vehicle 700 is moving slowly or temporarily stops for parking.

The determination unit 820 may determine the parking situation.

For example, the image processing unit 810 may detect parking lot information from a traffic sign or road surface detected from an image in front of the vehicle or an image around the vehicle. The determination unit 820 may determine a parking situation based on the detected parking lot information.

For example, the image processing unit 810 may detect the text of parking (Parking) from a traffic sign or road surface detected from an image in front of the vehicle or an image around the vehicle. When the text “Parking” is detected, the determination unit 820 may determine a parking situation.

For example, the image processing unit 810 may detect a parking partition line from a road surface detected from an image in front of the vehicle or an image around the vehicle. The image processing unit 810 may detect parking lot information based on the detected at least one parking segment line. The determination unit 820 may determine a parking situation based on the detected parking lot information.

For example, the determination unit 820 may determine a parking situation based on navigation information. Specifically, the determination unit 820 may determine a parking situation based on whether the vehicle 700 is located in a parking lot among the navigation information. When it is determined that the vehicle 700 enters the parking lot based on the navigation information, the determination unit 820 may determine the parking situation.

For example, the determination unit 820 may determine the parking situation when the number of previously parked other vehicles detected in the image in front of the vehicle or the image around the vehicle is greater than or equal to a predetermined number.

For example, the determination unit 820 may determine a parking situation based on vehicle speed information, steering wheel rotation angle information, or gear shift information.

For example, the determination unit 820 may determine a parking situation based on a user input.

The determination unit 820 may determine whether the vehicle 700 proceeds slowly or stops temporarily.

For example, the image processing unit 810 detects an object (for example, a parking partition line) and tracks the detected object. In this case, the determination unit 820 may determine whether the vehicle 700 is moving slowly or stops temporarily through the tracking information. Specifically, the determination unit 820 may determine whether the vehicle 700 slows down or stops temporarily based on whether the relative distance or the relative speed with the detected object decreases.

For example, the determination unit 820 may receive vehicle speed information from the sensing unit 760 or the control unit 770 through the interface unit 130 and determine whether to slow down or stop temporarily based on the vehicle speed. have.

The control signal generator 830 may generate a control signal for turning on or off the ISG function based on the determination result of the determination unit 820.

As a result of the determination of the determination unit 820, when it is determined that the vehicle 700 is slowing down for parking or temporarily stopping, the control signal generation unit 830 generates a control signal for turning off the ISG function.

As a result of the determination of the determination unit 820, when it is determined that the vehicle 700 does not move slowly for parking or does not temporarily stop for parking, the control signal generator 830 controls the ISG function to be turned on. Generate a signal.

The control signal generated by the control signal generator 830 may be provided to the control unit 770. In this case, the control signal generation unit 830 may output a control signal to the control unit 770 through the interface unit 130.

18A to 18D are exemplary diagrams referenced for describing a vehicle driving assistance apparatus when a vehicle is slowing down for parking or temporarily stopping according to the fifth embodiment. 18A-18D are shown with a bird eye view.

Referring to FIG. 18A, the processor 170 acquires an image in front of the vehicle or an image around the vehicle through the camera 195.

The processor 170 may detect parking lot information based on the traffic sign 1810 included in the image in front of the vehicle or the image around the vehicle. The processor 170 may determine the parking situation based on the parking lot information.

The processor 170 detects a design or text based on a traffic sign detected from an image in front of the vehicle or an image around the vehicle. The processor 170 may detect parking lot information based on the detected pattern or text.

When a "vehicle" design or text "Parking" indicating parking is detected in the traffic sign image, the processor 170 may determine the parking situation.

The processor 170 may determine whether the vehicle 700 proceeds slowly or stops temporarily.

For example, the processor 170 detects a predetermined object (e.g., a parking partition line) from an image in front of the vehicle or an image around the vehicle, and tracks the detected object to determine whether the vehicle 700 is slowing down or stopping temporarily. can do.

For example, the processor 170 may receive vehicle speed information from the sensing unit 760 or the control unit 770 through the interface unit 130 and determine whether to slow down or stop temporarily based on the vehicle speed. .

If it is determined that the vehicle 700 is slowing down for parking or temporarily stopping, the processor 170 generates a control signal for turning off the ISG function. The control signal may be provided to the control unit 770. In this case, when the ISG function is not operated, the vehicle 700 is driven or stopped at a preset speed or lower, and an input is received from the brake pedal 721d while an input through the accelerator pedal 721c is not received. Even, the drive of the power source is not stopped. That is, the power source is continuously driven.

That is, when the vehicle 700 slows down or stops temporarily for parking, the ISG function is not operated even under a condition in which it is to be operated.

18B to 18D differ from FIG. 18A in detecting parking information based on a road surface image. The differences will be mainly described with reference to FIGS. 18B to 18D.

The processor 170 detects a design or text from a road surface image included in an image in front of the vehicle or an image around the vehicle. The processor 170 may detect parking information based on the detected pattern or text.

When at least one parking demarcation line is detected in the road surface image, the processor 170 may determine the parking situation. Here, the parking partition line may be any one of a vertical parking partition line 1820 illustrated in FIG. 18B, a parallel parking partition line 1830 illustrated in FIG. 18C, and a horizontal parking partition line 1840 illustrated in FIG. 18D.

19A to 19B are flowcharts referenced to explain the operation of the vehicle driving assistance apparatus according to the sixth embodiment of the present invention.

Referring to FIG. 19A, the processor 170 may acquire an image in front of the vehicle or an image around the vehicle through the camera 195 (S1910 ). Here, the camera 195 may be a camera described with reference to FIGS. 2A to 3C. According to an embodiment, three or more cameras 195 may be provided.

The camera 195 may capture an image in front of the vehicle or an image around the vehicle under the control of the processor 170. The image acquired by the camera 195 may include at least one object.

The camera 195 may acquire an image of at least one of a traffic light, a traffic sign, and a road surface under the control of the processor 170.

In a state in which the vehicle front image or the vehicle surrounding image is acquired, the processor 170 may process the acquired vehicle front image or the vehicle surrounding image (S1915). The processor 170 may detect an object from an image in front of the vehicle or an image around the vehicle. The processor 170 may detect information from the detected object. Here, the object may be at least one of other previously parked vehicles, traffic lights, traffic signs, and road surfaces. In addition, the object may be at least one of a lane, a nearby vehicle, a pedestrian, a light, and a traffic signal.

The information may be information on the driving situation of the vehicle. For example, the information may be information on a road, an alley, or a road behind a residential area. Further, the information may be a stop signal or stop line information.

The processor 170 may detect road, alley or back road information formed in a residential area based on a traffic light, a traffic sign, or a road surface detected from an image in front of the vehicle or an image around the vehicle. In addition, the processor 180 may detect a stop signal or stop line information based on a traffic light, a traffic sign, or a road surface detected from an image in front of the vehicle or an image around the vehicle.

For example, the processor 170 may calculate the width of the road from the road surface image. The processor 170 may detect information on roads, alleys, or back roads formed in the residential area based on the calculated width of the road.

For example, the processor 170 may detect whether a lane exists in the road surface image. The processor 170 may detect information on roads, alleys, or back roads formed in a residential area based on whether or not the detected lanes exist.

The processor 170 may detect a stop signal based on the detected traffic sign. Here, the stop signal may be a signal indicating a pause. The processor 170 may detect a stop line based on the detected road surface. Here, the stop line may be a signal indicating a pause.

The processor 170 may determine whether it is driving on a road, an alley, or a back road formed in a residential area (S1920).

The processor 170 determines a driving situation on a road, an alley, or a back road formed in a residential area based on the detected parking information or navigation information. Here, the processor 170 may receive navigation information from the AVN device 400, the control unit 770, or a separate navigation device (not shown) through the interface unit 130.

For example, when the vehicle 700 is driving on a road around an intersection where a traffic light is not provided, the processor 170 may detect a stop signal indicating a temporary stop from the detected traffic sign. In this case, the processor 170 may determine that the vehicle 700 is driving on a road formed in a residential area.

For example, when the vehicle 700 is driving on a road around an intersection where a traffic light is not provided, the processor 170 may detect a stop line indicating a temporary stop on the detected road surface. In this case, the processor 170 may determine that the vehicle 700 is driving on a road formed in a residential area.

For example, when the calculated width of the road is less than or equal to the reference value, the processor 170 may determine a driving situation on a road, an alley, or a back road formed in a residential area.

For example, when a lane is not detected in a road surface image, the processor 170 may determine a driving situation on a road, an alley, or a back road formed in a residential area.

The navigation information may include vehicle location information, driving road information, surrounding building information, and the like. The processor 170 may determine a driving situation on a road, an alley, or a back road formed in a residential area based on at least one of vehicle location information, driving road information, and surrounding building information.

While driving on a road, an alley, or a back road formed in a residential area, the processor 170 may determine whether the vehicle 700 is slow or temporarily stops (S1924). Here, the slow driving is one of conditions in which the ISG function operates, and may mean driving less than a preset speed (for example, 10 km per hour or less). Here, the temporary stop is one of conditions in which the ISG function operates, and may mean a state in which the vehicle stops for a short period of time (eg, less than 1 second) and then accelerates.

For example, the processor 170 may detect a predetermined object in an image in front of the vehicle or an image around the vehicle, track the detected object, and determine whether the vehicle 700 is slowing down or temporarily stops. Specifically, the processor 170 may determine whether the vehicle 700 is slowing down or temporarily stops based on a relative distance or a relative speed with the detected object.

For example, the processor 170 may receive vehicle speed information from the sensing unit 760 or the control unit 770 through the interface unit 130 and determine whether to slow down or stop temporarily based on the vehicle speed. .

If it is determined that the vehicle 700 is slowing down or temporarily stopping on a road, an alley or a back road formed in a residential area, the processor 170 may generate a control signal for turning off the ISG function (S1930). ). The control signal may be provided to the control unit 770.

If it is determined that the vehicle 700 is not driving on a road, an alley or a back road formed in a residential area, the processor 170 may generate a control signal for turning on the ISG function (S1940). The control signal may be provided to the control unit 770.

If, even if the vehicle 700 is traveling on a road, an alley or a back road formed in a residential area, it is determined that it does not slow down or stop temporarily, the processor 170 may generate a control signal for ISG on ( S1940). The control signal may be provided to the control unit 770.

In general, when an input is received from the brake pedal 721d while the vehicle is traveling or stopped at a preset speed or lower and an input through the accelerator pedal 721c is not received, the ISG function is turned on and the power source Is stopped. However, according to the sixth embodiment of the present invention, when slowing down or temporarily stopping on a road, an alley, or a back road formed in a residential area, the ISG function is not operated even under conditions in which the ISG function is to be operated. In this case, there is an effect of preventing side effects of operating the ISG function regardless of the driver's intention.

FIG. 19B further includes a step S1922 of determining whether a stop signal or a stop line is detected between steps S1920 and S1924 as compared with FIG. 19A.

While driving on a road, an alley, or a back road formed in a residential area, the processor 170 may detect a stop signal or a stop line from an image in front of the vehicle or an image around the vehicle (1922). When the text "Stop" is detected in the traffic sign image or the road surface image, the processor 170 may determine that the vehicle stop signal is detected. When the processor 170 detects a line near perpendicular to the vehicle driving direction in the road surface image, it may determine that the stop line is detected.

On roads formed in residential areas in the United States, traffic signs marked with a stop signal are placed everywhere. Also, a stop line is displayed on the road surface. In the United States, it is legal for vehicles to stop for a few seconds in front of a stop sign or stop line marked with a Stop signal and then start again. In this situation, the ISG is activated, and the power source is stopped when the vehicle is stopped, and the power source is repeatedly driven when the vehicle starts again. The driver may feel uncomfortable with the repetition of the stop driving of the power source.

In a state in which the stop signal or the stop line is detected, the processor 170 may determine whether to slow down or stop temporarily (S1924).

If, in a road, an alley, or a back road formed in a residential area, a stop signal or a stop line is detected, and when it is determined that the vehicle 700 is slowing down or temporarily stopping, the processor 170 controls the ISG function off. A signal can be generated (S1930). The control signal may be provided to the control unit 770.

If it is determined that the vehicle 700 is not driving on a road, an alley or a back road formed in a residential area, the processor 170 may generate a control signal for turning on the ISG function (S1940). The control signal may be provided to the control unit 770.

If it is determined that the vehicle 700 is traveling on a road, an alley, or a back road formed in a residential area and it is determined that it does not slow down or stop temporarily even when a stop signal or a stop line is detected, the processor 170 controls the ISG on (on). A signal may be generated (S1940). The control signal may be provided to the control unit 770.

19C is a detailed block diagram of a processor according to the sixth embodiment of the present invention.

Referring to FIG. 19C, the processor 170 may include an image processing unit 810, a determination unit 820, and a control signal generation unit 830.

The image processing unit 810 may process an image in front of the vehicle or an image around the vehicle acquired through the camera 195. The image processing unit 810 may detect an object based on an image in front of the vehicle or an image around the vehicle. The image processing unit 810 may detect information from the detected object. Here, the object may be at least one of a traffic light, a traffic sign, and a road surface. Here, the information may be information on roads, alleys, or back roads formed in residential areas. In addition, the object may be at least one of a lane, a nearby vehicle, a pedestrian, a light, and a traffic signal.

The information may be information on the driving situation of the vehicle. For example, the information may be a stop signal or stop line information.

The image processing unit 810 may detect road, alley or back road information formed in a residential area based on a traffic sign or road surface detected from an image in front of the vehicle or an image around the vehicle. Also, the image processing unit 810 may detect a stop signal or stop line information based on a traffic sign or road surface detected from an image in front of the vehicle or an image around the vehicle.

For example, the image processing unit 810 may detect whether a lane exists in a road surface image. The image processing unit 810 may detect information on roads, alleys, or back roads formed in a residential area based on whether or not the detected lanes exist.

For example, the image processing unit 810 may detect a stop signal from an image of a traffic sign.

For example, the image processing unit 810 may detect a stop line in a road surface image.

The determination unit 820 may determine whether driving on a road, an alley, or a back road formed in a residential area.

The determination unit 820 may determine a driving situation on a road, an alley, or a back road formed in a residential area based on the detected parking information or navigation information.

For example, when the calculated width of the road is less than or equal to the reference value, the determination unit 820 may determine the driving situation on a road, an alley, or a back road formed in a residential area.

For example, when a lane is not detected in a road surface image, the determination unit 820 may determine a driving situation on a road, an alley, or a back road formed in a residential area.

For example, the determination unit 820 may determine the driving situation on a road, an alley, or a back road formed in a residential area based on at least one of vehicle location information, driving road information, and surrounding building information included in the navigation information. have.

The determination unit 820 may determine whether a stop signal or a stop line is detected in an image in front of the vehicle or an image around the vehicle. When the text "Stop" is detected in the traffic sign image or the road surface image, the determination unit 820 may determine the detection of a stop signal of the vehicle. When the determination unit 820 detects a line near perpendicular to the driving direction of the vehicle in the road surface image, it may determine that the stop line is detected.

The determination unit 820 may determine whether the vehicle 700 proceeds slowly or stops temporarily.

For example, the image processing unit 810 detects an object and tracks the detected object. In this case, the determination unit 820 may determine whether the vehicle 700 is moving slowly or stops temporarily through the tracking information. Specifically, the determination unit 820 may determine whether the vehicle 700 slows down or stops temporarily based on whether the relative distance or the relative speed with the detected object decreases.

For example, the determination unit 820 may receive vehicle speed information from the sensing unit 760 or the control unit 770 through the interface unit 130 and determine whether to slow down or stop temporarily based on the vehicle speed. have.

The control signal generator 830 may generate a control signal for turning on or off the ISG function based on the determination result of the determination unit 820.

As a result of the determination of the determination unit 820, when it is determined that the vehicle 700 is slowing down or temporarily stopping on a road, an alley or a back road formed in a residential area, the control signal generation unit 830 turns off the ISG function. It generates a control signal for

As a result of the determination of the determination unit 820, when a stop signal or a stop line is detected on a road, an alley or a back road formed in a residential area, and it is determined that the vehicle 700 is slowing down or temporarily stopping, the control signal generation unit 830 Generates a control signal for the ISG function off.

As a result of the determination of the determination unit 820, when it is determined that the vehicle 700 is not traveling on a road, an alley, or a back road formed in a residential area, the control signal generation unit 830 is a control signal for turning on the ISG function. Create

If it is determined that the vehicle 700 travels slowly or does not stop temporarily even when driving on a road, an alley or a back road formed in a residential area, the control signal generator 830 generates a control signal for ISG on. .

As a result of the determination of the determination unit 820, when it is determined that the vehicle 700 travels on a road, an alley or a back road formed in a residential area and does not slow down or stop temporarily even when a stop signal or a stop line is detected, the control signal generation unit 830 ) Generates a control signal for ISG on

The control signal generated by the control signal generator 830 may be provided to the control unit 770. In this case, the control signal generation unit 830 may output a control signal to the control unit 770 through the interface unit 130.

20A to 20B are exemplary diagrams referenced for explaining a vehicle driving assistance apparatus when a vehicle slowly moves or stops on a road, an alley, or a back road formed in a residential area according to the sixth embodiment. 20A-20B are shown with a bird eye view.

Referring to FIG. 20A, the processor 170 acquires an image in front of the vehicle or an image around the vehicle through the camera 195.

The processor 170 may detect road, alley or back road information formed in a residential area based on a traffic light, a traffic sign 2010, or a road surface detected from an image in front of the vehicle or an image around the vehicle. Further, the processor 180 may detect a stop signal or stop line information based on a traffic light, a traffic sign 2010, or a road surface detected from an image in front of the vehicle or an image around the vehicle.

For example, the processor 170 may calculate the width of the road from the road surface image. The processor 170 may detect information on roads, alleys, or back roads formed in the residential area based on the calculated width of the road.

For example, the processor 170 may detect whether a lane exists in the road surface image. The processor 170 may detect information on roads, alleys, or back roads formed in a residential area based on whether or not the detected lanes exist.

The processor 170 may detect a stop signal from the image of the traffic sign 2010. The processor 170 may detect the stop line 2020 from the road surface image.

While driving on a road, an alley, or a back road formed in a residential area, the processor 170 may determine whether the vehicle 700 proceeds slowly or stops temporarily.

For example, the processor 170 may detect a predetermined object in an image in front of the vehicle or an image around the vehicle, track the detected object, and determine whether the vehicle 700 is slowing down or temporarily stops.

For example, the processor 170 may receive vehicle speed information from the sensing unit 760 or the control unit 770 through the interface unit 130 and determine whether to slow down or stop temporarily based on the vehicle speed. .

Meanwhile, when the text "Stop" is detected in the traffic sign image or the road surface image, the processor 170 may determine that the stop signal is detected. When the processor 170 detects a line near perpendicular to the vehicle driving direction in the road surface image, it may determine that the stop line is detected.

If it is determined that the vehicle 700 is slowing down or temporarily stopping on a road, an alley or a back road formed in a residential area, the processor 170 generates a control signal for turning off the ISG function. The control signal may be provided to the control unit 770.

If, in a road, an alley, or a back road formed in a residential area, a stop signal or a stop line is detected, and when it is determined that the vehicle 700 is slowing down or temporarily stopping, the processor 170 controls the ISG function off. Generate a signal. The control signal may be provided to the control unit 770.

In this case, when the ISG function is not operated, the vehicle 700 is driven or stopped at a preset speed or lower, and an input is received from the brake pedal 721d while an input through the accelerator pedal 721c is not received. Even, the drive of the power source is not stopped. That is, the power source is continuously driven.

That is, in the case of a slow or temporary stop on a road, an alley, or a back road formed in a residential area, the ISG function is not operated even under the conditions in which the ISG function will operate.

20B is an exemplary diagram referred to for describing an operation of the vehicle driving assistance apparatus when stop information or a stop line is detected several times.

When the vehicle 700 travels on a road formed in a residential area, a traffic sign 2010 displaying a stop signal or a stop line 2020 displayed on a road surface may be detected in plurality.

The processor 170 counts the number of times a stop signal or a stop line is detected.

On a road in which the vehicle 700 is formed in a residential area, when the number of times the stop signal or the stop line is detected is more than a preset number and it is determined that the vehicle 700 is slowing down or temporarily stopping, the processor 170 turns off the ISG function. It generates a control signal for The control signal may be provided to the control unit 770.

When a stop signal or a stop line is detected more than a preset number of times, the processor 170 may determine that the road formed in the residential area is driven. In this case, the processor 170 has an effect of more accurately determining a road formed in a residential area.

21A to 21B are flow charts referenced for explaining the operation of the vehicle driving assistance apparatus according to the seventh embodiment of the present invention.

Referring to FIG. 21A, the processor 170 may acquire an image in front of the vehicle or an image around the vehicle through the camera 195 (S2110 ). Here, the camera 195 may be a camera described with reference to FIGS. 2A to 3C. According to an embodiment, three or more cameras 195 may be provided.

The camera 195 may capture an image in front of the vehicle or an image around the vehicle under the control of the processor 170. The image acquired by the camera 195 may include at least one object.

The camera 195 may acquire an image of at least one of a traffic light, a traffic sign, and a road surface under the control of the processor 170.

In a state in which the vehicle front image or the vehicle surrounding image is acquired, the processor 170 may process the acquired vehicle front image or the vehicle surrounding image (S2115). The processor 170 detects an object from an image in front of the vehicle or an image around the vehicle. The processor 170 may detect information from the detected object. Here, the object may be at least one of other previously parked vehicles, traffic lights, traffic signs, and road surfaces. In addition, the object may be at least one of a lane, a nearby vehicle, a pedestrian, a light, and a traffic signal.

The information may be information on the driving situation of the vehicle. For example, the information may be information about a center left turn lane.

The processor 170 may detect a lane in the road surface image. The processor 170 may detect the center left turn lane based on the detected lane.

Different countries have different road traffic systems and regulations. In the United States, there is a waiting lane in the center of the driveway for the vehicle to turn left. Even in the absence of a traffic light, a vehicle waiting in the waiting lane for a left turn may turn left when there is no vehicle running on the opposite side.

The processor 170 may check the center left turn information by comparing the detected information with the information stored in the memory 140.

The processor 170 may determine whether the vehicle 700 slows down or temporarily stops for a left turn in the center left turn lane (S2120).

The processor 170 may determine whether the vehicle 700 is located in the center left turn lane.

For example, the processor 170 may detect a center left turn lane based on the color of the lane. The normal driving lane is white, and the center left turn lane is yellow. That is, when the left and right lines on which the vehicle 700 is located are detected as yellow, the processor 170 may detect the left and right lines as the center left turn lane.

In a state located in the center left turn lane, the processor 170 may determine whether the vehicle 700 moves slowly or temporarily stops for a left turn.

The processor 170 determines a left turn situation based on navigation information or turn signal information.

For example, the processor 170 may determine a left turn situation based on a driving route according to a destination input in the navigation system. Here, the processor 170 may receive navigation information from the AVN device 400, the control unit 770, or a separate navigation device (not shown) through the interface unit 130.

For example, the processor 170 may determine a left turn situation based on turn signal information input while being located in the center left turn lane. Here, the processor 170 may receive turn signal information from the control unit 770 through the interface unit 130. The turn signal information may be a turn on signal of a direction indicator for a left turn or a right turn input by a user. When a turn-on input of a left or right turn indicator is received through a user input unit (724 in FIG. 7) of a vehicle, the processor 170 may receive turn signal information through the interface unit 130.

The processor 170 may determine whether the vehicle 700 proceeds slowly or stops temporarily. Here, the slow driving is one of conditions in which the ISG function operates, and may mean driving less than a preset speed (for example, 10 km per hour or less). Here, the temporary stop is one of conditions in which the ISG function operates, and may mean a state in which the vehicle stops for a short period of time (eg, less than 1 second) and then accelerates.

For example, the processor 170 may detect a predetermined object in an image in front of the vehicle or an image around the vehicle, track the detected object, and determine whether the vehicle 700 is slowing down or temporarily stops. Specifically, the processor 170 may determine whether the vehicle 700 is slowing down or temporarily stops based on a relative distance or a relative speed with the detected object.

For example, the processor 170 may receive vehicle speed information from the sensing unit 760 or the control unit 770 through the interface unit 130 and determine whether to slow down or stop temporarily based on the vehicle speed. .

If it is determined that the vehicle 700 is slowing down or temporarily stopping for a left turn in the center left turn lane, the processor 170 may generate a control signal for turning off the ISG function (S2130). The control signal may be provided to the control unit 770.

If it is determined that the vehicle 700 is not located in the center left turn lane, the processor 170 may generate a control signal for the ISG function on (S2140). The control signal may be provided to the control unit 770.

Even if the vehicle 700 is located in the center left turn lane, if it is determined that the vehicle 700 is slow to make a left turn or does not stop temporarily, the processor 170 may generate a control signal for ISG on ( S2140). The control signal may be provided to the control unit 770.

In general, when an input is received from the brake pedal 721d while the vehicle is traveling or stopped at a preset speed or lower and an input through the accelerator pedal 721c is not received, the ISG function is turned on and the power source Is stopped. However, according to the seventh embodiment of the present invention, when slowing down or temporarily stopping for a left turn in the center left turn lane, the ISG function is not operated even under a condition in which it is to be operated. In this case, the ISG function is operated irrespective of the driver's intention, and there is an effect of preventing a side effect that may cause an accident when a driving delay occurs and an opposite vehicle is present.

FIG. 21B further includes a counter driving vehicle detection step S2125 between step S2120 and step S2130 or S2140 compared to FIG. 21A.

In a state in which the vehicle 700 slows down or temporarily stops for a left turn in the center left turn lane, the processor 170 may detect the opposite driving vehicle from the image in front of the vehicle (S2125). The processor 170 may detect an opposite vehicle whose relative distance or relative speed decreases with the vehicle 700 from the image in front of the vehicle.

If the opposite driving vehicle is detected, the processor 170 may generate a control signal for turning on the ISG function (S2140). If the opposite driving vehicle is present, the ISG function is turned off and there is a risk of an accident when turning left. When the opposite driving vehicle is detected, the ISG function is turned on to drive the power source. Stop.

If the opposite driving vehicle is not detected, the processor 170 may generate a control signal for turning off the ISG function (S2130).

21C is a detailed block diagram of a processor according to the seventh embodiment of the present invention.

Referring to FIG. 21C, the processor 170 may include an image processing unit 810, a determination unit 820, and a control signal generation unit 830.

The image processing unit 810 may process an image in front of the vehicle or an image around the vehicle acquired through the camera 195. The image processing unit 810 may detect an object based on an image in front of the vehicle or an image around the vehicle. The image processing unit 810 may detect information from the detected object. Here, the object may be at least one of a traffic light, a traffic sign, and a road surface. In addition, the object may be at least one of a lane, a nearby vehicle, a pedestrian, a light, and a traffic signal.

The information may be information on the driving situation of the vehicle. For example, the information may be information about a center left turn lane.

The image processing unit 810 may detect information on the center left turn lane based on a road surface image included in an image in front of the vehicle or an image around the vehicle.

The determination unit 820 may determine whether the vehicle 700 is located in the center left turn lane.

For example, the determination unit 820 may detect the center left turn lane based on the color of the lane. The normal driving lane is white, and the center left turn lane is yellow. That is, when the left and right lines on which the vehicle 700 is located are detected as yellow, the determination unit 820 may detect the left and right lines as the center left turn lane.

The determination unit 820 may determine whether the vehicle 700 proceeds slowly or temporarily stops for a left turn.

For example, the determination unit 820 may determine a left turn situation based on a driving route according to a destination input in the navigation system.

For example, the determination unit 820 may determine a left turn situation based on turn signal information input while being located in a center left turn lane.

The determination unit 820 may determine whether the vehicle 700 proceeds slowly or stops temporarily.

For example, the determination unit 820 may detect a predetermined object from an image in front of the vehicle or an image around the vehicle, track the detected object, and determine whether the vehicle 700 is slowing down or temporarily stops. Specifically, the determination unit 820 may determine whether the vehicle 700 slows down or stops temporarily based on whether the relative distance or the relative speed with the detected object decreases.

For example, the determination unit 820 may receive vehicle speed information from the sensing unit 760 or the control unit 770 through the interface unit 130 and determine whether to slow down or stop temporarily based on the vehicle speed. have.

The determination unit 820 may determine whether an opposite driving vehicle is detected.

For example, the determination unit 820 may detect the opposite vehicle based on whether there is an object whose relative distance or relative speed decreases with the vehicle 700 in the image in front of the vehicle.

The control signal generator 830 may generate a control signal for turning on or off the ISG function based on the determination result of the determination unit 820.

As a result of the determination of the determination unit 820, when it is determined that the vehicle 700 is slowing down or temporarily stopping for a left turn in the central left turn lane, the control signal generator 820 is a control signal for turning off the ISG function Create

As a result of the determination of the determination unit 820, when it is determined that the vehicle 700 is not located in the center left turn lane, the control signal generation unit 820 generates a control signal for the ISG function on.

As a result of the determination of the determination unit 820, even when the vehicle 700 is located in the center left turn lane, when it is determined that the vehicle 700 is slow to make a left turn or does not stop temporarily, the control signal generator 830 is turned on the ISG. It generates a control signal for

As a result of the determination of the determination unit 820, even when it is determined that the vehicle 700 is slowing down or temporarily stopping for a left turn in the center left turn lane, when an opposite driving vehicle is detected, the control signal generator 830 It generates a control signal to turn on the function.

The control signal generated by the control signal generator 830 may be provided to the control unit 770. In this case, the control signal generation unit 830 may output a control signal to the control unit 770 through the interface unit 130.

22A to 22B are exemplary diagrams referenced for describing a vehicle driving assistance apparatus when a vehicle is slowing down or temporarily stops for a left turn in a center left turn lane according to the seventh embodiment. 22A-22B are shown with a bird eye view.

Referring to FIG. 22A, the processor 170 acquires an image in front of the vehicle or an image around the vehicle through the camera 195.

The processor 170 may detect information on the center left turn lane based on a traffic light, a traffic sign, or a road surface included in an image in front of the vehicle or an image around the vehicle.

For example, the processor 170 may detect a lane from a road surface image. The processor 170 may detect the center left turn lane 2210 based on the detected lane.

The processor 170 may determine whether the vehicle 700 is located in the center left turn lane 2210.

For example, the processor 170 may detect the center left turn lane 2210 based on the color of the lane. The general driving lane 2211 is white, and the center left turn lane 2210 is yellow. That is, when the left and right lines on which the vehicle 700 is located are detected as yellow, the processor 170 may detect the left and right lines as the center left turn lane 2210.

In a state located in the center left turn lane 2210, the processor 170 may determine whether the vehicle 700 is moving slowly or temporarily stops for a left turn.

For example, the processor 170 may determine a left turn situation based on a driving route according to a destination input in the navigation system.

For example, the processor 170 may determine a left turn situation based on turn signal information input while being located in the center left turn lane.

The processor 170 may determine whether the vehicle 700 proceeds slowly or stops temporarily.

For example, the processor 170 may detect a predetermined object in an image in front of the vehicle or an image around the vehicle, track the detected object, and determine whether the vehicle 700 is slowing down or temporarily stops.

For example, the processor 170 may receive vehicle speed information from the sensing unit 760 or the control unit 770 through the interface unit 130 and determine whether to slow down or stop temporarily based on the vehicle speed. .

If it is determined that the vehicle 700 is slowing down or temporarily stopping for a left turn in the center left turn lane, the processor 170 generates a control signal for turning off the ISG function.

In this case, when the ISG function is not operated, the vehicle 700 is driven or stopped at a preset speed or lower, and an input is received from the brake pedal 721d while an input through the accelerator pedal 721c is not received. Even, the drive of the power source is not stopped. That is, the power source is continuously driven.

That is, in the center left turn lane, when slowing down or temporarily stopping for a left turn, the ISG function is not operated even under the condition that the ISG function is to be operated.

22B shows a difference in the opposite driving vehicle 2220 detected compared to FIG. 22A. The difference will be mainly described with reference to FIG. 22B.

In a state in which the vehicle 700 slows down or temporarily stops for a left turn in the center left turn lane, the processor 170 may detect the opposite driving vehicle 2220 from the image in front of the vehicle.

The processor 170 may detect an opposite vehicle whose relative distance or relative speed decreases with the vehicle 700 from the image in front of the vehicle.

If the opposite driving vehicle is detected, the processor 170 generates a control signal for turning on the ISG function.

23A is a flowchart referenced to explain the operation of the vehicle driving assistance apparatus according to the eighth embodiment of the present invention.

Referring to FIG. 23A, the processor 170 may acquire an image in front of the vehicle or an image around the vehicle through the camera 195 (S2310 ). Here, the camera 195 may be a camera described with reference to FIGS. 2A to 3C. According to an embodiment, three or more cameras 195 may be provided.

The camera 195 may capture an image in front of the vehicle or an image around the vehicle under the control of the processor 170. The image acquired by the camera 195 may include at least one object.

The camera 195 may acquire an image of at least one of a traffic light, a traffic sign, and a road surface under the control of the processor 170.

In a state in which the vehicle front image or the vehicle surrounding image is acquired, the processor 170 may process the acquired vehicle front image or the vehicle surrounding image (S2315). The processor 170 detects an object from an image in front of the vehicle or an image around the vehicle. The processor 170 may detect information from the detected object. Here, the object may be at least one of other previously parked vehicles, traffic lights, traffic signs, and road surfaces. In addition, the object may be at least one of a lane, a nearby vehicle, a pedestrian, a light, and a traffic signal.

The information may be information on the driving situation of the vehicle. For example, the information may be U-turn information.

The processor 170 may detect a traffic sign from an image in front of the vehicle or an image around the vehicle. The processor 170 may detect a pattern or text from an image of a traffic sign. The processor 170 may detect U-turn information based on the detected pattern or text.

The processor 170 may detect a road surface from an image in front of the vehicle or an image around the vehicle. The processor 170 may detect a design or text from a road surface image. The processor 170 may detect U-turn information based on the detected pattern or text.

The processor 170 may check the U-turn information by comparing the detected information with the information stored in the memory 140.

The processor 170 may determine whether the vehicle 700 slows down or stops temporarily for a U-turn in a U-turn lane (S2320).

The processor 170 may determine whether the vehicle 700 is located in the U-turn lane. The processor 170 detects lane information where the vehicle 700 is located based on an image in front of the vehicle or an image around the vehicle. The processor 170 may determine whether the vehicle 700 is located in a U-turn lane based on a center line among the lane information. Specifically, when the vehicle 700 is located in the lane closest to the center line, the processor 170 may determine that it is located in the U-turn lane. The processor 170 may detect a yellow line among lines displayed on the road surface and recognize the yellow line as a center line.

The processor 170 may determine a U-turn situation of the vehicle 700 based on U-turn information and U-turn lane information detected based on a traffic sign or road surface image.

The processor 170 determines a U-turn situation based on navigation information or turn signal information.

For example, the processor 170 may determine a U-turn situation based on a driving route according to a destination input to the navigation system. Here, the processor 170 may receive navigation information from the AVN device 400, the control unit 770, or a separate navigation device (not shown) through the interface unit 130.

For example, the processor 170 may determine a U-turn situation based on turn signal information input while being located in a U-turn lane. Here, the processor 170 may receive turn signal information from the control unit 770 through the interface unit 130. The turn signal information may be a turn on signal of a direction indicator for a left turn or a right turn input by a user. When a turn-on input of a left or right turn indicator is received through a user input unit (724 in FIG. 7) of a vehicle, the processor 170 may receive turn signal information through the interface unit 130.

The processor 170 may determine whether the vehicle 700 proceeds slowly or stops temporarily. Here, the slow driving is one of conditions in which the ISG function operates, and may mean driving less than a preset speed (for example, 10 km per hour or less). Here, the temporary stop is one of conditions in which the ISG function operates, and may mean a state in which the vehicle stops for a short period of time (eg, less than 1 second) and then accelerates.

For example, the processor 170 detects a predetermined object (for example, a lane) from an image in front of the vehicle or an image around the vehicle, tracks the detected object, and determines whether the vehicle 700 is slowing down or temporarily stops. I can. Specifically, the processor 170 may determine whether the vehicle 700 is slowing down or temporarily stops based on a relative distance or a relative speed with the detected object.

For example, the processor 170 may receive vehicle speed information from the sensing unit 760 or the control unit 770 through the interface unit 130 and determine whether to slow down or stop temporarily based on the vehicle speed. .

If it is determined that the vehicle 700 is in the U-turn lane, slowing down or temporarily stopping for a U-turn, the processor 170 may generate a control signal for turning off the ISG function (S2330). The control signal may be provided to the control unit 770.

If it is determined that the vehicle 700 is not located in the U-turn lane, the processor 170 may generate a control signal for the ISG function on (S2340). The control signal may be provided to the control unit 770.

Even if the vehicle 700 is located in the U-turn lane, if it is determined that the vehicle 700 is slowing down or not temporarily stopping for a U-turn, the processor 170 may generate a control signal for ISG on (S2340). ). The control signal may be provided to the control unit 770.

In general, when an input is received from the brake pedal 721d while the vehicle is traveling or stopped at a preset speed or lower and an input through the accelerator pedal 721c is not received, the ISG function is turned on and the power source Is stopped. However, according to the eighth embodiment of the present invention, when slowing down or temporarily stopping for a U-turn in a U-turn lane, the ISG function is not operated even under a condition in which it is to be operated. In this case, the ISG function is operated regardless of the intention of the driver, and there is an effect of preventing side effects that may cause an accident due to a driving delay.

23B further includes a counter strike vehicle detection step (S2325) between step S2320 and step S2330 or step S2340 as compared with FIG. 23A.

In a state in which the vehicle 700 slows down or temporarily stops for a U-turn in the U-turn lane, the processor 170 may detect the opposite driving vehicle from the image in front of the vehicle (S2325). The processor 170 may detect an opposite vehicle whose relative speed decreases with the vehicle 700 from the image in front of the vehicle.

If the opposite driving vehicle is detected, the processor 170 generates a control signal for turning on the ISG function (S2340). If an opposite driving vehicle is present, the ISG function is turned off and there is a risk of an accident when a U-turn is made.When the opposite driving vehicle is detected, the ISG function is turned on to drive the power source. Stop.

If the opposite driving vehicle is not detected, the processor 170 may generate a control signal for turning off the ISG function (S2330).

23C is a detailed block diagram of a processor according to the eighth embodiment of the present invention.

Referring to FIG. 23C, the processor 170 may include an image processing unit 810, a determination unit 820, and a control signal generation unit 830.

The image processing unit 810 may process an image in front of the vehicle or an image around the vehicle acquired through the camera 195. The image processing unit 810 detects an object based on an image in front of the vehicle or an image around the vehicle. The image processing unit 810 may detect information from the detected object. Here, the object may be at least one of a traffic light, a traffic sign, and a road surface. In addition, the object may be at least one of a lane, a nearby vehicle, a pedestrian, a light, and a traffic signal.

The information may be information on the driving situation of the vehicle. For example, the information may be U-turn information.

The image processing unit 810 may detect a traffic sign or a road surface from an image in front of the vehicle or an image around the vehicle. The image processing unit 810 may detect a pattern or text from a traffic sign image or a road surface image. The image processing unit 810 may detect U-turn information based on the detected pattern or text.

The determination unit 820 may determine whether the vehicle 700 is located in the U-turn lane. The image processing unit 810 detects lane information on which the vehicle 700 is located based on an image in front of the vehicle or an image around the vehicle. The determination unit 820 may determine whether the vehicle 700 is located in a U-turn lane based on a center line among the lane information. Specifically, when the vehicle 700 is located in a lane closest to the center line, the determination unit 820 may determine that the vehicle 700 is located in a U-turn lane.

The determination unit 820 may determine a U-turn situation of the vehicle 700 based on U-turn information and U-turn lane information detected based on a traffic sign or a road surface image.

The determination unit 820 may determine a U-turn situation based on a driving route according to a destination input in the navigation system.

The determination unit 820 may determine a U-turn situation based on turn signal information input while being located in a U-turn lane.

The determination unit 820 may determine whether the vehicle 700 proceeds slowly or stops temporarily.

For example, the determination unit 820 detects a predetermined object (e.g., a lane) from an image in front of the vehicle or an image around the vehicle, tracks the detected object, and determines whether the vehicle 700 is slow or temporarily stops. can do. Specifically, the determination unit 820 may determine whether the vehicle 700 slows down or stops temporarily based on whether the relative distance or the relative speed with the detected object decreases.

For example, the determination unit 820 may receive vehicle speed information from the sensing unit 760 or the control unit 770 through the interface unit 130 and determine whether to slow down or stop temporarily based on the vehicle speed. have.

The control signal generator 830 may generate a control signal for turning on or off the ISG function based on the determination result of the determination unit 820.

As a result of the determination of the determination unit 820, when it is determined that the vehicle 700 is traveling slowly or temporarily stops for a U-turn in a U-turn lane, the control signal generator 830 generates a control signal for turning off the ISG function. Generate.

As a result of the determination by the determination unit 820, when it is determined that the vehicle 700 is not located in the U-turn lane, the control signal generation unit 830 generates a control signal for the ISG function on.

As a result of the determination of the determination unit 820, even if the vehicle 700 is located in the U-turn lane, when it is determined that the vehicle 700 is not moving slowly or temporarily stopping for a U-turn, the control signal generation unit 830 turns on the ISG. Generate a control signal for

As a result of the determination of the determination unit 820, even when it is determined that the vehicle 700 is slowing down or temporarily stopping for a U-turn in the U-turn lane, when the opposite driving vehicle is detected, the control signal generation unit 830 functions as an ISG function. It generates a control signal for on.

The control signal generated by the control signal generator 830 may be provided to the control unit 770. In this case, the control signal generation unit 830 may output a control signal to the control unit 770 through the interface unit 130.

24A to 24B are exemplary diagrams referenced for describing a vehicle driving assistance apparatus when a vehicle slows down or stops temporarily for a U-turn in a U-turn lane according to the eighth embodiment. 24A-24B are shown with a bird eye view.

Referring to FIG. 22A, the processor 170 acquires an image in front of the vehicle or an image around the vehicle through the camera 195.

The processor 170 may detect information on the center left turn lane based on a traffic light, a traffic sign 2410, or a road surface included in an image in front of the vehicle or an image around the vehicle.

The processor 170 may detect a traffic sign 2410 or a road surface from an image in front of the vehicle or an image around the vehicle. The image processing unit 810 may detect a pattern or text 2420 from a traffic sign image or a road surface image. The processor 170 may detect U-turn information based on the detected pattern or text.

The processor 170 may determine whether the vehicle 700 is located in the U-turn lane 2430. The processor 170 detects lane information where the vehicle 700 is located based on an image in front of the vehicle or an image around the vehicle. The processor 170 may determine whether the vehicle 700 is located in the U-turn lane based on the center line 2440 of the lane information. Specifically, when the vehicle 700 is located in a lane closest to the center line 2440 among driving lanes, the processor 170 may determine that it is located in the U-turn lane 2430.

The processor 170 may determine a U-turn situation of the vehicle 700 based on U-turn information and U-turn lane information detected based on a traffic sign or road surface image.

For example, the processor 170 may determine a U-turn situation based on a driving route according to a destination input to the navigation system.

For example, the processor 170 may determine a U-turn situation based on turn signal information input while being located in a U-turn lane.

The processor 170 may determine whether the vehicle 700 proceeds slowly or stops temporarily.

For example, the processor 170 detects a predetermined object (for example, a lane) from an image in front of the vehicle or an image around the vehicle, tracks the detected object, and determines whether the vehicle 700 is slowing down or temporarily stops. I can.

For example, the processor 170 may receive vehicle speed information from the sensing unit 760 or the control unit 770 through the interface unit 130 and determine whether to slow down or stop temporarily based on the vehicle speed. .

If it is determined that the vehicle 700 is in the U-turn lane, slowing down or temporarily stopping for a U-turn, the processor 170 generates a control signal for turning off the ISG function.

In this case, when the ISG function is not operated, the vehicle 700 is driven or stopped at a preset speed or lower, and an input is received from the brake pedal 721d while an input through the accelerator pedal 721c is not received. Even, the drive of the power source is not stopped. That is, the power source is continuously driven.

That is, when the vehicle 700 is in a U-turn lane, slows down or temporarily stops for a U-turn, the ISG function is not operated even under a condition in which the ISG function will be operated.

24B shows a difference in the opposite driving vehicle 2420 detected compared to FIG. 24A. It will be described focusing on the differences with reference to Fig. 24B.

In a state in which the vehicle 700 slows down or stops temporarily for a U-turn in the U-turn lane, the processor 170 may detect the opposite driving vehicle 2220 from an image in front of the vehicle.

The processor 170 may detect an opposite vehicle whose relative distance or relative speed decreases with the vehicle 700 from the image in front of the vehicle.

If the opposite driving vehicle is detected, the processor 170 generates a control signal for turning on the ISG function.

The present invention described above can be implemented as a computer-readable code in a medium on which a program is recorded. The computer-readable medium includes all types of recording devices storing data that can be read by a computer system. Examples of computer-readable media include HDD (Hard Disk Drive), SSD (Solid State Disk), SDD (Silicon Disk Drive), ROM, RAM, CD-ROM, magnetic tape, floppy disk, optical data storage device, etc. There is also a carrier wave (eg, transmission over the Internet). Also, the computer may include a processor 170 or a control unit 770. Therefore, the detailed description above should not be construed as restrictive in all respects and should be considered as illustrative. The scope of the present invention should be determined by reasonable interpretation of the appended claims, and all changes within the equivalent scope of the present invention are included in the scope of the present invention.

100: vehicle driving assistance device
700: vehicle

Claims (20)

In the control method of a vehicle equipped with an ISG (Idle Stop and Go) function that is turned on in a condition based on whether a vehicle speed and a brake input is received,
Obtaining, by the processor, an image in front of the vehicle or an image around the vehicle through at least one camera;
Acquiring information from an image in front of the vehicle or an image around the vehicle;
Receiving navigation information;
Determining whether the ISG function should be turned off even when the condition is satisfied based on the obtained information and the navigation information; And
Based on the determination result, providing a control signal for the ISG function off (off); Including,
The processor,
A vehicle control method for acquiring information from at least one of a traffic light, a traffic sign, and a road surface detected from the image in front of the vehicle or the image around the vehicle. delete delete The method of claim 1,
The information is information on a rampway driving to join the main road,
Providing the control signal,
When the vehicle slows down or stops temporarily to join the main road via a rampway,
A vehicle control method that provides a control signal for turning off the ISG function. The method of claim 4,
Obtaining the information,
Vehicle control method for obtaining the rampway information from the traffic sign. The method of claim 1,
Providing the control signal,
When the vehicle is driving on a road around an intersection without a traffic light, stop information indicating a temporary stop is detected from the detected traffic sign, or a stop line indicating a temporary stop is detected from the detected road surface. Or if you are temporarily stopped,
A vehicle control method that provides a control signal for turning off the ISG function. The method of claim 6,
Providing the control signal,
When the stop information or the stop line is detected more than a preset number of times, a vehicle control method for providing a control signal for turning off the ISG function. The method of claim 1,
Providing the control signal,
When the vehicle is slowing down or temporarily stops on the road behind it,
A vehicle control method that provides a control signal for turning off the ISG function. The method of claim 8,
The determining step,
A vehicle control method of determining whether a lane is detected from the image including the road surface, and determining that the vehicle is traveling on a rear road when the lane is not detected. The method of claim 1,
Providing the control signal,
If the vehicle is traveling slowly toward an intersection or stops temporarily in front of the intersection,
When detecting Go information from a traffic light detected in the image, a control method for a vehicle providing a control signal for turning off the ISG function. The method of claim 10,
Providing the control signal,
Control of a vehicle that detects a preceding vehicle from an image in front of the vehicle, detects Go information from a traffic light detected in the image, and provides a control signal for turning off the ISG function when the preceding vehicle is traveling Way. The method of claim 1,
Providing the control signal,
When the vehicle is an LHD and the LHD vehicle is slowing down or temporarily stops for a right turn, or when the vehicle is an RHD, and the RHD vehicle is slowing down or temporarily stops for a left turn,
A vehicle control method that provides a control signal for turning off the ISG function. The method of claim 12,
The traffic light includes a pedestrian traffic light,
When the processor detects a stop signal of a pedestrian from a pedestrian traffic light detected in the image, the vehicle control method provides a control signal for turning off the ISG function. The method of claim 12,
Receiving navigation information; And
Receiving turn signal information; further comprising,
The determining step,
A vehicle control method for determining the right turn or left turn condition when determining the right turn or left turn condition based on the navigation information, or when receiving the right turn or left turn turn signal information while the vehicle is close to an intersection. The method of claim 1,
The determining step,
Judging the parking situation,
Providing the control signal,
A vehicle control method that provides a control signal for turning off the ISG function based on the determined parking situation information. The method of claim 15,
The determining step,
A vehicle control method for detecting parking lot information from a traffic sign or road surface detected in the image, and determining the parking situation based on the detected parking lot information. The method of claim 1,
Providing the control signal,
When the vehicle is an LHD and the LHD vehicle is slowing down or temporarily stops for an unprotected left turn, the processor provides a control signal for turning off the ISG function. The method of claim 1,
Providing the control signal,
When the vehicle is an RHD and the RHD vehicle is slowing down or temporarily stopped for an unprotected right turn, the processor provides a control signal for turning off the ISG function. The method of claim 1,
The traffic light includes a pedestrian traffic light,
Providing the control signal,
When the vehicle is an LHD, the LHD vehicle makes an unprotected left turn, or the vehicle is an RHD, and the RHD vehicle makes an unprotected right turn,
When the pedestrian Go information is detected from the image including the pedestrian traffic lights approaching according to the unprotected left turn or the unprotected right turn,
A vehicle control method that provides a control signal for turning off the ISG function. The method of claim 1,
When the vehicle is slowing down or temporarily stops in the center left turn lane for a left turn,
A vehicle control method that provides a control signal for turning off the ISG function.

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