KR102289421B1 - Vehicle controlling device mounted at vehicle and method for controlling the vehicle - Google Patents

Abstract

The present invention is to move the vehicle so that the size and position of an external region of the vehicle on which an image is displayed changes. Wow; and a controller for controlling components of the vehicle so that a movement occurs in the vehicle when an image display mode associated with the image output unit is selected.

Description

A vehicle control device provided in a vehicle and a control method thereof

The present invention relates to a vehicle control device provided in a vehicle (electric vehicle) and a vehicle control method.

A vehicle is a device capable of moving in a direction desired by a user on board. A typical example is a car.

Meanwhile, for the convenience of a user using a vehicle, various sensors and electronic devices are being provided. In particular, research on an advanced driver assistance system (ADAS) is being actively conducted for user's driving convenience. Furthermore, the development of autonomous vehicles (Autonomous Vehicle) is being actively made.

A vehicle may be equipped with various types of lamps. In general, a vehicle is equipped with various vehicle lamps having a lighting function to easily identify objects located around the vehicle when driving at night and a signal function to notify other vehicles or other road users of the driving state of the vehicle, and there is.

For example, a headlamp that irradiates light to the front of the vehicle to secure the driver's field of vision, a brake lamp that lights up when the brake is applied, and a turn signal lamp used when turning right or left. A device may be provided.

As another example, reflectors that reflect light so that the vehicle can be easily recognized from the outside are mounted on the front and rear of the vehicle.

These vehicle lamps are regulated by laws and regulations regarding their installation standards and standards so that each function can be fully exhibited.

On the other hand, as the development of ADAS (Advanced Driving Assist System) is actively carried out in recent years, the need for technology development that can maximize user convenience and safety in driving a vehicle is emerging.

As a part of this, technology development for various UI/UX (User Interface/User Experience) between a mobile terminal and a vehicle and technology development for autonomous driving in which a vehicle drives itself without a driver's operation are being actively developed.

Accordingly, there is a need for technology development for a control method and UI/UX that can safely and conveniently switch between the autonomous driving mode in which the vehicle performs autonomous driving and the manual driving mode in which the vehicle is driven by the driver's manipulation. is being discussed In addition, the vehicle may perform autonomous driving to overtake another vehicle, cut in, or the like.

Meanwhile, the autonomous vehicle according to the related art detects an object around the vehicle and controls a lamp of the vehicle so that the object is highlighted. In addition, the autonomous driving vehicle according to the prior art detects an object external to the vehicle and controls the lamp of the vehicle to display an image on the external object.

SUMMARY OF THE INVENTION It is an object of the present invention to provide a vehicle control device for moving a vehicle so that the size and position of an external area of the vehicle on which an image (eg, moving image (movie, drama, music video, etc.), still image, etc.) is displayed changes to provide a way.

Another object of the present invention is to provide a vehicle control apparatus and method for displaying information related to an image displayed on an external area of a vehicle on an in-vehicle display and allowing the displayed information and an image to overlap each other.

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

The present invention is to achieve the task of moving the vehicle so that the size and position of the external area of the vehicle on which an image (for example, a moving picture (movie, drama, music video, etc.), still image, etc.) is displayed changes,

In order to achieve the above object, a vehicle control apparatus according to an embodiment of the present invention includes: an image output unit configured to display an image on an external area of the vehicle; and a controller for controlling components of the vehicle so that a movement occurs in the vehicle when an image display mode associated with the image output unit is selected.

The external region in which the image is displayed is defined as an external screen region of the vehicle, and the controller may control components of the vehicle so that the size and location of the external screen region satisfy predetermined conditions.

The controller may generate a movement command for moving the vehicle to a position where the size and position of the external screen area satisfy the predetermined condition. The vehicle may perform autonomous driving based on the movement command.

When the image display mode is selected, the control unit receives sensing information from a sensor provided in the vehicle, selects a location satisfying the predetermined condition based on the sensing information, and sets the selected location as a destination can

The controller may generate a driving command for driving the suspension provided in the vehicle so that the size and position of the screen area satisfy the predetermined condition.

The controller may control the vehicle to vary a distance between a display position of the image and a position of the vehicle so that the size of the image becomes a reference size.

The controller may generate a movement command for moving the vehicle so that a distance between one point of the external screen area and one point of the vehicle changes.

The controller may selectively control suspensions provided in the vehicle so that the external screen area rotates based on one point.

The controller may automatically move the vehicle so that distortion of the image due to the shape of the external screen area is corrected.

When the image display mode is selected, the control unit receives sensing information from a sensor provided in the vehicle, and when a curvature of the screen area is detected from the sensing information, the control unit controls the vehicle so that the screen area has a rectangular shape. You can create a move command to move it.

The controller may correct the image according to a type of an external area of the vehicle on which the image is displayed.

The controller may control the components of the vehicle to generate additional sensations other than audiovisual sensations, which are sensations of the occupant in the vehicle, according to the displayed image.

The controller may control the one or more components such that a setting value set in one or more of the components of the vehicle changes according to the displayed image.

The image output unit may be a headlamp provided in front of the vehicle.

When a moving object entering between the external screen area and the vehicle is detected, the control unit controls the image output unit to temporarily stop displaying the image, or generates a movement command for moving the vehicle so that the external screen area changes. can

The vehicle control apparatus according to an embodiment of the present invention further includes a display mounted inside the vehicle, wherein the control unit displays the image on the display when a moving object entering between the external screen area and the vehicle is detected The display can be controlled as much as possible.

The vehicle control apparatus according to an embodiment of the present invention further includes a camera, wherein the controller controls the camera so that an external region of the vehicle is photographed, and a partial region satisfying a preset condition among the photographed external regions. The image output unit may be controlled so that the image is displayed on the .

An object of the present invention is to display information related to an image displayed on an external area of a vehicle on an in-vehicle display, and to overlap the displayed information with an image.

In order to achieve the above object, a vehicle control apparatus according to an embodiment of the present invention further includes a display configured to display vehicle-related information on a windshield of the vehicle, wherein the control unit displays the image in the external area. In this case, the display may be controlled so that information related to the displayed image is displayed on the windshield to overlap the displayed image.

The controller may control the display to overlap the displayed image with information related to the displayed image based on the position of the occupant's eyes in the vehicle.

The controller may selectively control the display and the suspension of the vehicle so that information related to the displayed image overlaps a portion of the displayed image based on the position of the occupant's eyes in the vehicle.

When the place information detected from the displayed image does not exist in the destination list of the vehicle, the controller may display notification information indicating that the detected place information does not exist in the destination list on the display.

The controller may control components related to driving of the vehicle so that control related to the displayed image is performed.

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

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

According to the present invention, by moving the vehicle (autonomous driving) so that the size and location of the external area of the vehicle in which an image (eg, moving picture (movie, drama, music video, etc.), still image, etc.) is displayed is changed (autonomous driving), the vehicle occupant You can conveniently view images such as movies displayed on the outside of the vehicle.

According to the present invention, information related to an image displayed on an external area of a vehicle is displayed on an in-vehicle display, and the displayed information and the image are overlapped with each other, so that the vehicle occupant can conveniently view images such as movies displayed outside the vehicle. In addition, information such as subtitles related to the image can be clearly checked from a nearby location.

Effects of the present invention are not limited to the effects mentioned above, and other effects 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 according to an embodiment of the present invention.
2 is a view of a vehicle according to an embodiment of the present invention viewed from various angles from the outside.
3 to 4 are views illustrating the interior of a vehicle according to an embodiment of the present invention.
5 to 6 are diagrams referenced to describe an object according to an embodiment of the present invention.
7 is a block diagram referenced for explaining a vehicle according to an embodiment of the present invention.
8 is a diagram illustrating a configuration of a vehicle control apparatus according to an embodiment of the present invention.
9 is an exemplary diagram illustrating a method of moving a vehicle to adjust the size and position of an external screen area on which an image is displayed according to embodiments of the present invention.
10 to 11 are exemplary views illustrating a method of controlling a suspension of a vehicle to adjust the size and position of an external screen area on which an image is displayed according to embodiments of the present invention.
12 to 13 are exemplary views illustrating a method of controlling a vehicle to adjust the size of an external screen area in which an image is displayed according to embodiments of the present invention.
14 to 15 are exemplary views illustrating a method of controlling a suspension of a vehicle so that an external screen area on which an image is displayed is rotated according to embodiments of the present invention.
16 is an exemplary view illustrating a method of moving a position of a vehicle according to a shape of an external screen area on which an image is displayed according to embodiments of the present invention.
17 is an exemplary diagram illustrating a method of providing a 4D effect by the vehicle according to an image according to embodiments of the present invention.
18 to 19 are exemplary views illustrating a method of changing the position of the external screen region when there is an object entering between the external screen region and the vehicle according to embodiments of the present invention.
20 is an exemplary diagram illustrating a method of overlapping an image displayed on an external screen area and information displayed on a head-up display (HUD) in a vehicle according to embodiments of the present invention.

Hereinafter, the embodiments disclosed in the present specification will be described in detail with reference to the accompanying drawings, but the same or similar components are assigned the same reference numerals regardless of reference numerals, and overlapping descriptions thereof will be omitted. The suffixes "module" and "part" for the components used in the following description are given or mixed in consideration of only the ease of writing the specification, and do not have a meaning or role distinct from each other by themselves. In addition, in describing the embodiments disclosed in the present specification, if it is determined that detailed descriptions of related known technologies may obscure the gist of the embodiments disclosed in the present specification, the detailed description thereof will be omitted. In addition, the accompanying drawings are only for easy understanding of the embodiments disclosed in the present specification, and the technical spirit disclosed herein is not limited by the accompanying drawings, and all changes included in the spirit and scope of the present invention , should be understood to include equivalents or substitutes.

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

When a component is referred to as being “connected” or “connected” to another component, it is understood that the other component may be directly connected or connected to the other component, but other components may exist in between. it should be On the other hand, when it is said that a certain element is "directly connected" or "directly connected" to another element, it should be understood that no other element is present in the middle.

The singular expression includes the plural expression unless the context clearly dictates otherwise.

In the present application, terms such as "comprises" or "have" are intended to designate that a feature, number, step, operation, component, part, or combination thereof described in the specification exists, but one or more other features It should be understood that this does not preclude the existence or addition of numbers, steps, operations, components, parts, or combinations thereof.

The vehicle described in this specification may be a concept including an automobile and a motorcycle. Hereinafter, the vehicle will be mainly described with respect to the vehicle.

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 having an engine and an electric motor as a power source, and an electric vehicle having an electric motor as a power source.

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

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

2 is a view of a vehicle according to an embodiment of the present invention viewed from various angles from the outside.

3 to 4 are views illustrating the interior of a vehicle according to an embodiment of the present invention.

5 to 6 are diagrams referenced to describe an object according to an embodiment of the present invention.

7 is a block diagram referenced for explaining a vehicle according to an embodiment of the present invention.

1 to 7 , the vehicle 100 may include wheels rotated by a power source and a steering input device 510 for controlling the traveling direction of the vehicle 100 .

The vehicle 100 may be an autonomous driving vehicle.

The vehicle 100 may be switched to an autonomous driving mode or a manual mode (a capital driving mode) based on a user input.

For example, the vehicle 100 may be switched from the manual mode to the autonomous driving mode or from the autonomous driving mode to the manual mode based on a user input received through the user interface device 200 .

The vehicle 100 may be switched to an autonomous driving mode or a manual mode based on driving situation information. The driving situation information may be generated based on object information provided by the object detection apparatus 300 .

For example, the vehicle 100 may be switched from the manual mode to the autonomous driving mode or from the autonomous driving mode to the manual mode based on the driving situation information generated by the object detection apparatus 300 .

For example, the vehicle 100 may be switched from the manual mode to the autonomous driving mode or from the autonomous driving mode to the manual mode based on driving situation information received through the communication device 400 .

The vehicle 100 may be switched from the manual mode to the autonomous driving mode or from the autonomous driving mode to the manual mode based on information, data, and signals provided from an external device.

When the vehicle 100 is operated in the autonomous driving mode, the autonomous driving vehicle 100 may be operated based on the driving system 700 .

For example, the autonomous vehicle 100 may be driven based on information, data, or signals generated by the driving system 710 , the taking-out system 740 , and the parking system 750 .

When the vehicle 100 is operated in the manual mode, the autonomous driving vehicle 100 may receive a user input for driving through the driving manipulation device 500 . Based on a user input received through the driving manipulation device 500 , the vehicle 100 may be driven.

The overall length refers to the length from the front part to the rear part of the vehicle 100 , the width refers to the width of the vehicle 100 , and the height refers to the length from the lower part of the wheel to the roof. In the following description, the overall length direction (L) is the standard direction for measuring the overall length of the vehicle 100 , the full width direction (W) is the standard direction for measuring the overall width of the vehicle 100 , and the total height direction (H) is the vehicle (100) may mean a direction that is a reference for measuring the total height.

As illustrated in FIG. 7 , the vehicle 100 includes a user interface device 200 , an object detection device 300 , a communication device 400 , a driving manipulation device 500 , a vehicle driving device 600 , and a driving system. 700 , a navigation system 770 , a sensing unit 120 , an interface unit 130 , a memory 140 , a control unit 170 , and a power supply unit 190 .

Depending on the embodiment, the vehicle 100 may further include other components in addition to the components described herein, or may not include some of the components described herein.

The user interface device 200 is a device for communication between the vehicle 100 and a user. The user interface device 200 may receive a user input and provide information generated in the vehicle 100 to the user. The vehicle 100 may implement User Interfaces (UIs) or User Experiences (UXs) through the user interface device 200 .

The user interface device 200 may include an input unit 210 , an internal camera 220 , a biometric sensor 230 , an output unit 250 , and a processor 270 .

According to an embodiment, the user interface device 200 may further include other components in addition to the described components, or may not include some of the described components.

The input unit 200 is for receiving information from the user, and the data collected by the input unit 120 may be analyzed by the processor 270 and processed as a user's control command.

The input unit 200 may be disposed inside the vehicle. For example, the input unit 200 may include one region of a steering wheel, one region of an instrument panel, one region of a seat, one region of each pillar, and a door. One area of the (door), one area of the center console, one area of the head lining (head lining), one area of the sun visor, one area of the windshield (windshield) or the window (window) It may be disposed in one area or the like.

The input unit 200 may include a voice input unit 211 , a gesture input unit 212 , a touch input unit 213 , and a mechanical input unit 214 .

The voice input unit 211 may convert the user's voice input into an electrical signal. The converted electrical signal may be provided to the processor 270 or the controller 170 .

The voice input unit 211 may include one or more microphones.

The gesture input unit 212 may convert the user's gesture input into an electrical signal. The converted electrical signal may be provided to the processor 270 or the controller 170 .

The gesture input unit 212 may include at least one of an infrared sensor and an image sensor for detecting a user's gesture input.

According to an embodiment, the gesture input unit 212 may detect a user's 3D gesture input. To this end, the gesture input unit 212 may include a light output unit that outputs a plurality of infrared lights or a plurality of image sensors.

The gesture input unit 212 may detect the user's 3D gesture input through a time of flight (TOF) method, a structured light method, or a disparity method.

The touch input unit 213 may convert a user's touch input into an electrical signal. The converted electrical signal may be provided to the processor 270 or the controller 170 .

The touch input unit 213 may include a touch sensor for sensing a user's touch input.

According to an embodiment, the touch input unit 213 may be integrally formed with the display unit 251 to implement a touch screen. Such a touch screen may provide both an input interface and an output interface between the vehicle 100 and the user.

The mechanical input unit 214 may include at least one of a button, a dome switch, a jog wheel, and a jog switch. The electrical signal generated by the mechanical input unit 214 may be provided to the processor 270 or the control unit 170 .

The mechanical input unit 214 may be disposed on a steering wheel, a center fascia, a center console, a cockpick module, a door, and the like.

The internal camera 220 may acquire an image inside the vehicle. The processor 270 may detect the user's state based on the image inside the vehicle. The processor 270 may acquire the user's gaze information from the image inside the vehicle. The processor 270 may detect the user's gesture from the image inside the vehicle.

The biometric sensor 230 may obtain biometric information of the user. The biometric sensor 230 may include a sensor capable of obtaining the user's biometric information, and may obtain the user's fingerprint information, heart rate information, and the like, using the sensor. The biometric information may be used for user authentication.

The output unit 250 is for generating an output related to visual, auditory or tactile sense.

The output unit 250 may include at least one of a display unit 251 , a sound output unit 252 , and a haptic output unit 253 .

The display unit 251 may display graphic objects corresponding to various pieces of information.

The display unit 251 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 (Flexible Display). display), a three-dimensional display (3D display), and an electronic ink display (e-ink display) may include at least one.

The display unit 251 may form a layer structure with the touch input unit 213 or be integrally formed to implement a touch screen.

The display unit 251 may be implemented as a head up display (HUD). When the display unit 251 is implemented as a HUD, the display unit 251 may include a projection module to output information through an image projected on the windshield or window.

The display unit 251 may include a transparent display. The transparent display may be attached to a windshield or window.

The transparent display may display a predetermined screen while having predetermined transparency. Transparent display, in order to have transparency, transparent display is transparent TFEL (Thin Film Elecroluminescent), transparent OLED (Organic Light-Emitting Diode), transparent LCD (Liquid Crystal Display), transmissive transparent display, transparent LED (Light Emitting Diode) display may include at least one of The transparency of the transparent display can be adjusted.

Meanwhile, the user interface apparatus 200 may include a plurality of display units 251a to 251g.

The display unit 251 includes one area of the steering wheel, one area 521a, 251b, and 251e of the instrument panel, one area 251d of the seat, one area 251f of each pillar, and one area of the door ( 251g), one area of the center console, one area of the head lining, one area of the sun visor, or one area 251c of the windshield and one area 251h of the window.

The sound output unit 252 converts an electrical signal provided from the processor 270 or the control unit 170 into an audio signal and outputs the converted signal. To this end, the sound output unit 252 may include one or more speakers.

The haptic output unit 253 generates a tactile output. For example, the haptic output unit 253 may vibrate the steering wheel, the seat belt, and the seats 110FL, 110FR, 110RL, and 110RR so that the user can recognize the output.

The processor 270 may control the overall operation of each unit of the user interface device 200 .

According to an embodiment, the user interface apparatus 200 may include a plurality of processors 270 or may not include the processors 270 .

When the user interface device 200 does not include the processor 270 , the user interface device 200 may be operated under the control of a processor or controller 170 of another device in the vehicle 100 .

Meanwhile, the user interface device 200 may be referred to as a vehicle display device.

The user interface device 200 may be operated under the control of the controller 170 .

The object detecting apparatus 300 is an apparatus for detecting an object located outside the vehicle 100 .

The object may be various objects related to the operation of the vehicle 100 .

5 to 6 , the object O includes a lane OB10, another vehicle OB11, a pedestrian OB12, a two-wheeled vehicle OB13, traffic signals OB14, OB15, light, road, structure, This may include speed bumps, features, animals, and the like.

The lane OB10 may be a driving lane, a lane next to the driving lane, or a lane in which opposite vehicles travel. The lane OB10 may be a concept including left and right lines forming a lane.

The other vehicle OB11 may be a vehicle running in the vicinity of the vehicle 100 . The other vehicle may be a vehicle located within a predetermined distance from the vehicle 100 . For example, the other vehicle OB11 may be a vehicle preceding or following the vehicle 100 .

The pedestrian OB12 may be a person located in the vicinity of the vehicle 100 . The pedestrian OB12 may be a person located within a predetermined distance from the vehicle 100 . For example, the pedestrian OB12 may be a person located on a sidewalk or a roadway.

The two-wheeled vehicle OB12 may refer to a vehicle positioned around the vehicle 100 and moving using two wheels. The two-wheeled vehicle OB12 may be a vehicle having two wheels positioned within a predetermined distance from the vehicle 100 . For example, the two-wheeled vehicle OB13 may be a motorcycle or a bicycle located on a sidewalk or roadway.

The traffic signal may include a traffic light OB15, a traffic sign OB14, and a pattern or text drawn on a road surface.

The light may be light generated from a lamp provided in another vehicle. The light, can be the light generated from the street lamp. The light may be sunlight.

The road may include a road surface, a curve, an uphill slope, a downhill slope, and the like.

The structure may be an object located around a road and fixed to the ground. For example, the structure may include a street light, a street tree, a building, a power pole, a traffic light, and a bridge.

Features may include mountains, hills, and the like.

Meanwhile, the object may be classified into a moving object and a fixed object. For example, the moving object may be a concept including other vehicles and pedestrians. For example, the fixed object may be a concept including a traffic signal, a road, and a structure.

The object detection apparatus 300 may include a camera 310 , a radar 320 , a lidar 330 , an ultrasonic sensor 340 , an infrared sensor 350 , and a processor 370 .

According to an embodiment, the object detecting apparatus 300 may further include other components in addition to the described components, or may not include some of the described components.

The camera 310 may be located at an appropriate place outside the vehicle in order to acquire an image outside the vehicle. The camera 310 may be a mono camera, a stereo camera 310a, an AVM (Around View Monitoring) camera 310b, or a 360 degree camera.

For example, the camera 310 may be disposed adjacent to the front windshield in the interior of the vehicle to acquire an image of the front of the vehicle. Alternatively, the camera 310 may be disposed around the front bumper or the radiator grill.

For example, the camera 310 may be disposed adjacent to the rear glass in the interior of the vehicle in order to acquire an image of the rear of the vehicle. Alternatively, the camera 310 may be disposed around a rear bumper, a trunk, or a tailgate.

For example, the camera 310 may be disposed adjacent to at least one of the side windows in the interior of the vehicle in order to acquire an image of the side of the vehicle. Alternatively, the camera 310 may be disposed around a side mirror, a fender, or a door.

The camera 310 may provide the acquired image to the processor 370 .

The radar 320 may include an electromagnetic wave transmitter and a receiver. The radar 320 may be implemented in a pulse radar method or a continuous wave radar method in view of a radio wave emission principle. The radar 320 may be implemented in a frequency modulated continuous wave (FMCW) method or a frequency shift keyong (FSK) method according to a signal waveform among continuous wave radar methods.

The radar 320 detects an object based on an electromagnetic wave, a time of flight (TOF) method or a phase-shift method, and a position of the detected object, a distance from the detected object, and a relative speed. can be detected.

The radar 320 may be disposed at an appropriate location outside the vehicle to detect an object located in front, rear or side of the vehicle.

The lidar 330 may include a laser transmitter and a receiver. The lidar 330 may be implemented in a time of flight (TOF) method or a phase-shift method.

The lidar 330 may be implemented as a driven or non-driven type.

When implemented as a driving type, the lidar 330 is rotated by a motor and may detect an object around the vehicle 100 .

When implemented as a non-driving type, the lidar 330 may detect an object located within a predetermined range with respect to the vehicle 100 by light steering. The vehicle 100 may include a plurality of non-driven lidars 330 .

The lidar 330 detects an object based on a time of flight (TOF) method or a phase-shift method as a laser light medium, and determines the position of the detected object, the distance from the detected object, and Relative speed can be detected.

The lidar 330 may be disposed at an appropriate location outside the vehicle to detect an object located in the front, rear, or side of the vehicle.

The ultrasonic sensor 340 may include an ultrasonic transmitter and a receiver. The ultrasound sensor 340 may detect an object based on ultrasound, and detect a position of the detected object, a distance from the detected object, and a relative speed.

The ultrasonic sensor 340 may be disposed at an appropriate location outside the vehicle to detect an object located in the front, rear, or side of the vehicle.

The infrared sensor 350 may include an infrared transmitter and a receiver. The infrared sensor 340 may detect an object based on infrared light, and detect a position of the detected object, a distance from the detected object, and a relative speed.

The infrared sensor 350 may be disposed at an appropriate location outside the vehicle to detect an object located in front, rear, or side of the vehicle.

The processor 370 may control the overall operation of each unit of the object detection apparatus 300 .

The processor 370 may detect and track the object based on the acquired image. The processor 370 may perform operations such as calculating a distance to an object and calculating a relative speed with respect to an object through an image processing algorithm.

The processor 370 may detect and track the object based on the reflected electromagnetic wave that is reflected by the object and returns. The processor 370 may perform operations such as calculating a distance to an object and calculating a relative speed with respect to the object based on the electromagnetic wave.

The processor 370 may detect and track the object based on the reflected laser light from which the transmitted laser is reflected by the object and returned. The processor 370 may perform operations such as calculating a distance to an object and calculating a relative speed with respect to the object based on the laser light.

The processor 370 may detect and track the object based on the reflected ultrasound reflected back by the transmitted ultrasound. The processor 370 may perform operations such as calculating a distance to an object and calculating a relative speed with respect to the object based on the ultrasound.

The processor 370 may detect and track the object based on the reflected infrared light reflected back by the transmitted infrared light. The processor 370 may perform operations such as calculating a distance to an object and calculating a relative speed with respect to the object based on the infrared light.

According to an embodiment, the object detecting apparatus 300 may include a plurality of processors 370 or may not include the processors 370 . For example, each of the camera 310 , the radar 320 , the lidar 330 , the ultrasonic sensor 340 , and the infrared sensor 350 may individually include a processor.

When the object detection apparatus 300 does not include the processor 370 , the object detection apparatus 300 may be operated under the control of the processor or the controller 170 of the apparatus in the vehicle 100 .

The object detecting apparatus 400 may be operated under the control of the controller 170 .

The communication apparatus 400 is an apparatus for performing communication with an external device. Here, the external device may be another vehicle, a mobile terminal, or a server.

The communication device 400 may include at least one of a transmit antenna, a receive antenna, a radio frequency (RF) circuit capable of implementing various communication protocols, and an RF element to perform communication.

The communication device 400 may include a short-range communication unit 410 , a location information unit 420 , a V2X communication unit 430 , an optical communication unit 440 , a broadcast transceiver 450 , and a processor 470 .

According to an embodiment, the communication device 400 may further include other components in addition to the described components, or may not include some of the described components.

The short-range communication unit 410 is a unit for short-range communication. Short-range communication unit 410, Bluetooth (Bluetooth™), RFID (Radio Frequency Identification), infrared communication (Infrared Data Association; IrDA), UWB (Ultra Wideband), ZigBee, NFC (Near Field Communication), Wi-Fi (Wireless) -Fidelity), Wi-Fi Direct, and wireless USB (Wireless Universal Serial Bus) technology may be used to support short-distance communication.

The short-range communication unit 410 may form wireless area networks to perform short-range communication between the vehicle 100 and at least one external device.

The location information unit 420 is a unit for obtaining location information of the vehicle 100 . For example, the location information unit 420 may include a Global Positioning System (GPS) module or a Differential Global Positioning System (DGPS) module.

The V2X communication unit 430 is a unit for performing wireless communication with a server (V2I: Vehicle to Infra), another vehicle (V2V: Vehicle to Vehicle), or a pedestrian (V2P: Vehicle to Pedestrian). The V2X communication unit 430 may include an RF circuit capable of implementing protocols for communication with infrastructure (V2I), vehicle-to-vehicle communication (V2V), and communication with pedestrians (V2P).

The optical communication unit 440 is a unit for performing communication with an external device via light. The optical communication unit 440 may include an optical transmitter that converts an electrical signal into an optical signal and transmits the optical signal, and an optical receiver that converts the received optical signal into an electrical signal.

According to an embodiment, the light transmitter may be formed to be integrated with a lamp included in the vehicle 100 .

The broadcast transceiver 450 is a unit for receiving a broadcast signal from an external broadcast management server or transmitting a broadcast signal to the broadcast management server through a broadcast channel. The broadcast channel may include a satellite channel and a terrestrial channel. The broadcast signal may include a TV broadcast signal, a radio broadcast signal, and a data broadcast signal.

The processor 470 may control the overall operation of each unit of the communication device 400 .

According to an embodiment, the communication device 400 may include a plurality of processors 470 or may not include the processors 470 .

When the communication device 400 does not include the processor 470 , the communication device 400 may be operated under the control of a processor or controller 170 of another device in the vehicle 100 .

Meanwhile, the communication device 400 may implement a vehicle display device together with the user interface device 200 . In this case, the vehicle display device may be referred to as a telematics device or an AVN (Audio Video Navigation) device.

The communication device 400 may be operated under the control of the controller 170 .

The driving operation device 500 is a device that receives a user input for driving.

In the manual mode, the vehicle 100 may be driven based on a signal provided by the driving manipulation device 500 .

The driving manipulation device 500 may include a steering input device 510 , an acceleration input device 530 , and a brake input device 570 .

The steering input device 510 may receive a driving direction input of the vehicle 100 from the user. The steering input device 510 is preferably formed in a wheel shape to enable steering input by rotation. According to an embodiment, the steering input device may be formed in the form of a touch screen, a touch pad, or a button.

The acceleration input device 530 may receive an input for acceleration of the vehicle 100 from a user. The brake input device 570 may receive an input for decelerating the vehicle 100 from a user. The acceleration input device 530 and the brake input device 570 are preferably formed in the form of pedals. According to an embodiment, the acceleration input device or the brake input device may be formed in the form of a touch screen, a touch pad, or a button.

The driving operation device 500 may be operated under the control of the controller 170 .

The vehicle driving device 600 is a device that electrically controls driving of various devices in the vehicle 100 .

The vehicle driving unit 600 may include a power train driving unit 610 , a chassis driving unit 620 , a door/window driving unit 630 , a safety device driving unit 640 , a lamp driving unit 650 , and an air conditioning driving unit 660 . can

Depending on the embodiment, the vehicle driving apparatus 600 may further include other components in addition to the described components, or may not include some of the described components.

Meanwhile, the vehicle driving apparatus 600 may include a processor. Each unit of the vehicle driving apparatus 600 may each individually include a processor.

The power train driver 610 may control the operation of the power train device.

The power train driving unit 610 may include a power source driving unit 611 and a transmission driving unit 612 .

The power source driving unit 611 may control the power source of the vehicle 100 .

For example, when a fossil fuel-based engine is the power source, the power source driving unit 610 may perform electronic control of the engine. Thereby, the output torque of an engine, etc. can be controlled. The power source driving unit 611 may adjust the engine output torque according to the control of the control unit 170 .

For example, when the electric energy-based motor is the power source, the power source driving unit 610 may control the motor. The power source driving unit 610 may adjust the rotation speed and torque of the motor according to the control of the control unit 170 .

The transmission driving unit 612 may control the transmission.

The transmission driving unit 612 may adjust the state of the transmission. The transmission driving unit 612 may adjust the transmission state to forward (D), reverse (R), neutral (N), or park (P).

Meanwhile, when the engine is the power source, the transmission driving unit 612 may adjust the engagement state of the gear in the forward (D) state.

The chassis driving unit 620 may control the operation of the chassis device.

The chassis driving unit 620 may include a steering driving unit 621 , a brake driving unit 622 , and a suspension driving unit 623 .

The steering driving unit 621 may perform electronic control of a steering apparatus in the vehicle 100 . The steering driving unit 621 may change the traveling direction of the vehicle.

The brake driving unit 622 may perform electronic control of a brake apparatus in the vehicle 100 . For example, the speed of the vehicle 100 may be reduced by controlling the operation of a brake disposed on the wheel.

Meanwhile, the brake driving unit 622 may individually control each of the plurality of brakes. The brake driving unit 622 may differently control the braking force applied to the plurality of wheels.

The suspension driving unit 623 may electronically control a suspension apparatus in the vehicle 100 . For example, when there is a curve in the road surface, the suspension driving unit 623 may control the suspension device to reduce vibration of the vehicle 100 .

Meanwhile, the suspension driving unit 623 may individually control each of the plurality of suspensions.

The door/window driving unit 630 may perform electronic control of a door apparatus or a window apparatus in the vehicle 100 .

The door/window driving unit 630 may include a door driving unit 631 and a window driving unit 632 .

The door driving unit 631 may control the door device. The door driving unit 631 may control opening and closing of a plurality of doors included in the vehicle 100 . The door driving unit 631 may control opening or closing of a trunk or a tail gate. The door driving unit 631 may control opening or closing of a sunroof.

The window driving unit 632 may perform electronic control of a window apparatus. Opening or closing of a plurality of windows included in the vehicle 100 may be controlled.

The safety device driving unit 640 may perform electronic control of various safety apparatuses in the vehicle 100 .

The safety device driving unit 640 may include an airbag driving unit 641 , a seat belt driving unit 642 , and a pedestrian protection device driving unit 643 .

The airbag driving unit 641 may perform electronic control of an airbag apparatus in the vehicle 100 . For example, the airbag driver 641 may control the airbag to be deployed when a danger is detected.

The seat belt driving unit 642 may perform electronic control of a seat belt appartus in the vehicle 100 . For example, the seat belt driving unit 642 may control the occupant to be fixed to the seats 110FL, 110FR, 110RL, and 110RR using the seat belt when a danger is sensed.

The pedestrian protection device driving unit 643 may perform electronic control for the hood lift and the pedestrian airbag. For example, when detecting a collision with a pedestrian, the pedestrian protection device driving unit 643 may control to lift up the hood and deploy the pedestrian airbag.

The lamp driver 650 may electronically control various lamp apparatuses in the vehicle 100 .

The air conditioning driving unit 660 may perform electronic control of an air conditioner (air cinditioner) in the vehicle 100 . For example, when the temperature inside the vehicle is high, the air conditioning driving unit 660 may control the air conditioner to operate to supply cool air to the interior of the vehicle.

The vehicle driving apparatus 600 may include a processor. Each unit of the vehicle driving apparatus 600 may each individually include a processor.

The vehicle driving apparatus 600 may be operated under the control of the controller 170 .

The operation system 700 is a system for controlling various operations of the vehicle 100 . The driving system 700 may be operated in an autonomous driving mode.

The driving system 700 may include a driving system 710 , a vehicle taking-out system 740 , and a parking system 750 .

Depending on the embodiment, the navigation system 700 may further include other components in addition to the described components, or may not include some of the described components.

Meanwhile, the driving system 700 may include a processor. Each unit of the navigation system 700 may each individually include a processor.

Meanwhile, according to an embodiment, when the operating system 700 is implemented in software, it may be a sub-concept of the control unit 170 .

Meanwhile, according to an embodiment, the driving system 700 may control at least one of the user interface device 200 , the object detection device 300 , the communication device 400 , the vehicle driving device 600 , and the control unit 170 . It may be a concept that includes

The driving system 710 may perform driving of the vehicle 100 .

The driving system 710 may receive navigation information from the navigation system 770 and provide a control signal to the vehicle driving device 600 to drive the vehicle 100 .

The driving system 710 may receive object information from the object detecting apparatus 300 , and provide a control signal to the vehicle driving apparatus 600 to drive the vehicle 100 .

The driving system 710 may receive a signal from an external device through the communication device 400 and provide a control signal to the vehicle driving apparatus 600 to drive the vehicle 100 .

The un-parking system 740 may perform un-parking of the vehicle 100 .

The un-parking system 740 may receive navigation information from the navigation system 770 and provide a control signal to the vehicle driving apparatus 600 to un-park the vehicle 100 .

The un-parking system 740 may receive the object information from the object detection apparatus 300 and provide a control signal to the vehicle driving apparatus 600 to un-park the vehicle 100 .

The un-parking system 740 may receive a signal from an external device through the communication device 400 and provide a control signal to the vehicle driving apparatus 600 to un-park the vehicle 100 .

The parking system 750 may perform parking of the vehicle 100 .

The parking system 750 may receive navigation information from the navigation system 770 and provide a control signal to the vehicle driving device 600 to park the vehicle 100 .

The parking system 750 may receive object information from the object detection apparatus 300 , and may provide a control signal to the vehicle driving apparatus 600 to park the vehicle 100 .

The parking system 750 may receive a signal from an external device through the communication device 400 and provide a control signal to the vehicle driving apparatus 600 to park the vehicle 100 .

The navigation system 770 may provide navigation information. The navigation information may include at least one of map information, set destination information, route information according to the destination setting, information on various objects on a route, lane information, and current location information of the vehicle.

The navigation system 770 may include a memory and a processor. The memory may store navigation information. The processor may control the operation of the navigation system 770 .

According to an embodiment, the navigation system 770 may receive information from an external device through the communication device 400 and update pre-stored information.

According to an embodiment, the navigation system 770 may be classified into sub-components of the user interface device 200 .

The sensing unit 120 may sense the state of the vehicle. The sensing unit 120 may include a posture sensor (eg, a yaw sensor, a roll sensor, a pitch sensor), a collision sensor, a wheel sensor, a speed sensor, and an inclination. sensor, weight sensor, heading sensor, yaw sensor, gyro sensor, position module, vehicle forward/reverse sensor, battery sensor, fuel sensor, tire sensor, steering wheel It may include a steering sensor by rotation, a vehicle internal temperature sensor, a vehicle internal humidity sensor, an ultrasonic sensor, an illuminance sensor, an accelerator pedal position sensor, a brake pedal position sensor, and the like.

The sensing unit 120 may include vehicle posture information, vehicle collision information, vehicle direction information, vehicle location information (GPS information), vehicle angle information, vehicle speed information, vehicle acceleration information, vehicle tilt information, vehicle forward/reverse information, and a battery. Acquires sensing signals for information, fuel information, tire information, vehicle lamp information, vehicle interior temperature information, vehicle interior humidity information, steering wheel rotation angle, exterior illumination of the vehicle, pressure applied to the accelerator pedal, and pressure applied to the brake pedal can do.

The sensing unit 120, 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), a throttle position sensor (TPS), a TDC sensor, a crank angle sensor (CAS), and the like.

The interface unit 130 may serve as a passage with various types of external devices connected to the vehicle 100 . For example, the interface unit 130 may have a port connectable to the mobile terminal, and may connect to the mobile terminal through the port. In this case, the interface unit 130 may exchange data with the mobile terminal.

Meanwhile, the interface unit 130 may serve as a passage for supplying electrical energy to the connected mobile terminal. When the mobile terminal is electrically connected to the interface unit 130 , under the control of the controller 170 , the interface unit 130 may provide the electric energy supplied from the power supply unit 190 to the mobile terminal.

The memory 140 is electrically connected to the control unit 170 . The memory 140 may store basic data for the unit, control data for operation control of the unit, and input/output data. The memory 140 may be a variety of storage devices such as ROM, RAM, EPROM, flash drive, hard drive, etc. in terms of hardware. The memory 140 may store various data for the overall operation of the vehicle 100 , such as a program for processing or controlling the controller 170 .

According to an embodiment, the memory 140 may be formed integrally with the control unit 170 or may be implemented as a sub-component of the control unit 170 .

The controller 170 may control the overall operation of each unit in the vehicle 100 . The control unit 170 may be referred to as an Electronic Control Unit (ECU).

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

Included in the vehicle 100, one or more processors and control unit 170, ASICs (application specific integrated circuits), DSPs (digital signal processors), DSPDs (digital signal processing devices), PLDs (programmable logic devices), FPGAs ( field programmable gate arrays), processors, controllers, micro-controllers, microprocessors, and other electrical units for performing functions.

The vehicle 100 related to the present invention may operate in any one of a manual driving mode and an autonomous driving mode. That is, the driving mode of the vehicle 100 may include a manual driving mode and an autonomous driving mode.

The manual driving mode may mean a mode in which the vehicle is driven by a driver's driving operation. For example, in the manual driving mode, steering of the vehicle may be changed by the driver's manipulation of the steering wheel, and the speed of the vehicle may be changed by manipulating the brake pedal and the accelerator pedal.

The autonomous driving mode (or autonomous driving mode) may refer to a mode in which the vehicle drives itself based on a preset algorithm, regardless of a driver's driving operation. For example, the autonomous driving mode may be a mode in which the vehicle can drive (drive) by itself in at least a part of a predetermined section or a section to a destination set by a user.

In the autonomous driving mode, for example, even if there is a driver's driving manipulation, steering or speed of the vehicle is not changed, and the vehicle may be driven according to a preset algorithm to perform autonomous driving.

Since the manual driving mode and the autonomous driving mode belong to a known technical field, a more detailed description will be omitted.

Hereinafter, a vehicle control device and a method for moving the vehicle so that the size and position of an image (eg, a moving picture (movie, drama, music video, etc.), still image, etc.) displayed on an external area of the vehicle is changed and a method thereof will be described. do. For example, when an image is displayed on the exterior area of the vehicle using a beam projector mounted on the vehicle, the vehicle automatically adjusts the size and position of the image displayed on the vehicle exterior area. The size of the image area displayed on the exterior area of the vehicle and the size of the vehicle exterior area on which the image is displayed may be the same or similar to each other.

The beam projector may be disposed on the lower or upper side of the front bumper of the vehicle so that a movie or the like displayed on the exterior area of the vehicle can be easily viewed in the vehicle.

The beam projector may be assembled to the headlight of the vehicle, and the headlight itself may perform a beam projector function or may perform an original function of the headlamp.

8 is a diagram illustrating a configuration of a vehicle control apparatus according to an embodiment of the present invention.

The vehicle control apparatus 800 may control at least one of the components described with reference to FIG. 7 . However, the present invention is not limited thereto, and the vehicle control device 800 may have a separate configuration independent of the control unit 170 . When the vehicle control apparatus 800 is implemented as a component independent of the control unit 170 , the vehicle control apparatus 800 may be provided in a part of the vehicle 100 .

Hereinafter, for convenience of description, the vehicle control device 800 will be described as a separate component independent of the control unit 170 . The functions (operations) and control methods described for the vehicle control apparatus 800 in this specification may be performed by the control unit 170 of the vehicle. That is, all the contents described in relation to the vehicle control device 800 may be analogously applied to the control unit 170 in the same/similar manner.

Also, the vehicle control apparatus 800 described in this specification may include the components described with reference to FIG. 7 and some of various components provided in the vehicle. In this specification, for convenience of description, the components described with reference to FIG. 7 and various components provided in the vehicle will be described with separate names and reference numerals.

As shown in Fig. 8, the vehicle control device 800 according to the embodiment of the present invention,

an image output unit 801 configured to display an image on an external area of the vehicle 100; and a control unit 802 for controlling components of the vehicle 100 so that movement occurs in the vehicle 100 when an image display mode associated with the image output unit 801 is selected.

The image output unit 801 may be mounted on a vehicle, and may display images, such as movies, dramas, and music videos, on an external area of the vehicle 100 . For example, the controller 802 controls the beam projector (image output unit) 801 to display images, such as movies, dramas, and music videos, on an external area of the vehicle 100 according to a user's request.

The controller 802 controls the components of the vehicle 100 to generate movement in the vehicle 100 when an image display mode associated with the image output unit 801 is selected by the user. For example, when the image display mode associated with the image output unit 801 is selected by the user, the control unit 802 may control the vehicle ( 100) is moved forward, backward, left, or right.

Hereinafter, moving the position of the vehicle 100 so that the size and position of the external region (external screen region) in which the image (eg, moving image (movie, drama, music video, etc.), still image, etc.) is displayed is adjusted. The method will be described with reference to FIG. 9 .

9 is an exemplary diagram illustrating a method of moving the vehicle 100 to adjust the size and position of an external screen area on which an image is displayed according to embodiments of the present invention.

As shown in FIG. 9 , the external area 9-1 on which the image 9-2 is displayed is defined as an external screen area of the vehicle, and the controller 802 controls the external screen area 9-1. The components of the vehicle are controlled so that the size and location of the steerers satisfy predetermined conditions.

For example, if the size of the external screen region (or image 9-2) 9-1 on which a movie is displayed is smaller than a reference size, the controller 802 may control the size of the external screen region 9-1. A component of the vehicle (eg, components related to autonomous driving of the vehicle, etc.) is controlled so that α is equal to the reference size. That is, when the size of the external screen region 9-1 on which a movie is displayed is smaller than the reference size, the controller 802 controls the vehicle 100 so that the size of the external screen region 9-1 is the same as the reference size. is moved away from the outer screen area 9-1.

If the size of the external screen region 9-1 on which a movie is displayed is larger than the reference size, the controller 802 determines that the size of the external screen region (or image 9-2) 9-1 is the same as the reference size. to control the components of the vehicle (eg, components related to autonomous driving of the vehicle, etc.). That is, if the size of the external screen region 9-1 is larger than the reference size, the control unit 802 controls the vehicle 100 so that the size of the external screen region 9-1 is the same as the reference size. Move it closer to (9-1).

The control unit 802 controls a component of the vehicle (eg, autonomous driving and driving of the vehicle) so that the position of the external screen area (or image 9-2) 9-1 in which a movie is displayed meets a reference condition. related components, etc.). That is, if the external screen area 9-1 on which a movie is displayed is not a flat and vertical object (eg, a white wall surface), the controller 802 controls the flat and vertical object (eg, a white wall surface). etc.), the vehicle 100 is moved (autonomous driving) so that the image 9-1 is displayed.

The controller 802 may generate a movement command for moving the vehicle 100 to a position where the size and position of the external screen area 9 - 1 satisfy the predetermined condition. For example, the control unit 802 may control the size and position of the external screen area 9-1 at a location that satisfies a preset condition (eg, near a white wall having a size of 1 meter in width and 1 meter in length or more). ) to generate a movement command for moving the vehicle 100 . The vehicle 100 controls the driving system 710 or the parking system 750 based on the movement command to control the driving system 710 or the parking system 750 to a position corresponding to the movement command (eg, near a white wall having a size of 1 meter in width or 1 meter in length or more). ) can be moved to The vehicle 100 performs autonomous driving based on the movement command.

When the image display mode is selected, the control unit 802 receives sensing information from a sensor provided in the vehicle 100, selects a location that satisfies the predetermined condition based on the sensing information, and the You can also set the selected location as the destination. For example, when the image display mode is selected, the controller 802 detects a white wall having a size of 1 meter in width and 1 meter in length or more in the external area photographed by the camera 310, and the detection A predetermined distance (for example, 3 to 5 meters) away from the wall surface is selected, and the selected location is set as a destination. The vehicle 100 autonomously drives to move to the set destination.

The vehicle control apparatus 800 according to the embodiments of the present invention further includes a camera, and the controller 802 controls the camera so that an external region of the vehicle 100 is photographed, and the photographed external region The image output unit 801 is controlled so that the image is displayed on a partial region that satisfies the predetermined condition among them.

Hereinafter, a method of controlling the suspension of a vehicle so that the size and position of an external area (external screen area) in which an image (eg, moving image (movie, drama, music video, etc.), still image, etc.) is displayed is adjusted will be described below. It will be described with reference to FIGS. 10 to 11 .

10 to 11 are exemplary views illustrating a method of controlling a suspension of a vehicle to adjust the size and position of an external screen area on which an image is displayed according to embodiments of the present invention.

10 to 11 , the controller 802 controls the suspension provided in the vehicle 100 so that the size and position of the external screen area 9-1 satisfy the predetermined conditions. Generates a drive command to drive. For example, if the position of the external screen region 9-1 does not satisfy the predetermined condition, the controller 802 may control the vehicle so that the position of the external screen region 9-1 satisfies the predetermined condition. A driving command for driving the suspensions provided in 100 is generated. The suspension driving unit 623 drives the corresponding suspension based on the driving command.

The controller 802 is configured to control the external screen region 9-1 when the position of the external screen region 9-1 needs to be moved a predetermined distance downward of the external screen region 9-1 to satisfy the predetermined condition. A driving command is generated for linearly moving (10-1) the suspensions provided in the rear wheel of the vehicle 100 upward so that the position of 1) is moved by a predetermined distance in the downward direction.

The controller 802 is configured to control the external screen region 9-1 when the position of the external screen region 9-1 needs to move a predetermined distance upward of the external screen region 9-1 to satisfy the predetermined condition. A driving command is generated for linearly moving (11-1) the suspensions provided in the rear wheel of the vehicle 100 in the downward direction so that the position of 1) is moved by a predetermined distance in the upward direction.

The suspension driving unit 623 linearly moves the suspensions provided in the rear wheel of the vehicle 100 in an upward or downward direction according to the driving command. The suspension driving unit 623 may linearly move the suspensions provided on the front wheels of the vehicle 100 in an upward or downward direction according to the driving command. The suspension driving unit 623 may individually control each of the plurality of suspensions.

Hereinafter, a method of moving the vehicle so that the size of the external region (external screen region) in which images (eg, moving images (movies, dramas, music videos, etc.), still images, etc.) is displayed is adjusted in FIGS. 12 to 13 . will be described with reference to

12 to 13 are exemplary views illustrating a method of controlling a vehicle to adjust the size of an external screen area in which an image is displayed according to embodiments of the present invention.

12 to 13 , the controller 802 controls the image 12-2 so that the size of the image 12-2 displayed on the external screen area 12-1 becomes the reference size. ) and control the vehicle 100 so that the distance between the display position and the position of the vehicle 100 is different.

For example, if the size of the image 12-2 is smaller than the reference size, the controller 802 may control the component (eg, the vehicle) so that the size of the image 12-1 is the same as the reference size. , components related to autonomous driving of the vehicle, etc.). That is, if the size of the image 12-2 is smaller than the reference size, the controller 802 controls the vehicle 100 to set the displayed image 12- so that the size of the image 12-2 is the same as the reference size. 2) Move it closer to the side. That is, when the size of the image 12-2 is smaller than the reference size, the control unit 802 controls the vehicle 100 so that the distance 12-3 between the vehicle 100 and the displayed image 12-2 is close. 100) is controlled.

If the size of the image 12-2 is larger than the reference size, the control unit 802 is configured to control a component of the vehicle (eg, autonomous driving of the vehicle) so that the size of the image 12-1 is the same as the reference size. related components, etc.). When the size of the image 12-2 is larger than the reference size, the controller 802 moves the vehicle 100 to the displayed image 12-2 side so that the size of the image 12-2 is the same as the reference size. move it away That is, when the size of the image 12-2 is larger than the reference size, the controller 802 controls the vehicle 100 so that the distance 13-3 between the vehicle 100 and the displayed image 13-2 increases. ) to control

The controller 802 stops the vehicle 100 when the size of the image 12 - 1 is the same as the reference size while the vehicle is autonomously driving (moving).

The controller 802 may generate a movement command for moving the vehicle 100 so that a distance between a point of the external screen area 12 - 1 and a point of the vehicle 100 is changed. The vehicle 100 controls the driving system 710 or the parking system 750 based on the movement command to control the location (the external screen area 12-1 and the image 12-2) corresponding to the movement command. It moves (autonomous driving) to a position where the size becomes the same as the reference size. The vehicle 100 performs autonomous driving based on the movement command.

Hereinafter, a method of controlling the suspension of a vehicle to rotate an external screen area in which an image (eg, a moving picture (movie, drama, music video, etc.), still image, etc.) is displayed will be described with reference to FIGS. 14 to 15 . do.

14 to 15 are exemplary views illustrating a method of controlling a suspension of a vehicle so that an external screen area on which an image is displayed is rotated according to embodiments of the present invention.

14 to 15 , the controller 802 selectively controls suspensions provided in the vehicle 100 so that the external screen area 14 - 1 rotates based on a point. The controller 802 selectively controls the suspensions of the vehicle 100 so that the inclination angle of the outer screen area 14 - 1 becomes 0 degrees when the outer screen area 14 - 1 is more inclined than a reference.

For example, when the external screen region 14-1 is inclined by 10 degrees to the left of the reference, the controller 802 may control the external screen region 14-1 to change the external screen region 14-1 to the left. The suspensions of the vehicle 100 are selectively controlled to rotate 10 degrees to the right with respect to the center of the . That is, the controller 802 linearly moves the suspension provided on the left rear wheel of the vehicle 100 upwardly (14-1) so that the external screen area 14-1 rotates 10 degrees to the right. At the same time, a driving command is generated for making the suspension provided on the right rear wheel of the vehicle 100 downwardly linearly move (14-1). The suspension driving unit 623 linearly moves the suspension provided on the left rear wheel of the vehicle 100 upward (linear movement) 14-1 according to the driving command, and at the same time, the right side of the vehicle 100 . The suspension provided on the rear wheel is linearly moved in the downward direction (linear movement) (14-1).

The control unit 802 determines that when the external screen region 14-1 is inclined by 20 degrees to the right of the reference, the external screen region 14-1 is set based on the center of the external screen region 14-1. The vehicle 100 suspensions are selectively controlled to rotate 20 degrees to the left. That is, the control unit 802 is configured to linearly move the suspension provided on the left rear wheel of the vehicle 100 downward (linear movement) so that the external screen area 14-1 rotates outward by 20 degrees ( 15-1), and at the same time generate a driving command for linear motion (linear movement) 15-1 of the suspension provided on the right rear wheel of the vehicle 100 upward. The suspension driving unit 623 linearly moves the suspension provided on the left rear wheel of the vehicle 100 in the downward direction (linear movement) 15-1 according to the driving command, and at the same time, the right side of the vehicle 100 . The suspension provided on the rear wheel is linearly moved upward (linear movement) (15-1).

Hereinafter, a method of moving the position of the vehicle according to the shape of the external screen area in which an image (eg, a moving image (movie, drama, music video, etc.), still image, etc.) is displayed will be described with reference to FIG. 16 .

16 is an exemplary view illustrating a method of moving a position of a vehicle according to a shape of an external screen area on which an image is displayed according to embodiments of the present invention.

As shown in FIG. 16 , the controller 802 sets the vehicle 100 to satisfy the firing condition so that the distortion 16 - 2 of the image due to the shape of the external screen area 16 - 1 is corrected. It automatically moves (autonomous driving) to the desired position.

For example, the control unit 802 may control the distortion of the image due to the shape, protrusion, curvature, etc. of the external screen region 16-1 (eg, the curvature of the external screen region 16-1, The vehicle 100 is automatically moved (autonomous driving) so that the image 16-2 is distorted due to protrusion and the like) 16-2 is corrected.

When the image display mode is selected, the controller 802 receives sensing information from a sensor provided in the vehicle 100, and when a curvature of the external screen area 16-1 is detected from the sensing information , it is also possible to generate a movement command for moving the vehicle 100 so that the outer screen area has a rectangular shape.

For example, when the image display mode is selected, the controller 802 receives the predetermined condition ( For example, sensing information for sensing a wall surface) is received, and when the curvature 16-2 of the external screen area 16-1 is detected from the sensing information, the curvature 16-2 is avoided. Thus, a movement command for moving the vehicle 100 may be generated so that the external screen area 16 - 1 has a rectangular shape.

The vehicle 100 may control the driving system 710 or the parking system 750 based on the movement command to move to a position corresponding to the movement command (eg, a flat white wall with no curves).

The control unit 802 may correct the image 16-2 according to the type of the external screen area 16-1 on which the image 16-2 is displayed. For example, the control unit 802 ) indicates that when the color of the external screen region 16-1 on which the image 16-2 is displayed is not white, the image 16-2 is distorted in the non-white external screen region 16-1. The color (white light) of the light emitted from the image output unit 801 may be changed to another light (eg, light emitted such as red/blue/yellow) to be displayed without (for example, color change).

When the color of the external screen area 16-1 on which the image 16-2 is displayed is not white, the controller 802 controls the image ( 16-2), a lamp having output light corresponding to the color most similar to the original color may be automatically selected, and the output light of the automatically selected lamp may be used as the backlight of the image output unit 801 (beam projector). .

Hereinafter, according to an image (for example, a moving picture (movie, drama, music video, etc.), a still image, etc.), the vehicle 400 may display a 4D effect ( 4D Movie) will be described with reference to FIG. 17 .

17 is an exemplary diagram illustrating a method of providing a 4D effect by the vehicle according to an image according to embodiments of the present invention.

As shown in FIG. 17 , the controller 802 controls the components of the vehicle 100 so that other sensations other than audiovisual sensations that are the occupant's senses in the vehicle 100 are additionally generated according to the displayed image.

The controller 802 detects vehicle control metadata included in the image 17-2 displayed on the external screen area 17-1, and based on the detected vehicle control metadata, components of the vehicle control one or more of the components. For example, when the vehicle driver's seat control metadata included in the displayed image (eg, earthquake scene) is detected, the controller 802 may control the detected vehicle driver's seat control metadata (eg, the driver's seat of the vehicle). A driving command for driving the driver's seat of the vehicle is generated from among the components of the vehicle based on the data to shake for 10 seconds. The driving unit for driving the driver's seat of the vehicle drives the driver's seat of the vehicle for 10 seconds based on the driving command.

The controller 802 controls the one or more components so that a setting value set in one or more components among the components of the vehicle varies according to the displayed image 17 - 2 .

For example, when vehicle lamp control metadata included in the displayed image (eg, fireworks scene) is detected, the controller 802 may control the detected vehicle lamp control metadata (eg, a vehicle lamp). A driving command for driving a vehicle lamp (for example, a headlight 17-3 or an emergency lamp 17-4) among the vehicle components is generated based on the data to blink for 10 seconds. The lamp driving unit 650 drives the headlamp 17-3 or the emergency lamp 17-4 of the vehicle to blink for 10 seconds based on the driving command.

When an earthquake scene is detected in the displayed image, the control unit 802 may generate a driving command for driving the driver's seat of the vehicle among the components of the vehicle for a time during which the detected earthquake scene is detected. The driving unit for driving the driver's seat of the vehicle drives the driver's seat of the vehicle based on the driving command.

When a fireworks scene is detected in the displayed image, the control unit 802 is configured to control a lamp (eg, a headlamp 17-3) of the vehicle among the components of the vehicle for a time during which the detected fireworks scene is detected. Alternatively, a driving command for driving the emergency light 17 - 4 may be generated. The lamp driving unit 650 drives the headlamp 17-3 or the emergency lamp 17-4 of the vehicle based on the driving command. The lamp driver 650 may change the brightness of the headlight 17-3 or the brightness of the emergency light 17-4 of the vehicle based on the driving command.

The image output unit (beam projector) 802 may be a headlamp provided in front of the vehicle 100 . The beam projector 802 may be disposed at the bottom or top of the front bumper of the vehicle so that a movie displayed on the external screen area of the vehicle 100 can be easily viewed in the vehicle 100 . In combination with the headlight, the headlight itself may perform the beam projector function, or it may perform the original function of the headlight.

Hereinafter, a method of changing a display position (external screen region position) of an image when there is an object entering between the vehicle and the external screen region will be described with reference to FIGS. 18 to 19 .

18 to 19 are exemplary views illustrating a method of changing the position of the external screen region when there is an object entering between the external screen region and the vehicle according to embodiments of the present invention.

18 to 19 , when a moving object 18-3 entering between the external screen area 18-1 and the vehicle 100 is detected, the control unit 802 controls the image 18- The image output unit 802 is controlled so that the display of 2) is temporarily stopped, or a movement command is generated to move the vehicle 100 so that the external screen area 18 - 1 is changed.

When a moving object (eg, a pedestrian, a vehicle, a bicycle, a motorcycle, etc.) 18-3 entering between the external screen area 18-1 and the vehicle 100 is detected, the controller 802 is configured to control the external screen area 18-1. Control the vehicle 100 so that the position of the screen area 18-1 is moved to a position avoiding the moving object 18-3, and display an image 19-2 at a position avoiding the moving object The image output unit 801 is controlled.

For example, the control unit 802 determines that a moving object (eg, a pedestrian, a vehicle, a bicycle, a motorcycle, etc.) 18-3 entering between the external screen area 18-1 and the vehicle 100 is When detected, the vehicle 100 is controlled so that the position of the external screen area 18-1 is moved to a position avoiding the moving object, and the image 19-2 is positioned at a position avoiding the moving object 18-3. ) to control the image output unit 801 to display. That is, when a moving object (eg, pedestrian, vehicle, bicycle, motorcycle, etc.) entering between the external screen region 18-1 and the vehicle 100 is detected, the control unit 802 controls the external screen region ( 18-1) is moved upward (a position to avoid the moving object 18-3), and the suspensions provided in the rear wheel of the vehicle 100 are moved downward linearly (19-3). Generates a drive command to The suspension driving unit 623 linearly moves the suspensions provided in the rear wheel of the vehicle 100 downward ( 19 - 3 ) based on the driving command.

The controller 802 displays the image 18-2 on the display 251 when a moving object 18-3 entering between the external screen area 18-1 and the vehicle 100 is detected. The display 251 is controlled so as to be possible. The vehicle control apparatus according to embodiments of the present invention may further include the display 251 . For example, when a moving object 18-3 entering between the external screen area 18-1 and the vehicle 100 is detected, the control unit 802 is configured to display the moving object 8-3 as the image. In order to solve the problem of obscuring (18-2), when the moving object 18-3 is detected, the display 251 is controlled so that the image 18-2 is displayed on the display 251.

Hereinafter, a method of overlapping an image (eg, movie, drama, etc.) displayed on the external screen area and information (eg, subtitle) displayed on a head-up display (HUD) in the vehicle 100 . will be described with reference to FIG. 20 .

20 is an exemplary diagram illustrating a method for overlapping an image displayed on an external screen area and information displayed on a head-up display (HUD) in the vehicle 100 according to embodiments of the present invention.

As shown in FIG. 20 , the controller 802 displays vehicle-related information (eg, vehicle speed, lane information, turn-by-turn information, etc.) on the windshield of the vehicle 100 ). further includes When the image 20-2 is displayed on the external screen area 20-1, the controller 802 is configured to transmit information 20-3 related to the displayed image 20-2 to the windshield. The display is controlled so that it is displayed and overlaps with the displayed image 20 - 2 . For example, when the image 20-2 such as a movie or a drama is displayed on the external screen area 20-1, the control unit 802 may control a subtitle ( 20-3) is displayed on the windshield and controls the display HUD so that it overlaps with the displayed image 20-2.

The controller 802 is configured to display the information 20 - 3 related to the displayed image 20 - 2 to overlap the displayed image 20 - 2 based on the position of the occupant's eyes in the vehicle 100 . (HUD) control. For example, the control unit 802 monitors the position of the occupant's eye in the vehicle, and based on the position of the occupant's eye, a caption 20-3 related to the displayed image 20-2 is displayed on the displayed image. The display HUD is controlled to overlap with 20-2. That is, the controller 802 controls the display position of the subtitle 20-3 so that the displayed image 20-2 and the subtitle 20-3 overlap each other at the position of the passenger's gaze.

The controller 802 is configured to allow the information 20-3 related to the displayed image 20-2 to overlap a part of the displayed image 20-2 based on the position of the occupant's eyes in the vehicle 100. The display (HUD) and the suspension of the vehicle may be selectively controlled.

For example, the control unit 802 monitors the position of the occupant's eye in the vehicle, and based on the position of the occupant's eye, a caption 20-3 related to the displayed image 20-2 is displayed on the displayed image. The display HUD is controlled to change the display position of the subtitle 20-3 so as to overlap with 20-2, or the suspensions provided on the wheels of the vehicle 100 are selectively moved downward or move in a straight line upwards.

The controller 802 detects place information from the displayed image 20 - 2 , and when the detected place information does not exist in the destination list of the vehicle 100 , the detected place information is displayed in the destination list It is also possible to display notification information indicating that there is no presence on the display. For example, the controller 802 may be configured to control the detected location when location information (eg, Gangnam) detected from the displayed movie image 20 - 2 does not exist in the destination list of the vehicle 100 . Notification information indicating that the information does not exist in the destination list may be displayed on the display.

The controller 802 may control components related to driving of the vehicle 100 so that control related to the displayed image 20 - 2 is performed. For example, when the displayed image 20 - 2 is a moving picture, the control unit 802 rewinds the moving image when the steering wheel of the vehicle 100 rotates in a first direction (eg, turns left). , and when the steering wheel of the vehicle 100 rotates in the second direction (eg, turns right), a function of fast forwarding the video may be performed.

The controller 802 may control the image output unit 801 to pause playback of the video when the brake of the vehicle 100 operates when the displayed image 20 - 2 is a video. When the brake operation of the vehicle 100 is released when the displayed image 20-2 is a moving image, the controller 802 may control the image output unit 801 to release pause in playback of the moving image. .

As described above, in the vehicle control apparatus and method according to the embodiments of the present invention, an image (eg, a moving picture (movie, drama, music video, etc.), a still image, etc.) is displayed on an external area of a vehicle. By moving the vehicle (autonomous driving) so that the size and location of the vehicle are changed, the vehicle occupant can conveniently view images such as movies displayed outside the vehicle.

In a vehicle control apparatus and method according to embodiments of the present invention, information related to an image displayed on an external area of a vehicle is displayed on an in-vehicle display, and the displayed information and the image are overlapped with each other, whereby a vehicle occupant In addition to conveniently viewing images such as movies displayed outside, information such as subtitles related to the images can be clearly checked at a nearby location.

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

The vehicle control apparatus 800 described above may be included in the vehicle 100 .

In addition, the operation or control method of the vehicle control apparatus 800 described above may be analogously applied to the operation or control method of the vehicle 100 (or the control unit 170 ) in the same/similar manner.

In addition, all functions, configurations, or control methods performed by the vehicle control apparatus 800 described above may be performed by the controller 170 provided in the vehicle 100 . That is, all the control methods described in this specification may be applied to a control method of a vehicle or a control method of a control device.

The present invention described above can be implemented as computer-readable code on a medium in which a program is recorded. The computer-readable medium includes all kinds of recording devices in which data readable by a computer system is stored. Examples of computer-readable media include Hard Disk Drive (HDD), Solid State Disk (SSD), Silicon Disk Drive (SDD), ROM, RAM, CD-ROM, magnetic tape, floppy disk, optical data storage device, etc. There is also a carrier wave (eg, transmission over the Internet) that is implemented in the form of. In addition, the computer may include a processor or a control unit. Accordingly, the above detailed description should not be construed as restrictive in all respects but as exemplary. The scope of the present invention should be determined by a reasonable interpretation of the appended claims, and all modifications within the equivalent scope of the present invention are included in the scope of the present invention.

Claims (10)

A vehicle control device provided in a vehicle, comprising:
an image output unit configured to display an image on an external area of the vehicle;
and a control unit for controlling components of the vehicle so that movement occurs in the vehicle when an image display mode associated with the image output unit is selected,
The external area in which the image is displayed is defined as an external screen area of the vehicle,
The control unit is
and controlling the components of the vehicle so that the size and position of the external screen area satisfy predetermined conditions. delete According to claim 1,
The control unit is
and generating a movement command for moving the vehicle to a position where the size and position of the external screen area satisfy the predetermined condition. 4. The method of claim 3,
The vehicle control apparatus, characterized in that the vehicle performs autonomous driving based on the movement command. 4. The method of claim 3,
The control unit is
When the image display mode is selected, sensing information is received from a sensor provided in the vehicle,
and selecting a location satisfying the predetermined condition based on the sensing information and setting the selected location as a destination. According to claim 1,
The control unit is
and generating a driving command for driving a suspension provided in the vehicle so that the size and position of the screen area satisfy the predetermined condition. According to claim 1, wherein the control unit,
and selectively controlling suspensions provided in the vehicle so that the external screen area rotates based on a point. According to claim 1, wherein the control unit,
When the image display mode is selected, sensing information is received from a sensor provided in the vehicle,
When a curvature of the screen area is detected from the sensing information, a movement command for moving the vehicle so that the screen area has a rectangular shape is generated. According to claim 1, wherein the control unit,
When a moving object entering between the external screen area and the vehicle is detected, the image output unit is controlled to temporarily stop displaying the image, or a movement command for moving the vehicle to change the external screen area is generated. vehicle control unit. A vehicle control device provided in a vehicle, comprising:
an image output unit configured to display an image on an external area of the vehicle;
and a control unit for controlling components of the vehicle so that movement occurs in the vehicle when an image display mode associated with the image output unit is selected,
Further comprising a display configured to display vehicle-related information on the windshield of the vehicle,
The control unit is
When the image is displayed in the outer area,
and controlling the display so that information related to the displayed image is displayed on the windshield to overlap the displayed image.

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