KR102365785B1 - Method and system for providing departure notification for currounding vehicle selected based on attention of driver - Google Patents

Abstract

When the own vehicle and the surrounding vehicle are stopped, a nearby vehicle is selected to provide a departure notification according to the driver's gaze direction, and in response to recognizing the departure of the selected surrounding vehicle, a departure notification for the selected surrounding vehicle is sent to the driver An autonomous driving control method and system that can be provided to

Description

{METHOD AND SYSTEM FOR PROVIDING DEPARTURE NOTIFICATION FOR CURROUNDING VEHICLE SELECTED BASED ON ATTENTION OF DRIVER}

The following description relates to an autonomous driving control method and system for providing a departure notification of a nearby vehicle selected according to a driver's gaze direction.

The autonomous driving system can measure the distance and speed to surrounding vehicles with a radar sensor installed in the vehicle. For example, the autonomous driving system can measure the distance and speed to the vehicle in front and adjust it to maintain a safe distance between the vehicles. In addition, when the autonomous driving system performs tracking control on the vehicle in front of the vehicle traveling in the same lane as the vehicle, when the vehicle in front stops, the vehicle may also stop. When a specific time elapses after stopping the own vehicle, a display requesting the driver's will to start is sent out, and after the vehicle in front starts, the own vehicle starts according to the driver's will (button operation or accelerator pedal operation). If the driver does not intend to start after the vehicle in front has started, it notifies the driver visually and/or audibly whether the vehicle in front has started.

[Prior literature number]

Korean Patent Registration No. 10-1986734

When the own vehicle and the surrounding vehicle are stopped, a nearby vehicle is selected to provide a departure notification according to the driver's gaze direction, and in response to recognizing the departure of the selected surrounding vehicle, a departure notification for the selected surrounding vehicle is sent to the driver An autonomous driving control method and system that can be provided to

A method for controlling autonomous driving performed by a computer device included in a vehicle, the method comprising: determining a gaze direction of a driver by at least one processor included in the computer device; analyzing, by the at least one processor, driving information of surrounding vehicles; selecting, by the at least one processor, a surrounding vehicle for providing a departure notification according to the driver's gaze direction while the own vehicle and the surrounding vehicle are stopped; and providing, by the at least one processor, a departure notification for the selected surrounding vehicle to the driver in response to recognizing the departure of the selected surrounding vehicle.

According to one side, the selecting of the surrounding vehicle may include, when the driver's gaze direction is the front of the own vehicle, surrounding vehicles located on at least one of a left side or a right side of the own vehicle for providing a departure notification. When the vehicle is selected, and the driver's gaze direction is the side of the own vehicle, it may be characterized in that a surrounding vehicle located in front of the own vehicle is selected as a surrounding vehicle for providing a departure notification.

According to another aspect, in the selecting of the surrounding vehicle, when the driver's gaze direction is the front of the own vehicle, selecting a surrounding vehicle located at the rear of the own vehicle as a surrounding vehicle for providing a departure notification, When the driver's gaze direction is the side of the own vehicle, it may be characterized in that a surrounding vehicle located in front or rear of the own vehicle is selected as a surrounding vehicle for providing a departure notification.

According to another aspect, in the determining of the driver's gaze direction, the driver's gaze is detected according to the detected gaze point by detecting the driver's gaze point from an image acquired through a camera included in the vehicle. It may be characterized in that the direction is determined.

According to another aspect, the analyzing of the driving information of the surrounding vehicle may include measuring a relative distance and a relative speed of the surrounding vehicle with respect to the own vehicle through a sensor installed in the vehicle.

According to another aspect, the providing of the departure notification to the driver may include recognizing the departure of the selected surrounding vehicle based on at least one of a moving speed and a moving distance of the selected surrounding vehicle. .

According to another aspect, the providing of the departure notification to the driver may include determining a channel for providing the departure notification according to a gaze direction of the driver.

Provided is a computer program stored in a computer-readable recording medium in combination with a computer device to execute the method on the computer device.

It provides a computer-readable recording medium in which a program for executing the method in a computer device is recorded.

A computer device included in a vehicle, comprising at least one processor embodied to execute instructions readable by a computer, and by the at least one processor, a driver's gaze direction is determined, and driving information of surrounding vehicles is analyzed and selects a surrounding vehicle for providing a departure notification according to the driver's gaze direction in a state in which the own vehicle and the surrounding vehicle are stopped, and in response to recognizing the departure of the selected surrounding vehicle, to the selected surrounding vehicle To provide a computer device for providing a departure notification to a driver.

When the own vehicle and the surrounding vehicle are stopped, a nearby vehicle is selected to provide a departure notification according to the driver's gaze direction, and in response to recognizing the departure of the selected surrounding vehicle, a departure notification for the selected surrounding vehicle is sent to the driver can be provided to

1 is a diagram illustrating an example of a driving environment according to an embodiment of the present invention.
2 is a block diagram illustrating an example of a computer device according to an embodiment of the present invention.
3 is a flowchart illustrating an example of a driving path control method according to an embodiment of the present invention.

Hereinafter, embodiments will be described in detail with reference to the accompanying drawings.

The driving path control system according to the embodiments of the present invention may include at least one computer device included in a vehicle, and the driving path control method according to the embodiments of the present invention includes at least one of the driving path control systems. It can be performed through a computer device of In this case, the computer program according to an embodiment of the present invention may be installed and driven in the computer device, and the computer device may perform the driving route control method according to the embodiments of the present invention under the control of the driven computer program. there is. The above-described computer program may be stored in a computer-readable recording medium in order to be combined with a computer device to cause the computer to execute the driving route control method.

1 is a diagram illustrating an example of a driving environment according to an embodiment of the present invention. 1 shows the own vehicle 110 and the front, left, right, and rear vehicles 120 to 150 of the own vehicle 110 . At this time, since the driver's field of view 160 of the own vehicle is limited, it is not possible to look at these vehicles 120 to 150 at the same time.

In this embodiment, the control device included in the own vehicle 110 is based on the driver's gaze direction of the own vehicle 110 in a state in which the own vehicle 110 and the vehicles 120 to 150 are stopped by waiting for a signal, etc. It is possible to select a nearby vehicle to provide a departure notification. For example, when the driver's gaze direction is the front of the own vehicle 110 , the control device according to the present embodiment starts the vehicle 130 or 140 located on at least one of the left side or the right side of the own vehicle 110 . When the vehicle is selected as a nearby vehicle for providing the notification, and the driver's gaze direction is the side of the own vehicle, the vehicle 120 located in front of the own vehicle may be selected as the surrounding vehicle for providing the departure notification. As another example, when the driver's gaze direction is the front of the own vehicle 110 , the control device according to the present embodiment may select the vehicle 150 located at the rear of the own vehicle as a neighboring vehicle for providing a departure notification. .

In this case, the control device according to the present embodiment provides a departure notification for the selected surrounding vehicle to the driver of the own vehicle 110 in response to recognizing the departure of the selected surrounding vehicle. A departure notification can also be provided to nearby vehicles that do not close the field of view.

2 is a block diagram illustrating an example of a computer device according to an embodiment of the present invention. As an example, the control device described above may be implemented by the computer device 200 illustrated in FIG. 2 . As shown in FIG. 2 , the computer device 200 may include a memory 210 , a processor 220 , a communication interface 230 , and an input/output interface 240 .

The memory 210 is a computer-readable recording medium and may include a random access memory (RAM), a read only memory (ROM), and a permanent mass storage device such as a disk drive. Here, a non-volatile mass storage device such as a ROM and a disk drive may be included in the computer device 200 as a separate permanent storage device distinct from the memory 210 . Also, an operating system and at least one program code may be stored in the memory 210 . These software components may be loaded into the memory 210 from a computer-readable recording medium separate from the memory 210 . The separate computer-readable recording medium may include a computer-readable recording medium such as a floppy drive, a disk, a tape, a DVD/CD-ROM drive, and a memory card. In another embodiment, the software components may be loaded into the memory 210 through the communication interface 230 instead of a computer-readable recording medium. For example, the software components may be loaded into the memory 210 of the computer device 200 based on a computer program installed by files received through the network 260 .

The processor 220 may be configured to process instructions of a computer program by performing basic arithmetic, logic, and input/output operations. The instructions may be provided to the processor 220 by the memory 210 or the communication interface 230 . For example, the processor 220 may be configured to execute a received instruction according to a program code stored in a recording device such as the memory 210 .

The communication interface 230 may provide a function for the computer device 200 to communicate with other devices via the network 260 . For example, a request, command, data, file, etc. generated by the processor 220 of the computer device 200 according to a program code stored in a recording device such as the memory 210 is transmitted to the network ( 260) to other devices. Conversely, signals, commands, data, files, etc. from other devices may be received by the computer device 200 through the communication interface 230 of the computer device 200 via the network 260 . A signal, command, or data received through the communication interface 230 may be transferred to the processor 220 or the memory 210 , and the file may be a storage medium (described above) that the computer device 200 may further include. persistent storage).

The input/output interface 240 may be a means for an interface with the input/output device 250 . For example, the input device may include a device such as a microphone, keyboard, or mouse, and the output device may include a device such as a display or a speaker. As another example, the input/output interface 240 may be a means for an interface with a device in which functions for input and output are integrated into one, such as a touch screen. At least one of the input/output devices 250 may include the computer device 200 and one device. For example, a touch screen, a microphone, a speaker, and the like, such as a smart phone or a navigation system, may be implemented in a form included in the computer device 200 .

Also, in other embodiments, the computer device 200 may include fewer or more components than those of FIG. 2 . However, there is no need to clearly show most of the prior art components. For example, the computer device 200 may be implemented to include at least a portion of the above-described input/output device 250 or may further include other components such as a transceiver and a database.

3 is a flowchart illustrating an example of a driving path control method according to an embodiment of the present invention. The driving path control method according to the present embodiment may be performed by the computer device 200 . In this case, the processor 220 of the computer device 200 may be implemented to execute a control instruction according to a code of an operating system included in the memory 210 or a code of at least one computer program. Here, the processor 220 causes the computer device 200 to perform steps 310 to 340 included in the method of FIG. 3 according to a control command provided by a code stored in the computer device 200 . can control

In operation 310 , the computer device 200 may determine the driver's gaze direction. For example, the computer device 200 may detect the driver's gaze point from an image acquired through a camera included in the vehicle and determine the driver's gaze direction according to the detected gaze point. Such a camera may be a camera included in the vehicle itself, or may be a camera included in a separate device connected to the computer device 200 such as a smartphone, a navigation device and/or a black box device. A technology for recognizing the driver's face and determining the driver's gaze direction according to the recognized face may utilize well-known technologies.

In step 320 , the computer device 200 may analyze driving information of surrounding vehicles. To this end, the computer device 200 may measure the relative distance and relative speed of the surrounding vehicle with respect to the own vehicle through a sensor installed in the vehicle. Here, the sensors include radar (Radio Detecting And Ranging, radar), LiDAR (Light Detection And Ranging, LiDAR), distance sensors such as ultrasonic sensors, external cameras (including image sensors and lighting, etc.), and Global Positioning System (GPS) modules, etc. may include For example, the computer device 200 uses data measured by a distance sensor, an image sensor, a GPS module, etc. (based on own vehicle), etc. can be calculated. In this case, the computer device 200 may generate and analyze driving information of the surrounding vehicle including the distance between the host vehicle and the surrounding vehicle and the relative speed of the surrounding vehicle.

In step 330 , the computer device 200 may select a surrounding vehicle for providing a departure notification according to the driver's gaze direction while the host vehicle and the surrounding vehicle are stopped. In one embodiment, when the driver's gaze direction is the front of the own vehicle, the computer device 200 selects a surrounding vehicle located on at least one of a left side or a right side of the own vehicle as a surrounding vehicle for providing a departure notification, When the driver's gaze direction is the side of the own vehicle, a surrounding vehicle located in front of the own vehicle may be selected as a surrounding vehicle for providing a departure notification. In another embodiment, when the driver's gaze direction is the front of the own vehicle, the computer device 200 selects a surrounding vehicle located at the rear of the own vehicle as a surrounding vehicle for providing a departure notification, and the driver's gaze direction is In the case of the side of the vehicle, a neighboring vehicle located in the front or rear of the own vehicle may be selected as a neighboring vehicle for providing a departure notification.

In step 340 , the computer device 200 may provide a departure notification for the selected surrounding vehicle to the driver in response to recognizing the departure of the selected surrounding vehicle. For example, the computer device 200 may recognize the departure of the selected neighboring vehicle based on at least one of a moving speed and a moving distance of the selected neighboring vehicle. As a more specific example, when the moving speed of the selected surrounding vehicle is greater than or equal to the first threshold value, and/or when the moving distance of the selected surrounding vehicle is greater than or equal to the second threshold, the computer device 200 starts the selected surrounding vehicle and can be recognized as being In this case, the computer device 200 may provide a departure notification for the selected surrounding vehicle to the driver.

Meanwhile, in the computer device 200 , the channel for providing the departure notification may be determined according to the driver's gaze direction. For example, when there is a display included in the vehicle itself for providing driving information to the driver's gaze direction or a display of a device that can be connected to the computer device 200 included in the vehicle, such as a smartphone or a navigation system, The computer device 200 may provide a departure notification through a corresponding display. In this case, the departure notification may be output in the form of information such as text, image, video, and color. As another example, when a separate display does not exist in the driver's gaze direction, the departure notification may be provided by sound through a speaker of a device that can be connected to the computer device 200, such as a smartphone or a navigation system, or a speaker inside the vehicle. there is.

As described above, according to the embodiments of the present invention, in a state in which the own vehicle and the surrounding vehicle are stopped, the surrounding vehicle for providing a departure notification is selected according to the driver's gaze direction, and the response of recognizing the departure of the selected surrounding vehicle Accordingly, it is possible to provide the driver with a departure notification for the selected surrounding vehicle.

The system or apparatus described above may be implemented as a hardware component or a combination of a hardware component and a software component. For example, devices and components described in the embodiments may include, for example, a processor, a controller, an arithmetic logic unit (ALU), a digital signal processor, a microcomputer, a field programmable gate array (FPGA). , a programmable logic unit (PLU), microprocessor, or any other device capable of executing and responding to instructions, may be implemented using one or more general purpose or special purpose computers. The processing device may execute an operating system (OS) and one or more software applications executed on the operating system. A processing device may also access, store, manipulate, process, and generate data in response to execution of the software. For convenience of understanding, although one processing device is sometimes described as being used, one of ordinary skill in the art will recognize that the processing device includes a plurality of processing elements and/or a plurality of types of processing elements. It can be seen that can include For example, the processing device may include a plurality of processors or one processor and one controller. Other processing configurations are also possible, such as parallel processors.

Software may comprise a computer program, code, instructions, or a combination of one or more thereof, which configures a processing device to operate as desired or is independently or collectively processed You can command the device. The software and/or data may be any kind of machine, component, physical device, virtual equipment, computer storage medium or apparatus, to be interpreted by or to provide instructions or data to the processing device. may be embodied in The software may be distributed over networked computer systems and stored or executed in a distributed manner. Software and data may be stored in one or more computer-readable recording media.

The method according to the embodiment may be implemented in the form of program instructions that can be executed through various computer means and recorded in a computer-readable medium. The computer-readable medium may include program instructions, data files, data structures, etc. alone or in combination. The medium may continuously store a computer executable program, or may be a temporary storage for execution or download. In addition, the medium may be various recording means or storage means in the form of a single or several hardware combined, it is not limited to a medium directly connected to any computer system, and may exist distributedly on a network. Examples of the medium include a hard disk, a magnetic medium such as a floppy disk and a magnetic tape, an optical recording medium such as CD-ROM and DVD, a magneto-optical medium such as a floppy disk, and those configured to store program instructions, including ROM, RAM, flash memory, and the like. In addition, examples of other media may include recording media or storage media managed by an app store for distributing applications, sites supplying or distributing other various software, and servers. Examples of program instructions include not only machine language codes such as those generated by a compiler, but also high-level language codes that can be executed by a computer using an interpreter or the like.

As described above, although the embodiments have been described with reference to the limited embodiments and drawings, various modifications and variations are possible from the above description by those skilled in the art. For example, the described techniques are performed in an order different from the described method, and/or the described components of the system, structure, apparatus, circuit, etc. are combined or combined in a different form than the described method, or other components Or substituted or substituted by equivalents may achieve an appropriate result.

Therefore, other implementations, other embodiments, and equivalents to the claims are also within the scope of the following claims.

Claims (10)

In the autonomous driving control method performed by a computer device included in a vehicle,
determining a driver's gaze direction by at least one processor included in the computer device;
analyzing, by the at least one processor, driving information of surrounding vehicles;
Selecting, by the at least one processor, a surrounding vehicle for providing a departure notification according to the driver's gaze direction in a state in which the own vehicle and the surrounding vehicle are stopped as a surrounding vehicle located at any one of the side, front, and rear ; and
providing, by the at least one processor, a departure notification for the selected surrounding vehicle to the driver in response to recognizing the departure of the selected surrounding vehicle;
including,
The step of determining the driver's gaze direction includes:
detecting a gaze point of the driver from an image acquired through a camera included in the interior of the vehicle, and determining a gaze direction of the driver according to the detected gaze point;
The step of analyzing the driving information of the surrounding vehicle,
Measuring the relative distance and relative speed of the surrounding vehicle based on the own vehicle through the sensor installed in the vehicle,
The step of selecting the surrounding vehicle,
When the driver's gaze direction is the front of the own vehicle, a surrounding vehicle located on at least one of a left side or a right side of the own vehicle is selected as a surrounding vehicle for providing a departure notification, or a surrounding vehicle located at the rear of the own vehicle is selected as a surrounding vehicle for providing a departure notification, and when the driver's gaze direction is the side of the own vehicle, a surrounding vehicle located in front or rear of the own vehicle is selected as a surrounding vehicle for providing a departure notification, ,
The step of providing the departure notification to the driver includes:
The departure of the selected surrounding vehicle is recognized based on at least one of the moving speed and the moving distance of the selected surrounding vehicle, and a channel for providing the departure notification is determined according to the driver's gaze direction, wherein the providing channel is displayed and a speaker, wherein when a separate display does not exist in the driver's gaze direction, the departure notification is provided by sound through the speaker. delete delete delete delete delete delete A computer-readable recording medium in which a computer program for executing the method of claim 1 in a computer device is recorded. A computer device included in a vehicle, comprising:
at least one processor implemented to execute computer-readable instructions
including,
by the at least one processor;
determine the driver's gaze direction;
Analyze driving information of surrounding vehicles,
Selecting a nearby vehicle for providing a departure notification according to the driver's gaze direction in a state where the own vehicle and the surrounding vehicle are stopped as a nearby vehicle located in any one of the side, front, and rear;
In response to recognizing the departure of the selected surrounding vehicle, a departure notification for the selected surrounding vehicle is provided to the driver,
to determine the direction of gaze of the driver, by the at least one processor,
detecting a gaze point of the driver from an image acquired through a camera included in the interior of the vehicle, and determining a gaze direction of the driver according to the detected gaze point;
In order to analyze the driving information of the surrounding vehicle, by the at least one processor,
Measuring the relative distance and relative speed of the surrounding vehicle based on the own vehicle through the sensor installed in the vehicle,
to select the surrounding vehicle, by the at least one processor,
When the driver's gaze direction is the front of the own vehicle, a surrounding vehicle located on at least one of a left side or a right side of the own vehicle is selected as a surrounding vehicle for providing a departure notification, or a surrounding vehicle located at the rear of the own vehicle is selected as a surrounding vehicle for providing a departure notification, and when the driver's gaze direction is the side of the own vehicle, a surrounding vehicle located in front or rear of the own vehicle is selected as a surrounding vehicle for providing a departure notification, ,
by the at least one processor to provide the departure notification to the driver;
The departure of the selected surrounding vehicle is recognized based on at least one of the moving speed and the moving distance of the selected surrounding vehicle, and a channel for providing the departure notification is determined according to the driver's gaze direction, wherein the providing channel is displayed and a speaker, wherein when a separate display does not exist in the driver's gaze direction, providing the departure notification by sound through the speaker
A computer device comprising a. delete

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