KR102430170B1 - Vehicle and controlling method thereof - Google Patents

Abstract

A vehicle according to an embodiment of the disclosed invention includes an input unit provided to receive a door open command; a camera unit mounted on the door to photograph the surroundings of the vehicle; a sensing unit mounted on the door to detect an obstacle; a driving unit driving the door to be opened or closed; and when the door open command is input, an image captured by the camera unit is provided, and when the door open command is re-entered within a predetermined time, the door is opened, and when the sensing unit detects the obstacle, the and a control unit for controlling the driving unit to stop driving.

Description

Vehicle and its control method {VEHICLE AND CONTROLLING METHOD THEREOF}

The present invention relates to a vehicle capable of controlling the opening and closing of a door and a control method therefor.

A vehicle is a machine driven by wheels for the purpose of transporting people or cargo, and it moves on the road.

A driver's seat and a passenger seat are provided inside the vehicle, and a rear seat and a trunk for loading luggage may be further provided, and a door for opening and closing the interior spaces may be provided.

One aspect provides a vehicle capable of providing a door that can be opened and closed, and a control method thereof.

As a technical means for achieving the above technical problem, a vehicle according to an aspect includes an input unit provided to receive a door opening command; a camera unit mounted on the door to photograph the surroundings of the vehicle; a sensing unit mounted on the door to detect an obstacle; a driving unit driving the door to be opened or closed; and when the door open command is input, an image captured by the camera unit is provided, and when the door open command is re-entered within a predetermined time, the door is opened, and when the sensing unit detects the obstacle, the and a control unit for controlling the driving unit to stop driving.

Also, when the door opening command is re-entered within the predetermined time, the sensing unit may detect a distance between the door and the obstacle until the door is opened at a maximum angle.

In addition, the controller may control the driving unit to stop driving the door when the sensed distance is less than or equal to a predetermined distance.

The display unit may further include a display unit that visually provides information, and the controller may control the display unit to display a guideline on the photographed image when the door opening command is input.

In addition, the control unit may control the display unit to provide a warning message when the door open command is input.

Also, when the door opening command is re-entered within the predetermined time, the controller may control the camera unit to stop the operation of the camera unit.

Also, when the door opening command is re-entered within the predetermined time, the controller may control the display unit to stop the operation of the display unit.

In addition, the door may be a tailgate.

In addition, the sensing unit may be mounted on the spoiler to detect a rear obstacle.

A method of controlling a vehicle according to another aspect includes: receiving a door opening command; when the door opening command is input, photographing the surroundings of the vehicle and providing the photographed image; driving the door to be opened and detecting an obstacle when the door opening command is re-entered within a predetermined time; and stopping the driving of the door when the obstacle is detected.

In addition, the detecting of the obstacle may include detecting a distance between the door and the obstacle until the door is opened at a maximum angle when the fraudulent door opening command is re-entered within the predetermined time.

In addition, the stopping of driving of the door may stop driving of the door when the sensed distance is less than or equal to a predetermined distance.

In addition, the providing of the photographed image may include displaying a guideline on the photographed image when the door opening command is input, and providing an image on which the guideline is displayed.

The method may further include providing a warning message when the door open command is input.

The method may further include, when the door opening command is re-entered within the predetermined time, stopping the operation of the camera unit.

The method may further include, when the door opening command is re-entered within the predetermined time, stopping the operation of the display unit.

In addition, the door may be a tailgate.

In addition, in the step of detecting the obstacle, the rear obstacle may be detected by a sensing unit mounted on the spoiler.

According to a vehicle and a control method thereof according to an aspect, since the door is automatically opened to increase the user's convenience, and at the same time, damage to the door due to a collision with an obstacle can be prevented, thereby increasing safety.

1 is a view illustrating an exterior of a vehicle according to an exemplary embodiment.
2 is a diagram illustrating an internal configuration of a vehicle according to an exemplary embodiment.
3 is a control block diagram of a vehicle according to an exemplary embodiment.
4 is a view for explaining driving of a vehicle door according to an exemplary embodiment.
5 is a flowchart of a method for controlling a vehicle according to an exemplary embodiment.

Like reference numerals refer to like elements throughout. This specification does not describe all elements of the embodiments, and general content in the technical field to which the present invention pertains or content that overlaps between the embodiments is omitted. The term 'part, module, member, block' used in the specification may be implemented in software or hardware, and according to embodiments, a plurality of 'part, module, member, block' may be implemented as a single component, It is also possible for one 'part, module, member, block' to include a plurality of components.

Throughout the specification, when a part is "connected" with another part, it includes not only a direct connection but also an indirect connection, and the indirect connection includes connection through a wireless communication network. do.

Also, when a part "includes" a certain component, it means that other components may be further included, rather than excluding other components, unless otherwise stated.

Throughout the specification, when a member is said to be located "on" another member, this includes not only a case in which a member is in contact with another member but also a case in which another member exists between the two members.

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

In each step, the identification code is used for convenience of description, and the identification code does not describe the order of each step, and each step may be performed differently from the specified order unless the specific order is clearly stated in the context. have.

Hereinafter, the working principle and embodiments of the present invention will be described with reference to the accompanying drawings.

1 is a diagram illustrating an exterior of a vehicle according to an exemplary embodiment.

The vehicle 1 is a device driven by driving wheels for the purpose of transporting people or cargo, and moves on a road.

The vehicle 1 includes a body having an exterior and an interior, and a chassis in which mechanical devices necessary for driving are installed as the remaining parts except for the vehicle body.

1 , the exterior 110 of the vehicle body includes a front panel 111 , a bonnet 112 , a roof panel 113 , and a rear panel 114 .

The exterior 110 of the vehicle body further includes a door (tailgate) 115 that opens and closes a trunk that forms a space for storing luggage, and a door 116 that opens and closes a space where a person can sit.

Here, the door 116 may be provided on the driver's seat and the front passenger's seat, respectively, and when the rear seat is provided in the vehicle 1 , the door 116 may be selectively provided on the left and right of the rear seat.

The doors 115 and 116 may be automatically opened and closed based on information input by a user. The automatic opening and closing configuration of the doors 115 and 116 will be described in detail later.

The exterior of the vehicle body may further include a window glass 117 and a pillar 118 provided at a boundary between the front, rear, left, and right window glasses 117 .

Here, the window glass includes a side window glass, a quarter window glass installed between the pillar and the pillar to be non-openable, a rear window glass installed on the rear side, and a front window glass installed on the front side.

The exterior of the vehicle body further includes a side mirror 119 and the like that provide a driver with a view of the rear of the vehicle 1 .

In addition, the exterior of the vehicle body may further include a spoiler 130 that prevents the vehicle body from floating when the vehicle 1 is traveling at a high speed.

The spoiler 130 may be mounted on the rear of the exterior, and may reduce resistance due to wind blowing from the front during high-speed driving.

To this end, the spoiler 130 may be attached to the upper surface of the rear window glass or may be mounted in the trunk.

2 is a diagram illustrating an internal configuration of a vehicle according to an exemplary embodiment.

As shown in FIG. 2 , the interior 120 of the vehicle body includes seats 121 ( 121a and 121b ) on which the occupant sits, the dashboard 122 , and is disposed on the dashboard and includes a tachometer, a speedometer, a coolant thermometer, and a fuel gauge. , turn indicator lamp, high beam indicator, warning lamp, seat belt warning lamp, odometer, odometer, automatic shift selector lamp, door open warning lamp, engine oil warning lamp, low fuel warning lamp (i.e. cluster, 123) and , a steering wheel 124 for controlling the traveling direction of the vehicle 1, and a center fascia 125 having a control panel for an audio device and an air conditioner.

The seat 121 includes a driver's seat 121a on which the driver sits, a passenger seat 121b on which a passenger sits, and a rear seat located at the rear of the vehicle 1 .

The cluster 123 may be implemented digitally. This digital cluster displays vehicle information and driving information as images.

The cluster 123 may further include a user interface that receives a user's command, outputs operation information corresponding to the user's input, and outputs driving information of the vehicle 1 .

The center fascia 125 is provided on the dashboard 122 and is provided between the driver's seat 121a and the passenger seat 121b.

The center fascia 125 includes an audio device, an air conditioner, and a head unit 126 for controlling the heating element of the seat.

The center fascia 125 may be provided with a plurality of operation systems, air outlets, cigar jacks, and the like, and a multi-terminal 127 may be installed.

Here, the multi-terminal 127 may be disposed at a position adjacent to the head unit 146 , and may include a USB port, an AUX terminal, and further include an SD slot.

The center fascia 125 may be provided with a terminal that receives information from a user and outputs a result corresponding to the input information.

Such a terminal may perform at least one of a navigation function, a DMB function, an audio function, and a video function, and may display environmental information and driving information of a road in an autonomous driving mode.

Such a terminal may be mounted on a dashboard.

In addition, the display 260 may be installed in the center fascia 125 . The display 134 may display a user interface (UI) that provides the driver with information related to the vehicle 1 in the form of an image or text. To this end, the display 134 may be formed to be embedded in the center fascia 130 . However, the installation example of the display is not limited thereto, and the display 134 may be provided to be detachable from the center fascia 130 of the vehicle 1 .

In addition, the interior 120 of the vehicle body may further include an overhead console 128 positioned around the rearview mirror.

The overhead console 128 may optionally include indoor lighting, a plurality of operation systems, and a storage box.

The chassis of the vehicle 1 further includes a power generating device, a power transmitting device, a traveling device, a steering device, a braking device, a suspension device, a transmission device, a fuel device, front and rear left and right wheels, and the like.

The vehicle 1 further includes various safety devices for the safety of the driver and passengers.

The stabilization device of the vehicle 1 includes an airbag control device for the purpose of safety of occupants such as the driver in the event of a vehicle collision, and an electronic stability control device (ESC: Electronic Stability Control) to control the vehicle posture when accelerating or cornering the vehicle. There are different kinds of safeguards.

In addition, the vehicle 1 includes a sensor (not shown) capable of detecting obstacles around the vehicle 1 in order to prevent collision with surrounding obstacles, and a camera unit (not shown) capable of securing a peripheral view of the vehicle 1 ( 3 and 230) may be further included.

The camera unit ( FIGS. 3 and 230 ) may provide an image around the vehicle 1 and may transmit image data.

In particular, the vehicle 1 can prevent collision with surrounding obstacles when the doors 115 and 116 are opened and closed, and in this case, the camera unit ( FIGS. can provide

To this end, the camera unit ( FIGS. 3 and 230 ) may be installed at the rear of the vehicle body 1 , or may be installed inside the vehicle 1 , in front of the vehicle body, and on the side, respectively.

In particular, when the doors 115 and 116 are opened and closed, the camera units ( FIGS. 3 and 230 ) may be installed on the doors 115 and 116 of the vehicle 1 to prevent collision with surrounding obstacles.

Hereinafter, when the doors 115 and 116 are opened and closed, a description will be given of the vehicle 1 according to an embodiment for preventing a collision with a surrounding obstacle.

3 is a control block diagram of a vehicle according to an exemplary embodiment.

As shown in FIG. 3 , the vehicle 1 according to an exemplary embodiment detects an input unit 210 provided to receive a control command from a user, a camera unit 230 capable of photographing the surroundings of the vehicle 1 , and an obstacle. It may include a sensing unit 220 that can do this, a driving unit 250 that can drive the doors 115 and 116 , a display unit 260 , and a control unit 240 that can control various components in the vehicle 1 . can

The input unit 210 may be provided to receive a control command for each control module from the user, and may be provided to receive an open command for the doors 115 and 116 .

In particular, the input unit 210 may be provided to receive a command to open the rear door 115 (tailgate).

To this end, the input unit 210 may be implemented in the form of a separate button inside the vehicle 1 , or may be implemented as a switch or the like. In addition, the input unit 210 may be installed outside the vehicle 1 .

When the input unit 210 is implemented in the form of a button, the user may input a command to open the doors 115 and 116 of the vehicle 1 by pressing the button.

The camera unit 230 may photograph the surroundings of the vehicle 1 , and in particular, may be mounted on the doors 115 and 116 to photograph the surroundings of the doors 115 and 116 .

For example, when the user opens or closes the door 115 (tailgate) provided at the rear, the camera unit 230 may photograph the vicinity of the door 115 (tailgate) and provide the captured image to the user. . Such a photographed image may be displayed to the user by the display unit 260, which will be described later.

The sensing unit 220 may detect an obstacle around the vehicle 1 , and in particular, the sensing unit 220 may be mounted on the doors 115 and 116 to detect obstacles around the doors 115 and 116 .

The sensing unit 220 may detect an obstacle in real time, and may detect an obstacle while the doors 115 and 116 are opened in order to prevent collision with surrounding obstacles when the doors 115 and 116 are opened.

In particular, the sensing unit 220 may detect obstacles around the doors 115 and 116 until the doors 115 and 116 are opened at the maximum angle.

In addition, the sensing unit 220 may measure the distance between the vehicle 1 and the obstacles around the vehicle 1 , specifically, the distance between the doors 115 and 116 and the obstacles around the doors 115 and 116 . can be measured.

To this end, the sensing unit 220 may be implemented by various sensors, and when implemented as an ultrasonic sensor, examples thereof include an ultrasonic rangefinder, an ultrasonic proximity sensor, an ultrasonic level sensor, and an ultrasonic water level gauge.

The distance between the doors 115 and 116 measured by the sensor 220 and the obstacles around the doors 115 and 116 may be a control basis of the controller 240 to be described later.

The driving unit 250 may drive the doors 115 and 116 to open or close the doors 115 and 116 of the vehicle 1 according to a user's command.

The driving unit 250 may move the doors 115 and 116 so that the doors 115 and 116 have a maximum opening angle. Specifically, the driving unit 250 is connected to the doors 115 and 116 to apply a moving force to the doors 115 and 116 so that the doors 115 and 116 are opened or closed within the maximum opening angle range. 116) can be moved.

To this end, the driving unit 250 may include a motor that applies a rotational force to the rotating member attached to the doors 115 and 116 .

The driving unit 250 may adjust the rotation speed of the motor by adjusting a current or voltage applied to the motor based on a control command from the control unit 240 to be described later. Accordingly, the driving unit 250 may adjust the speed at which the doors 115 and 116 are opened or closed.

The display unit 260 may provide a user with various visual information related to the vehicle 1 . The display unit 260 may display an image around the vehicle 1 captured by the camera unit 230 , and may also display a message indicating that the doors 115 and 116 have been opened.

Also, the display unit 260 may display a warning message requiring confirmation before the doors 115 and 116 are opened to the user. For example, the display unit 260 may display a warning message 'Please check again before opening the tailgate' to induce the user to check obstacles around the tailgate before opening the tailgate.

The controller 240 may control the driving unit 250 to control the driving of the doors 115 and 116 , and may control various internal components of the vehicle 1 including the driving unit 250 .

When a door opening command is inputted by the input unit 210 , the control unit 240 may control the camera unit 230 to photograph the surroundings of the vehicle 1 , and display the captured image on the display unit 260 . have.

In addition, the control unit 240 controls the camera unit 230 when the gear position detected by the gear sensor (not shown) according to the user's selection is the parking lock gear, in addition to the case where the door open command is input by the input unit 210 . An image may be controlled to be captured, and the captured image may be displayed on the display unit 260 .

When the door open command is re-entered from the user within a predetermined time after the door open command is input by the input unit 210 , the control unit 240 may control the driving unit 250 to open the doors 115 and 116 . have.

In this case, the control unit 240 determines whether the door open command is re-entered from the user by determining whether the door open command is input again within a predetermined time after the door open command is input by the input unit 210 . have.

When the door open command is input again within a predetermined time, that is, when the door open command is made twice within a predetermined time, the controller 240 may determine that the door open command is re-entered from the user.

If the door open command is re-entered within a predetermined time after the door open command is input, the control unit 240 may stop driving the doors 115 and 116 according to whether the sensor 220 detects an obstacle.

Specifically, when a door opening command is re-inputted from the user within a predetermined time, the control unit 240 may determine whether the sensing unit 220 detects an obstacle, and when the sensing unit 220 detects an obstacle, the door Driving can be stopped so that (155, 116) does not open to a larger opening angle.

When the distance between the doors 115 and 116 and the obstacle measured by the detector 220 is less than or equal to a predetermined distance, the controller 240 may determine that the obstacle is detected. When an obstacle is detected, the control unit 240 stops the driving of the doors 115 and 116 so that the doors 115 and 116 are no longer opened, so that the doors 115 and 116 are closed while the doors 115 and 116 are being opened. It can be prevented from being damaged by collision with obstacles.

Also, when a door opening command is input by the user, the controller 240 may control the display unit 260 to display the guideline on the image captured by the camera unit 230 together.

In this case, the guideline may be an opening trajectory of the doors 115 and 116 , and may mean a line indicating a range in which the doors 115 and 116 can be safely opened.

When a door opening command is first inputted by the user, the control unit 250 may calculate the opening trajectory of the doors 115 and 116 on the surrounding image captured by the camera unit 230 , and use the calculated opening trajectory as the captured image. The display unit 260 may be controlled to be displayed overlaid on the .

In addition, when a door opening command is first input, the control unit 240 may control the display unit 260 to provide a warning message inducing the user to check whether the doors 115 and 116 can be safely opened. have.

When the door open command is input again within a predetermined time after the door open command is first input, the control unit 240 opens the doors 115 and 116 and simultaneously operates the camera unit 230 and the display unit 260 . can stop

In this case, the control unit 240 can provide the user with only information excluding unnecessary information, and can automatically open the doors 115 and 116 in a situation confirmed by the user, thereby preventing collisions between the doors 115 and 116 and obstacles. This can be prevented to increase safety.

4 is a view for explaining driving of a vehicle door according to an exemplary embodiment.

The controller 230 according to an exemplary embodiment may control the driving unit 250 to open the tailgate 115 provided for opening and closing the trunk space of the vehicle 1 .

As shown in FIG. 4 , the tailgate 115 may be opened within the maximum opening angle range, and the camera unit 230 may be installed on the handle 115 provided on the tailgate 115 , and the detection unit Reference numeral 220 may be installed on the spoiler 130 of the vehicle body exterior.

When the user inputs a door opening command through the input unit 210 , the camera unit 230 is installed on the handle 115 to take an image of the rear of the vehicle 1 , and the captured image is displayed on the display unit 260 . can be displayed in

When the door open command is input again within a predetermined time after the door open command is input by the input unit 210 , the tailgate 115 may be opened.

While the tailgate 115 is open, the sensing unit 220 may detect an obstacle, and the sensing unit 220 is installed on the spoiler 130 of the vehicle body so that the tailgate 115 detects an obstacle on the opening trajectory. can

In this case, the sensing unit 220 may be implemented as a plurality of sensors installed on the spoiler 130 and having regular intervals.

In addition, the detector 220 may be installed on the spoiler 130 to have a wider obstacle detection area, and may more accurately detect an obstacle with a risk of collision in the opening process of the tailgate 115 .

For example, an obstacle having a risk of collision may be a wall, and in this case, the sensing unit 220 may detect a distance to the wall. When the distance sensed by the sensing unit 220 is less than or equal to a predetermined distance while the tailgate 115 is opened, the controller 240 may stop driving the tailgate 115 .

Through this, the control unit 240 may prevent the tailgate 115 from being damaged, and may control the driving unit 250 so that the opening of the tailgate 115 is more convenient for the user.

5 is a flowchart of a method for controlling a vehicle according to an exemplary embodiment.

Referring to FIG. 5 , the vehicle 1 may determine whether a door opening command is input ( 510 ).

When it is determined that the door opening command is input, the vehicle 1 may photograph an image around the vehicle 1 ( 520 ) and display the captured image ( 530 ). At this time, the control unit 240 may display a warning message to the user to check the obstacle before opening the doors (115, 116).

The controller 240 may determine whether the door open command is re-entered within a predetermined time ( 540 ). Specifically, when the second door open command is input within a predetermined time after the first door open command is input, the controller 240 may determine that the door open command is re-entered.

When the door open command is input again within a predetermined time after the first door open command is input, the controller 240 may open the doors 115 and 116 ( 550 ).

At the same time as driving to open the doors 115 and 116 is started, the controller 240 may determine whether an obstacle is detected ( 560 ). Specifically, when the distance to the obstacle detected by the sensing unit 220 is less than or equal to a predetermined distance, the controller 240 may determine that the obstacle is detected.

When it is determined that an obstacle is detected, the controller 240 may stop driving the doors 115 and 116 ( 570 ).

Through this, the doors 115 and 116 can be opened automatically to increase convenience, and when an obstacle is detected, the doors 115 and 116 stop opening the doors 115 and 116 due to a collision with the obstacle. ) to prevent damage.

The disclosed embodiments have been described with reference to the accompanying drawings as described above. Those of ordinary skill in the art to which the present invention pertains will understand that the present invention may be practiced in other forms than the disclosed embodiments without changing the technical spirit or essential features of the present invention. The disclosed embodiments are illustrative and should not be construed as limiting.

1: vehicle
210: input unit
220: detection unit
230: camera unit
240: control unit
250: driving unit
260: display unit

Claims (18)

an input unit provided to receive a door opening command;
a camera unit mounted on the door to photograph the surroundings of the vehicle;
a sensing unit mounted on the door to detect an obstacle;
a driving unit driving the door to be opened or closed;
display unit; and
When the door opening command is input, the display unit is controlled to display an image captured by the camera unit, and when the door opening command is re-entered within a predetermined time, the door is opened, and the sensing unit detects the obstacle. a control unit controlling the driving unit to stop driving of the door in case of a vehicle including a. The method of claim 1,
The sensing unit,
When the door opening command is re-entered within the predetermined time, the vehicle detects a distance between the door and the obstacle until the door is opened at a maximum angle. 3. The method of claim 2,
The control unit is
When the sensed distance is less than or equal to a predetermined distance, the vehicle controls the driving unit to stop driving the door. According to claim 1,
The control unit is
A vehicle for controlling the display unit to display a guideline on the captured image. According to claim 1,
The control unit is
A vehicle controlling the display unit to provide a warning message before the door is opened. According to claim 1,
The control unit is
When the door opening command is re-entered within the predetermined time, the vehicle controls the camera unit to stop the operation of the camera unit. According to claim 1,
The control unit is
When the door opening command is re-entered within the predetermined time, the vehicle controls the display unit to stop the operation of the display unit. According to claim 1,
The vehicle, characterized in that the door is a tailgate. According to claim 1,
The sensing unit,
A vehicle that is mounted on a spoiler and detects obstacles behind it. receiving a door open command;
when the door opening command is input, photographing the surroundings of the vehicle, and providing the photographed image through a display unit;
driving the door to be opened and detecting an obstacle when the door opening command is re-entered within a predetermined time; and
and stopping the driving of the door when the obstacle is detected. 11. The method of claim 10,
The step of detecting the obstacle is
When a fraudulent door opening command is re-entered within the predetermined time, the vehicle control method for detecting a distance between the door and the obstacle until the door is opened at a maximum angle. 12. The method of claim 11,
The step of stopping the operation of the door includes:
When the sensed distance is less than or equal to a predetermined distance, the control method of the vehicle for stopping the driving of the door. 11. The method of claim 10,
Providing the captured image comprises:
A control method of a vehicle for displaying a guideline on the captured image and providing an image on which the guideline is displayed. 11. The method of claim 10,
The method of controlling a vehicle further comprising; providing a warning message before the door is opened. 11. The method of claim 10,
and stopping the operation of the camera unit when the door opening command is re-entered within the predetermined time. 11. The method of claim 10,
and stopping the operation of the display unit when the door opening command is re-entered within the predetermined time. 11. The method of claim 10,
The control method of a vehicle, characterized in that the door is a tailgate. 11. The method of claim 10,
The step of detecting the obstacle is
A control method of a vehicle that detects a rear obstacle by a sensing unit mounted on a spoiler.

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