KR102457511B1 - Vehicle and method for controlling thereof - Google Patents

Abstract

To a vehicle and a control method therefor, and more particularly, to a technology for changing a braking time of a vehicle based on the driver's gaze information.
The vehicle according to an embodiment includes a detection sensor for detecting an object at the rear of the vehicle, a driver's gaze sensor for obtaining information about the driver's gaze, and a time to collision (TTC) calculation between the vehicle and the object, and the driver A control unit that determines the reliability of the driver's gaze toward the rear of the vehicle based on the time to look at the rear of the vehicle, changes the braking start time of the vehicle based on the determined reliability, and controls the driving speed of the vehicle based on the changed braking start time includes

Description

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

To a vehicle and a control method therefor, and more particularly, to a technology for changing a braking time of a vehicle based on the driver's gaze information.

A vehicle refers to a device capable of transporting a person or thing to a destination while traveling on a road or track. The vehicle may be moved to various positions mainly by using one or more wheels installed on the vehicle body. Such a vehicle may include a three-wheeled or four-wheeled vehicle, a two-wheeled vehicle such as a motorcycle, a construction machine, a bicycle, and a train running on rails disposed on a track.

In modern society, automobiles are the most common means of transportation, and the number of people using automobiles is increasing. The development of automobile technology has advantages such as ease of long-distance movement and convenience of life, but in places with high population density such as Korea, road traffic conditions worsen and traffic congestion becomes serious frequently.

Recently, in order to reduce the burden on the driver and improve convenience, there is a need for a vehicle equipped with an Advanced Driver Assist System (ADAS) that actively provides information on the vehicle condition, the driver condition, and the surrounding environment. Research is actively underway.

As an example of an advanced driver assistance system mounted on a vehicle, Forward Collision Avoidance (FCA), Autonomous Emergency Brake (AEB), Parking Collision-Avoidance Assist-Reverse ; PCA-R). Such a system is a system for determining a collision risk with an object in a driving situation of a vehicle, and for avoiding collision and providing a warning through emergency braking in a collision situation.

On the other hand, in the case of rear parking, etc., even when the driver is looking at the rear of the vehicle, the braking of the vehicle moving backward is performed based only on the expected collision time between the vehicle and the object without considering the driver's gaze. Other braking may cause system malfunction and driver discomfort.

By changing the braking timing of the vehicle based on the driver's gaze information, it is intended to reflect the intention of the driver and prevent malfunction of the system.

A vehicle according to an embodiment for achieving the above object,

A detection sensor for detecting an object at the rear of the vehicle, a driver's gaze sensor for obtaining information about the driver's gaze, and a time to collision (TTC) between the vehicle and the object are calculated, and the driver looks at the rear of the vehicle determining the reliability of the driver's gaze toward the rear of the vehicle based on the time to It includes a control unit that

In addition, the driver's gaze sensing unit may acquire the driver's gaze information by detecting an angle in a direction in which the driver's pupils gaze.

In addition, the control unit may include, based on the driver's gaze information acquired by the driver's gaze sensing unit, among a display unit for outputting an image of the rear of the vehicle, a rearview mirror provided inside the vehicle, or a side mirror provided outside the vehicle. It is possible to determine where the driver is looking.

Also, the controller may determine a time for the driver to gaze at the rear of the vehicle through any one of the display unit, the rearview mirror, and the side mirror.

Also, the controller may determine the reliability of the driver's gaze based on a ratio of the time the driver looks at the rear of the vehicle for a predetermined time.

Also, the controller may determine the predetermined time by multiplying the expected collision time by a predetermined constant value.

Also, the controller may change a braking start time of the vehicle when the vehicle is reversing based on the determined reliability and the collision expected time.

Also, the controller may transmit a braking start signal of the vehicle at a time remaining for a time calculated based on the determined reliability and the predicted collision time based on the expected collision time.

In addition, when the driver determines that the driver is looking at the rearview mirror based on the driver's gaze information, the controller determines whether the detected height of the object at the rear of the vehicle is less than a predetermined height, and the height of the object is If the height is less than the predetermined height, a braking start signal of the vehicle may be transmitted based on the calculated expected collision time.

In addition, when the driver determines that the driver is looking at the rearview mirror based on the driver's gaze information, the controller determines whether a distance between the vehicle and the detected object at the rear of the vehicle is less than a predetermined distance, When the distance between the vehicle and the detected object at the rear of the vehicle is less than the predetermined distance, a braking start signal of the vehicle may be transmitted based on the calculated expected collision time.

In addition, when the driver determines that the driver looks at the side mirror based on the driver's gaze information, the controller determines whether an angle between the vehicle and the detected object at the rear of the vehicle is less than a predetermined angle, When the angle between the vehicle and the detected object behind the vehicle is less than the predetermined angle, a braking start signal of the vehicle may be transmitted based on the calculated expected collision time.

Also, the detection sensor may obtain location information of the object, and the controller may calculate the expected collision time based on a distance between the vehicle and the object and a traveling speed of the vehicle.

In addition, the control unit may further include a speed adjusting unit for adjusting the traveling speed of the vehicle according to the control of the control unit.

In addition, the vehicle control method according to an embodiment for achieving the above object,

The driver's gaze toward the rear of the vehicle is based on detecting an object at the rear of the vehicle, obtaining information on the driver's gaze, calculating an expected collision time between the vehicle and the object, and looking at the rear of the vehicle based on the time the driver looks at the rear of the vehicle determines the reliability of , changes the braking start time of the vehicle based on the determined reliability, and controls the traveling speed of the vehicle based on the changed braking start time.

Also, acquiring the driver's gaze information may include acquiring the driver's gaze information by detecting an angle in a direction in which the driver's pupils gaze.

In addition, based on the obtained driver's gaze information, a display unit for outputting an image of the rear of the vehicle, a rearview mirror provided inside the vehicle, or a side mirror provided outside the vehicle to determine a position at which the driver gazes may include more.

The method may further include determining a time for the driver to look at the rear of the vehicle through any one of the display unit, the rearview mirror, and the side mirror.

Also, the determining of the reliability of the driver's gaze may include determining the reliability of the driver's gaze based on a ratio of the time the driver looks at the rear of the vehicle for a predetermined time.

The method may further include determining the predetermined time by multiplying the expected collision time by a predetermined constant value.

Also, changing the braking start time of the vehicle may include changing the braking start time of the vehicle when the vehicle is reversing based on the determined reliability and the collision expected time.

In addition, changing the braking start time of the vehicle includes transmitting the braking start signal of the vehicle at a time remaining for a time calculated based on the determined reliability and the collision expected time based on the collision expected time can do.

In addition, if the driver determines that the driver looks at the rearview mirror based on the driver's gaze information, it is determined whether the detected height of the object at the rear of the vehicle is less than a predetermined height, and the height of the object is the predetermined height If less than, the method may include transmitting a braking start signal of the vehicle based on the calculated expected collision time.

In addition, when it is determined that the driver gazes at the rearview mirror based on the driver's gaze information, it is determined whether a distance between the vehicle and the sensed object at the rear of the vehicle is less than a predetermined distance, and the vehicle and the detection If the distance between the objects in the rear of the vehicle is less than the predetermined distance, the method may include transmitting a braking start signal of the vehicle based on the calculated expected collision time.

In addition, when it is determined that the driver gazes at the side mirror based on the driver's gaze information, it is determined whether an angle between the vehicle and the sensed object at the rear of the vehicle is less than a predetermined angle, and the vehicle and the detection When the angle between the object at the rear of the vehicle is less than the predetermined angle, the method may include transmitting a braking start signal of the vehicle based on the calculated expected collision time.

In addition, detecting the object at the rear of the vehicle includes obtaining location information of the object, and calculating the expected collision time is based on a distance between the vehicle and the object and a traveling speed of the vehicle. It may include calculating the expected collision time based on the.

The method may further include adjusting the traveling speed of the vehicle according to the control.

By changing the braking timing of the vehicle based on the driver's gaze information while the vehicle is reversing, it is effective to reflect the driver's intention to reduce discomfort and prevent malfunction of the system.

1 is a perspective view schematically illustrating an exterior of a vehicle according to an exemplary embodiment;
2 illustrates a vehicle in which a detection sensor and a rear side vehicle detection unit are provided according to an exemplary embodiment.
3 is a diagram illustrating an interior structure of a vehicle according to an exemplary embodiment.
4 is a control block diagram of a vehicle according to an exemplary embodiment.
5 is a diagram illustrating information about the driver's gaze when the driver gazes at the display unit according to an exemplary embodiment.
6 is a diagram illustrating information about the driver's gaze when the driver gazes at the rearview mirror according to an exemplary embodiment.
7 and 8 are conceptual views illustrating that a braking timing of a vehicle is changed according to a height or distance of an object when a driver looks at the rear of the vehicle through a rearview mirror, according to an exemplary embodiment.
9 is a diagram illustrating information about the driver's gaze when the driver gazes at the side mirror according to an exemplary embodiment.
10 and 11 are conceptual views illustrating that a braking timing of a vehicle is changed according to an angle of a vehicle and another vehicle when a driver looks at the rear of the vehicle through a side mirror, according to an exemplary embodiment.
12 and 13 are flowcharts illustrating a vehicle control method 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, this includes not only direct connection but also indirect connection, and 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.

Terms such as first, second, etc. are used to distinguish one component from another, and the component is not limited by the above-mentioned terms.

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 perspective view schematically illustrating an exterior of a vehicle according to an exemplary embodiment; 2 is a view illustrating a vehicle provided with a detection sensor and a rear side vehicle detection unit according to an embodiment, FIG. 3 is a diagram illustrating an interior structure of a vehicle according to an embodiment, and FIG. 4 is a vehicle according to an embodiment is a control block diagram of

For convenience of explanation below, as shown in FIG. 1 , in general, the forward direction of the vehicle 1 is referred to as the forward direction, and the left direction and the right direction are divided based on the front, but when the front is the 12 o'clock direction , the 3 o'clock direction or its vicinity is defined as the right direction, and the 9 o'clock direction or its vicinity is defined as the left direction. The opposite direction of the anterior is the posterior. In addition, the direction of the floor centering on the vehicle 1 is called downward, and the opposite direction is called upward. In addition, one surface disposed in the front is referred to as a front side, one side disposed at the rear is referred to as a rear side, and one side disposed at the side is referred to as a side surface. Among the side surfaces, a left side is defined as a left side, and a right side is defined as a right side.

Referring to FIG. 1 , a vehicle 1 may include a vehicle body 10 forming an exterior and wheels 12 and 13 for moving the vehicle 1 .

The vehicle body 10 includes a hood 11a for protecting various devices necessary for driving the vehicle 1 such as an engine, a roof panel 11b for forming an interior space, a trunk lid 11c with a storage space, and the vehicle 1 . ) may include a front fender (11d) and a quarter panel (11e) provided on the side. In addition, a plurality of doors 14 combined with the vehicle body may be provided on the side surface of the vehicle body 11 .

A front window 19a providing a view of the front of the vehicle 1 is provided between the hood 11a and the roof panel 11b, and a rear view is provided between the roof panel 11b and the trunk lid 11c. A rear window 19b may be provided. In addition, a side window 19c providing a side view may be provided above the door 14 .

A side mirror 18 for viewing the rear or side of the vehicle 1 may be provided next to the side window 19c. The driver can check other vehicles or pedestrians approaching from the side or rear side of the vehicle 1 through the side mirror 18 while driving. One such side mirror 18 may be provided on the left and right sides based on the front driving direction of the vehicle 1 .

In addition, a headlamp 15 for irradiating illumination in the traveling direction of the vehicle 1 may be provided in front of the vehicle 1 .

In addition, a turn signal lamp (16) for indicating a traveling direction of the vehicle 1 may be provided at the front and rear of the vehicle 1 .

The vehicle 1 may display the direction in which the direction indicator lamp 16 flickers. In addition, a tail lamp 17 may be provided at the rear of the vehicle 1 . The tail lamp 17 may be provided at the rear of the vehicle 1 to display a gear shift state, a brake operation state, and the like of the vehicle 1 .

1 and 3 , at least one photographing unit 350 may be provided inside the vehicle 1 . The photographing unit 350 may photograph a surrounding image of the vehicle 1 while driving or stopping the vehicle 1 , and may detect an object around the vehicle 1 , and further acquire type and location information of the object can do. Objects that may be photographed around the vehicle 1 may include other vehicles, pedestrians, bicycles, and the like, and in addition to moving objects or stationary various obstacles.

The photographing unit 350 may detect the type of the object by photographing the object around the vehicle 1 and determine the shape of the photographed object through image recognition, and may transmit the sensed information to the controller 100 .

Although the photographing unit 350 is illustrated as being provided around the rearview mirror 340 in FIG. 3 , there is no limit to the location where the photographing unit 350 is provided, and image information can be obtained by photographing the inside or the outside of the vehicle 1 . It can be mounted wherever possible.

The photographing unit 350 may include at least one camera, and may include a 3D spatial recognition sensor, a radar sensor, an ultrasonic sensor, and the like to capture a more accurate image.

The 3D spatial recognition sensor may include KINECT (RGB-D sensor), TOF (Structured Light Sensor), stereo camera, etc., but is not limited thereto, and other devices capable of similar functions are also included. can be configured.

1 and 2 , the vehicle 1 may be provided with a detection sensor 200 that detects an object located in front of the vehicle and obtains at least one of location information and driving speed information of the detected object. .

The detection sensor 200 according to an embodiment may acquire coordinate information of an object located around the vehicle 1 with respect to the vehicle 1 .

As will be described later, the control unit 100 calculates the relative distance between the vehicle 1 and the object and the relative speed between the vehicle 1 and the object by using the position information and speed information of the object obtained by the detection sensor 200 . , and based on this, a time to collision (TTC) between the vehicle 1 and the object may be calculated.

The detection sensor 200 may be installed at an appropriate position to recognize an object in front, on the side or on the front side, for example, another vehicle, as shown in FIGS. 1 to 2 . According to one embodiment, the detection sensor 200 is the front of the vehicle 1, the left side of the vehicle 1 and the direction between the front (hereinafter referred to as the left front side), the right side of the vehicle 1 (右側方) and the front side (hereinafter referred to as the right front side) may be installed on both the front, left and right sides of the vehicle 1 so as to recognize an object located in both directions.

For example, the first detection sensor 200a may be installed in a portion of the radiator grille 6, for example, on the inside, and if it is a position capable of detecting a vehicle located in the front, it may be installed in any position of the vehicle 1 can In addition, the second detection sensor 200b may be provided on the left side of the vehicle 1 , and the third detection sensor 200c may be provided on the right side of the vehicle 1 .

The detection sensor 200 uses electromagnetic waves or laser light to determine whether another vehicle or object exists or approaches in the left, right, front, rear, left front, right front, left rear, or right rear. can

The detection sensor 200 is present in the direction between the rear, side, or side and rear of the vehicle 1 (hereinafter referred to as the rear side) or the rear side detection sensor 201 for detecting pedestrians or other vehicles approaching in this direction. may include

The rear side detection sensor 201 may be installed at an appropriate position to recognize a side, rear, or rear side object, for example, another vehicle, as shown in FIG. 2 .

According to an embodiment, the rear side detection sensor 201 includes a direction between the left side and the rear side of the vehicle 1 (hereinafter referred to as the left rear side direction), the right side of the vehicle 1 and It may be installed on both the left and right sides of the vehicle 1 so that the object can be recognized from both directions between the rear (hereinafter, the right rear side). For example, the first rear side detection sensor 201a or the second rear side detection sensor 201b is provided on the left side of the vehicle 1, and the third rear side detection sensor 201c or the fourth rear side detection sensor The 201d may be provided on the right side of the vehicle 1 . In addition, the first rear detection sensor 201e and the second rear detection sensor 201f may be provided at the rear of the vehicle 1 to detect an object behind the vehicle 2 .

In addition, according to an embodiment, the rear side detection sensor 201 may be installed in various positions to properly recognize the vehicle. For example, the first rear-side detection sensor 201a and the second rear-side detection sensor 201b are respectively installed on the left sea pillar of the vehicle 1 and the left rear fender of the vehicle 1, respectively, for pedestrians or other It can recognize whether a vehicle is present or approaching. Similarly, the third rear-side detection sensor 201c or the fourth rear-side detection sensor 201d is installed in the right sea pillar of the vehicle 1 and the right rear fender of the vehicle 1, respectively, to determine whether other vehicles exist or not. can recognize The installation position of the rear side detection sensor 201 is not limited thereto, and the rear side detection sensor 201 is installed in various locations of the vehicle 1 that the designer can consider, for example, around the rear light of the vehicle 1 . it might be

The rear side detection sensor 201 may determine whether another vehicle is present or approaching the rear, left, rear, or right rear side by using the rear camera image recognition or by using electromagnetic waves or laser light. For example, the rear side detection sensor 201 uses the rear camera image recognition, or emits electromagnetic waves such as microwaves or millimeter waves, pulsed laser light, ultrasonic waves, or infrared rays to the rear, left, rear, or right rear, in this direction. The presence or absence of an object may be determined by receiving pulsed laser light, ultrasonic waves, or infrared rays reflected or scattered from a positioned object. In this case, the detection sensor 200 may further determine the distance of the object or the speed of another vehicle traveling by using the return time of the emitted electromagnetic waves, pulsed laser light, ultrasonic waves, or infrared rays.

Using this, when the vehicle 1 travels in a predetermined direction along a predetermined lane or when the vehicle 1 is reversing, the control unit 100 of the vehicle 1 controls the rear, left, rear, or right rear of the vehicle 1 . It can be determined whether there is another vehicle driving on the other lane while being on the side.

For example, the rear side detection sensor 201 emits electromagnetic waves such as microwaves or millimeter waves, pulsed laser light, ultrasonic waves or infrared rays to the rear, left, rear, or right rear, and pulses reflected or scattered from objects located in this direction It is also possible to determine the presence of an object by receiving laser light, ultrasonic waves, or infrared rays. In this case, the rear side detection sensor 201 uses the time when the emitted electromagnetic wave, pulsed laser light, ultrasonic wave or infrared light returns to the vehicle 1 and another object located at the rear or rear side of the vehicle 1 and The distance or the speed of another moving object may be further determined.

When a plurality of rear-side detection sensors 201 are provided in one vehicle 1, each of the rear-side detection sensors 201 may be implemented using the same device or may be implemented using different devices. . In addition, the detection sensor 200 can be implemented using various devices and combinations that the designer can consider.

Referring to FIG. 3 , a driver's seat 301 , a passenger seat 302 , a dashboard 310 , a steering wheel 320 , and an instrument panel 330 are provided in the vehicle interior 300 .

The dashboard 310 refers to a panel that partitions the interior of the vehicle 1 and the engine room, and on which various parts necessary for driving are installed. The dashboard 310 is provided in the front direction of the driver's seat 301 and the passenger seat 302 . The dashboard 310 may include an upper panel, a center fascia 311 , and a gear box 315 .

The display unit 303 may be installed on the upper panel of the dashboard. The display unit 303 may provide various information as images to the driver or passenger of the vehicle 1 . For example, the display unit 303 may visually provide various information such as maps, weather, news, various moving images or still images, various information related to the state or operation of the vehicle 1, for example, information about the air conditioner. can In addition, the display unit 303 may provide a warning according to the level of risk to the driver or passenger. Specifically, when the vehicle 1 changes a lane, a different warning may be provided to the driver or the like according to the degree of risk. The display unit 303 may be implemented using a commonly used navigation device.

Also, the display unit 303 may output an image of an object at the rear of the vehicle 1 detected by the rear side detection sensor 201 . Specifically, an image of an object located at the rear of the vehicle 1 photographed by a rear photographing unit (not shown) provided at the rear of the vehicle 1 may be provided to the driver through the display unit 303 .

The display unit 303 may be installed inside a housing formed integrally with the dashboard 310 so that only the display panel is exposed to the outside. Also, the display unit 303 may be installed at the middle or lower end of the center fascia 311 , and a separate support (not shown) is provided on the inner surface of the windshield (not shown) or the upper surface of the dashboard 310 . It can also be installed using In addition, the display unit 303 may be installed at various positions that the designer may consider.

In addition, the instrument panel 330 may be provided with a driver's gaze sensing unit 331a for acquiring information about the driver's gaze. The driver's gaze sensing unit 331 may acquire the driver's gaze information by detecting at least one of a face angle and a pupil angle of the driver driving the vehicle 1 , and may transmit the obtained driver's gaze information to the controller. . In one embodiment of the disclosed invention, it is described that the driver's gaze sensing unit 331a is provided on the instrument panel 330, but there is no limit to the position where the driver's gaze sensing unit 331a can be installed, and the driver's gaze information can be obtained. If possible, it may be installed in any position of the vehicle 1 . That is, as shown in FIG. 3 , the driver's gaze sensing unit 331b may be provided at the top of the inner driver's seat of the vehicle 1 .

The driver's gaze sensing unit 331 may include a stereo camera that acquires an image of the driver's face or pupil, and may be installed at a position to acquire information about the driver's gaze by photographing the driver's face and pupil. have.

Various types of devices such as a processor, a communication module, a satellite navigation device receiving module, and a storage device may be installed inside the dashboard 310 . The processor installed in the vehicle may be provided to control various electronic devices installed in the vehicle 1 , and may be provided to perform the function of the control unit 100 as described above. The above-described devices may be implemented using various components such as semiconductor chips, switches, integrated circuits, resistors, volatile or nonvolatile memories, or printed circuit boards.

The center fascia 311 may be installed in the center of the dashboard 310 , and input units 318a to 318c for inputting various commands related to the vehicle may be provided. The input units 318a to 318c may be implemented using a physical button, a knob, a touch pad, a touch screen, a stick-type manipulation device, or a track ball. The driver may control various operations of the vehicle 1 by manipulating the input units 318a to 318c.

The gear box 315 is provided between the driver's seat 301 and the passenger seat 302 at the lower end of the center fascia 311 . The gear box 315 may include a gear 316 , a storage box 317 , and various input units 318d to 318e . The input units 318d to 318e may be implemented using a physical button, a knob, a touch pad, a touch screen, a stick-type manipulation device, or a track ball. The storage box 317 and the input units 318d to 318e may be omitted according to embodiments.

A steering wheel 320 and an instrument panel 330 are provided in the driver's seat direction of the dashboard 310 .

The steering wheel 320 is provided to be rotatable in a predetermined direction according to the driver's operation, and the vehicle 1 can be steered by rotating the front or rear wheels of the vehicle 1 according to the rotation direction of the steering wheel 320 . have. A spoke 321 connected to the rotation shaft and a handle wheel 322 coupled to the spoke 321 are provided on the steering wheel 320 . An input means for inputting various commands may be provided in the spoke 321 , and the input means may be implemented using a physical button, a knob, a touch pad, a touch screen, a stick-type manipulation device, or a track ball. The handle wheel 322 may have a circular shape for the convenience of the driver, but the shape of the handle wheel 322 is not limited thereto. A vibrating unit (201 in FIG. 4, vibrating unit) is installed inside at least one of the spokes 321 and the handle wheel 322, so that at least one of the spokes 321 and the handle wheel 322 is operated according to external control. It can vibrate with a predetermined intensity. According to an embodiment, the vibrator may vibrate with various strengths according to an external control signal, and accordingly, at least one of the spokes 321 and the handle wheel 322 may vibrate with various strengths according to an external control signal. The vehicle 1 may use this to provide a haptic warning to the driver. For example, at least one of the spokes 321 and the handle wheel 322 may provide various warnings to the driver by vibrating to a degree corresponding to the determined degree of risk when the vehicle 1 changes lanes. Specifically, as the level of risk increases, at least one of the spokes 321 and the handle wheel 322 vibrates more strongly, thereby providing a high level of warning to the driver.

In addition, a turn indicator input unit 318f may be provided at the rear of the steering wheel 320 . The user may input a signal for changing the driving direction or lane through the turn indicator input unit 318f while driving of the vehicle 1 .

The instrument panel 330 is configured to provide the driver with various information related to the vehicle, such as the speed of the vehicle 1, the engine rotation speed, the remaining fuel level, the temperature of engine oil, whether the direction indicator flashes or not, and the vehicle moving distance. will be prepared The instrument panel 330 may be implemented using a lighting lamp or a scale plate, or may be implemented using a display panel according to an embodiment. When the instrument panel 330 is implemented using a display panel, the instrument panel 330 displays, in addition to the above-described information, more various information such as fuel efficiency and whether various functions mounted on the vehicle 1 are performed to provide the driver with information. can The instrument panel 330 may output different warnings according to the degree of risk of the vehicle 1 and provide them to the driver. Specifically, when the vehicle 1 changes a lane, the instrument panel 330 may provide a different warning to the driver according to the determined degree of risk.

Referring to FIG. 4 , a vehicle 1 according to an exemplary embodiment includes a speed adjusting unit 70 for adjusting the traveling speed of the vehicle 1 driven by the driver, and a speed detecting unit for detecting the traveling speed of the vehicle 1 . 80, a storage unit 90 for storing data related to control of the vehicle 1, and a control unit 100 for controlling each configuration of the vehicle 1 and controlling the driving speed of the vehicle 1 may be included. have.

The speed adjusting unit 70 may adjust the speed of the vehicle 1 driven by the driver. The speed adjusting unit 70 may include an accelerator driving unit 71 and a brake driving unit 72 .

The accelerator driving unit 71 receives the control signal from the control unit 100 and drives the accelerator to increase the speed of the vehicle 1, and the brake driving unit 72 receives the control signal from the control unit 100 and drives the brake to drive the vehicle ( 1) can reduce the speed.

The controller 100 drives the vehicle 1 to increase or decrease the distance between the vehicle 1 and the other object based on a predetermined reference distance stored in the storage unit 90 and the distance between the vehicle 1 and the other object. You can increase or decrease the speed.

In addition, the controller 100 may calculate the expected collision time between the vehicle 1 and the object based on the relative distance and the relative speed between the vehicle 1 and the object, and the vehicle 1 based on the calculated expected collision time A signal for controlling the running speed of the may be transmitted to the speed adjusting unit 70 .

The speed adjusting unit 70 may adjust the traveling speed of the vehicle 1 under the control of the control unit 100 , and when the risk of collision between the vehicle 1 and another object is high, the traveling speed of the vehicle 1 is reduced. can do it

The speed sensing unit 80 may detect the traveling speed of the vehicle 1 driven by the driver under the control of the control unit 100 . That is, the driving speed can be detected by using the speed at which the wheels of the vehicle 1 rotate, etc., and the unit of the driving speed can be expressed as [kph], and is expressed as the distance (km) moved per unit time (h). can indicate

The storage unit 90 may store various data related to the control of the vehicle 1 . Specifically, information about the driving speed, driving distance, and driving time of the vehicle 1 according to an embodiment may be stored, and information about the type and location of the object detected by the photographing unit 350 may be stored.

In addition, the storage unit 90 may store the position information and speed information of the object detected by the detection sensor 200 and the rear side detection sensor 201 , and coordinate information changed in real time of the moving object, the vehicle 1 ) and the relative distance and relative speed of the object may be stored.

Also, the storage unit 90 may store data related to a formula and a control algorithm for controlling the vehicle 1 according to an embodiment, and the controller 100 controls the vehicle 1 according to the formula and the control algorithm. A control signal to control can be transmitted.

The storage unit 90 may include a nonvolatile memory device such as a cache, a read only memory (ROM), a programmable ROM (PROM), an erasable programmable ROM (EPROM), an electrically erasable programmable ROM (EEPROM), and a flash memory, or It may be implemented as at least one of a volatile memory device such as a random access memory (RAM), a hard disk drive (HDD), or a storage medium such as a CD-ROM, but is not limited thereto. The storage unit 90 may be a memory implemented as a chip separate from the processor described above with respect to the controller 100 , or may be implemented as a single chip with the processor.

Referring back to FIGS. 1 and 4 , at least one control unit 100 may be provided inside the vehicle 1 . The controller 100 may electronically control each configuration related to the operation of the vehicle 1 .

FIG. 5 shows information about the driver's gaze when the driver looks at the display unit according to an embodiment, and FIG. 6 shows information about the gaze of the driver when the driver looks at the rearview mirror, according to an embodiment. 7 and 8 are conceptual views illustrating that a braking timing of a vehicle is changed according to a height or distance of an object when a driver looks at the rear of the vehicle through a rearview mirror, according to an exemplary embodiment. 9 is a diagram illustrating information about the driver's gaze when the driver gazes at the side mirror according to an exemplary embodiment. 10 and 11 are conceptual views illustrating that a braking timing of a vehicle is changed according to an angle of a vehicle and another vehicle when a driver looks at the rear of the vehicle through a side mirror, according to an exemplary embodiment. 12 and 13 are flowcharts illustrating a vehicle control method according to an exemplary embodiment.

Referring to FIG. 5 , when the vehicle 1 is reversing, the rear side detection sensor 201 provided at the rear of the vehicle 1 detects an object such as another vehicle or a pedestrian located at the rear of the vehicle 1 (1000). ), and the image of the object located at the rear of the vehicle 1 photographed by the rear photographing unit (not shown) may be output through the display unit 303 .

The driver of the vehicle 1 may look at the display unit 303 to check an object located at the rear of the vehicle 1 when the vehicle 1 is reversing, and the driver's gaze sensing unit 331a is the driver's pupil. By detecting the angle in the direction of gait, information on the driver's gaze looking at the display unit 303 may be obtained ( S1050 ).

The rear side detection sensor 201 obtains at least one of position information and speed information of an object located at the rear of the vehicle 1 , and the controller 100 controls the distance between the vehicle 1 and the object at the rear of the vehicle 1 . and an expected collision time may be calculated based on the traveling speed of the vehicle 1 ( 1100 ).

In addition, the control unit 100 allows the driver to control the vehicle through any one of the display unit 303, the rearview mirror 340, or the side mirror 18 based on the driver's gaze information obtained by the driver's gaze sensing unit 331a. 1) it is possible to determine the time to look behind the back (1150).

That is, when the vehicle 1 is reversing, the controller 100 may determine the driving concentration for the driver's driving of the reversing vehicle 1 according to the time the driver looks at the rear of the reversing vehicle 1 .

The controller 100 may determine the reliability of the driver's gaze based on a ratio of the time the driver of the vehicle 1 moving backward looks at the rear of the vehicle 1 for a predetermined time ( 1200 ). That is, according to how much time the driver looks at the rear of the vehicle 1 for a certain period of time during reversing of the vehicle 1 , the control unit 100 knows that the driver is paying attention in reversing the vehicle 1 . can

The reliability of the driver's gaze may be defined as a ratio of the time the driver looks at the rear of the vehicle 1 for a predetermined time, and in this case, the predetermined time is a predetermined constant value at the expected collision time calculated by the controller 100 . It can be determined by multiplying by (C).

The predetermined constant value multiplied by the expected collision time is a constant value C for determining the time for the driver to gaze at the rear of the vehicle 1 , and may vary according to a set value.

That is, the control unit 100 determines a predetermined time in order to determine the reliability of the driver's gaze. For a relatively short time, the control unit 100 may determine the ratio of the time the driver looks at the rear of the vehicle 1 , and relatively Since the ratio of the time the driver looks at the rear of the vehicle 1 for a long time may be determined, the constant value C for determining the predetermined time may be differently set.

Since the estimated collision time calculated by the controller 100 is obtained by dividing the distance between the vehicle 1 moving backward and the object located at the rear of the vehicle 1 by the reversing speed of the vehicle 1 , for example, the collision expected time If this is 3 seconds and the predetermined constant value C is 3, the controller 100 may determine the predetermined time to be 9 seconds to determine the reliability of the driver's gaze.

When the time that the driver of the vehicle 1 gazes at the rear of the vehicle 1 for 9 seconds corresponding to the predetermined time is 6 seconds, the reliability of the driver's gaze becomes 2/3. That is, the control unit 100 may determine the driving concentration in which the driver of the vehicle 1 looks at the rear of the vehicle 1 as 2/3 with respect to the vehicle 1 moving backward, and the reliability of the driver's gaze determined in this way is determined as a vehicle for reversing. It can be reflected at the braking point of (1).

The controller 100 may determine whether the driver gazes at the image of the rear of the vehicle 1 through the display 303 based on the driver's gaze information obtained by the driver's gaze detector 331a ( 1250 ).

When it is determined that the driver looks at the display unit 303 , the control unit 100 determines the reliability of the driver's gaze based on the ratio of the time the driver looks at the rear of the vehicle 1 for a predetermined time as described above. can decide

The control unit 100 may change the braking start time of the vehicle 1 based on the reliability of the driver's gaze and the expected collision time between the vehicle 1 and the object at the rear of the vehicle 1 ( 1300 ), and the control unit 100 The driving speed of the vehicle 1 may be controlled based on the changed braking start time ( 1350 ).

For example, if the expected collision time between the vehicle 1 and the object at the rear of the vehicle 1 is 0.5 seconds, the controller 100 controls the vehicle 1 at a time point of 0.5 seconds remaining when the vehicle 1 collides with the object while reversing. 1) to start braking.

However, as described above, the controller 100 determines the reliability of the driver's gaze, and determines the braking start time of the vehicle 1 based on the time calculated by the equation (1 ?? reliability) * (anticipated collision time). can be changed

For example, when the reliability of the driver's gaze determined by the control unit 100 is 0.5 and the collision expected time is 0.5 seconds, the control unit 100 calculates 0.25 seconds by (1 ?? reliability) * (anticipated collision time) can do. That is, when the driver is looking at the rear of the vehicle 1 based on a reliability of 0.5, the control unit 100 does not start the braking of the vehicle 1 in advance 0.5 seconds before the expected collision time of 0.5 seconds, Braking of the vehicle 1 is started when 0.25 seconds remain until the collision.

Through this, the control unit 100 reflects the intention of the driver to look at the rear of the vehicle 1 when the vehicle 1 is reversing, and starts braking at a time delayed by a predetermined time without starting braking early with respect to the expected collision time. It is possible to reduce driver discomfort.

The controller 100 may determine whether the driver looks at the rear of the vehicle 1 through the rearview mirror 340 based on the driver's gaze information obtained by the driver's gaze detector 331a ( 1400 ).

When it is determined that the driver gazes at the rearview mirror 340 , the controller 100 may determine whether the height of the object positioned at the rear of the vehicle 1 is less than a predetermined height ( 1450 ).

In this case, when the driver looks at the rear of the vehicle 1 through the rear-view mirror 340 , the predetermined height used as a reference for determining the height of the object sensed by the controller 100 is the case in which the driver can see the object Based on whether or not it is recognized, the storage unit 90 may store data for a predetermined height based on the height of the vehicle 1 and the installation position of the rearview mirror 340 .

As shown in FIG. 7 , when a child 3 corresponding to less than a predetermined height stored in the storage unit 90 is located at the rear of the vehicle 1 , the driver uses the vehicle 1 through the rearview mirror 340 . The child (3) cannot be seen even when looking backwards.

On the other hand, when an adult 4 corresponding to a predetermined height or higher is located at the rear of the vehicle 1, when the driver looks at the rear of the vehicle 1 through the rearview mirror 340, the adult 4 cannot be seen. have.

That is, if the driver can check the object located at the rear of the vehicle 1 through the rearview mirror 340, the control unit 100 may change the braking time of the vehicle 1 moving backward by reflecting the driver's gaze information. .

If the height of the object located at the rear of the vehicle 1 is greater than or equal to a predetermined height, the control unit 100 determines the vehicle 1 based on the reliability of the driver's gaze and the expected collision time between the vehicle 1 and the object at the rear of the vehicle 1 . may change the braking start time ( 1300 ), and the controller 100 may control the driving speed of the vehicle 1 based on the changed braking start time ( 1350 ).

Through this, the control unit 100 reflects the intention of the driver to look at the rear of the vehicle 1 when the vehicle 1 is reversing, and starts braking at a time delayed by a predetermined time without starting braking early with respect to the expected collision time. It is possible to reduce driver discomfort. A detailed description thereof is the same as the case in which the driver gazes at the rear of the vehicle 1 through the display unit 303 in FIG. 5 , and thus a redundant description thereof will be omitted.

If the driver cannot check the object at the rear of the vehicle 1 through the rear-view mirror 340 because the height of the object at the rear of the vehicle 1 is less than a predetermined height, the controller 100 controls the vehicle 1 It may be determined whether a distance between the vehicle 1 and the object at the rear of the vehicle 1 is less than a predetermined distance ( 1500 ).

At this time, when the driver looks at the rear of the vehicle 1 through the rear-view mirror 340 , the predetermined distance used as a reference for determining the distance between the vehicle 1 and the object sensed by the controller 100 , the driver Based on whether or not it is visible, the storage unit 90 may store data on a predetermined distance based on the distance between the vehicle 1 and the object and the installation position of the rearview mirror 340 .

As shown in FIG. 8 , when the child 3 positioned at the rear of the vehicle 1 is less than a predetermined height as described in FIG. 7 , the distance between the vehicle 1 and the child 3 is a predetermined distance If the distance S1 is less than that, the driver cannot see the child 3 located at the rear of the vehicle 1 through the rearview mirror 340 .

On the other hand, when the child 3 located at the rear of the vehicle 1 is less than the predetermined height as described in FIG. 7 , the distance between the vehicle 1 and the child 3 is equal to or greater than the predetermined distance ( In the case of S2), the driver can see the child 3 located at the rear of the vehicle 1 through the rearview mirror 340 .

That is, even when the height of the object located at the rear of the vehicle 1 is less than a predetermined height, the controller 100 may control the vehicle 1 and the object to be separated by a predetermined distance or more, so that the driver can use the rear view mirror 340 . If the object at the rear of the vehicle 1 can be identified through , the braking time of the vehicle 1 moving backward may be changed by reflecting the driver's gaze information.

That is, if the distance between the vehicle 1 and the object is greater than or equal to a predetermined distance, the controller 100 determines the vehicle 1 based on the reliability of the driver's gaze and the expected collision time between the vehicle 1 and the object behind the vehicle 1 . ) may change the braking start time ( 1300 ), and the controller 100 may control the driving speed of the vehicle 1 based on the changed braking start time ( 1350 ).

Through this, the control unit 100 reflects the intention of the driver to look at the rear of the vehicle 1 when the vehicle 1 is reversing, and starts braking at a time delayed by a predetermined time without starting braking early with respect to the expected collision time. It is possible to reduce driver discomfort. A detailed description thereof is the same as the case in which the driver gazes at the rear of the vehicle 1 through the display unit 303 in FIG. 5 , and thus a redundant description thereof will be omitted.

On the other hand, if the distance between the vehicle 1 and the object is less than the predetermined distance, the driver cannot see the object behind the vehicle 1 through the rear-view mirror 340, so the controller 100 controls the previously calculated vehicle ( A braking start signal of the vehicle 1 may be transmitted based on the expected collision time between 1) and the object ( 1650 ).

That is, if the control unit 100 determines that the driver cannot check the object located at the rear of the vehicle 1 through the rearview mirror 340, the reliability based on the driver's gaze is not reflected at the time of braking the vehicle 1, Braking of the vehicle 1 is performed based on the calculated expected collision time. Accordingly, the speed controller 70 may control the running speed of the vehicle 1 according to the control of the controller 100 ( 1700 ).

The controller 100 may determine whether the driver looks at the rear of the vehicle 1 through the side mirror 18 based on the driver's gaze information obtained by the driver's gaze detector 331a ( 1550 ).

When it is determined that the driver gazes at the side mirror 18 , the controller 100 may determine whether an angle between the vehicle 1 and an object positioned at the rear of the vehicle 1 is less than a predetermined angle ( 1600 ).

In this case, the predetermined angle that the controller 100 uses as a reference for determining the angle between the vehicle 1 and the object is determined by the driver when the driver looks at the rear of the vehicle 1 through the side mirror 18 . Based on whether or not can be seen, the storage unit 90 may store data for a predetermined angle based on the installation position and the installation angle of the side mirror 18 .

As shown in FIG. 10 , the driver looks at the rear of the vehicle 1 through the side mirror 18a provided on the left side of the vehicle 1 , and the object located behind the vehicle 1 is another vehicle 2 . In this case, if the angle between the vehicle 1 and the other vehicle 2 is equal to or greater than the predetermined angle θ1, the driver can see the other vehicle 2 located behind the vehicle 1 through the side mirror 18a. can

On the other hand, if the angle between the vehicle 1 and the other vehicle 2 is less than the predetermined angle θ2, the driver can see the other vehicle 2 located behind the vehicle 1 through the side mirror 18a. none.

Similarly, as shown in FIG. 11 , the driver gazes at the rear of the vehicle 1 through the side mirror 18b provided on the right side of the vehicle 1 , and an object positioned at the rear of the vehicle 1 is another vehicle 2 . ), if the angle between the vehicle 1 and the other vehicle 2 is equal to or greater than the predetermined angle θ3, the driver is the other vehicle 2 located behind the vehicle 1 through the side mirror 18a. can be seen

On the other hand, if the angle between the vehicle 1 and the other vehicle 2 is less than the predetermined angle θ4, the driver can see the other vehicle 2 located behind the vehicle 1 through the side mirror 18a. none.

That is, when the angle between the vehicle 1 and the object located at the rear of the vehicle 1 is greater than or equal to a predetermined angle, the controller 100 may allow the driver to check the object at the rear of the vehicle 1 through the side mirror 18 . Therefore, it is possible to change the braking timing of the vehicle 1 moving backward by reflecting the driver's gaze information.

That is, if the angle between the vehicle 1 and the object is equal to or greater than a predetermined angle, the controller 100 determines the vehicle 1 based on the reliability of the driver's gaze and the expected collision time between the vehicle 1 and the object behind the vehicle 1 . ) may change the braking start time ( 1300 ), and the controller 100 may control the driving speed of the vehicle 1 based on the changed braking start time ( 1350 ).

Through this, the control unit 100 reflects the intention of the driver to look at the rear of the vehicle 1 when the vehicle 1 is reversing, and starts braking at a time delayed by a predetermined time without starting braking early with respect to the expected collision time. It is possible to reduce driver discomfort. A detailed description thereof is the same as the case in which the driver gazes at the rear of the vehicle 1 through the display unit 303 in FIG. 5 , and thus a redundant description thereof will be omitted.

On the other hand, if the angle between the vehicle 1 and the object is less than the predetermined angle, the driver cannot see the object behind the vehicle 1 through the side mirror 18, so the controller 100 controls the previously calculated vehicle ( A braking start signal of the vehicle 1 may be transmitted based on the expected collision time between 1) and the object ( 1650 ).

That is, if the control unit 100 determines that the driver cannot identify the object located at the rear of the vehicle 1 through the side mirror 18, the reliability based on the driver's gaze is not reflected at the time of braking the vehicle 1, Braking of the vehicle 1 is performed based on the calculated expected collision time. Accordingly, the speed controller 70 may control the running speed of the vehicle 1 according to the control of the controller 100 ( 1700 ).

Meanwhile, the disclosed embodiments may be implemented in the form of a recording medium storing instructions executable by a computer. Instructions may be stored in the form of program code, and when executed by a processor, may generate program modules to perform operations of the disclosed embodiments. The recording medium may be implemented as a computer-readable recording medium.

The computer-readable recording medium includes any type of recording medium in which instructions readable by the computer are stored. For example, there may be a read only memory (ROM), a random access memory (RAM), a magnetic tape, a magnetic disk, a flash memory, an optical data storage device, and the like.

The 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.

18: side mirror
70: speed control unit
80: speed detection unit
100: control unit
201: rear side detection sensor
303: display unit
331: driver's gaze sensing unit
340: room mirror
350: shooting department

Claims (26)

a detection sensor for detecting an object at the rear of the vehicle;
a driver's gaze sensing unit to obtain information about the driver's gaze; and
calculating a time to collision (TTC) between the vehicle and the object, determining the reliability of the driver's gaze toward the rear of the vehicle based on the time the driver gazes at the rear of the vehicle, and the determined reliability and a control unit that changes a braking start time of the vehicle based on
the control unit
When it is determined that the driver gazes at the rearview mirror based on the driver's gaze information and the height of the object is determined to be less than a predetermined height, a braking start signal of the vehicle is transmitted based on the expected collision time,
When it is determined that the driver gazes at the rearview mirror based on the driver's gaze information and the distance between the vehicle and the object is determined to be less than a predetermined distance, a braking start signal of the vehicle based on the expected collision time send or
When it is determined that the driver looks at the side mirror based on the driver's gaze information and the angle between the vehicle and the object is determined to be less than a predetermined angle, a braking start signal of the vehicle based on the expected collision time vehicle that transmits The method of claim 1,
The driver's gaze sensing unit,
A vehicle for acquiring the driver's gaze information by detecting an angle in a direction in which the driver's pupils gaze. The method of claim 1,
The control unit is
Based on the driver's gaze information acquired by the driver's gaze sensing unit, a display unit that outputs an image of the rear of the vehicle, a rearview mirror provided inside the vehicle, or a side mirror provided outside the vehicle, the driver's gaze position is determined deciding vehicle. 4. The method of claim 3,
The control unit is
A vehicle for determining a time for the driver to gaze at the rear of the vehicle through any one of the display unit, the rearview mirror, and the side mirror. The method of claim 1,
The control unit is
A vehicle for determining the reliability of the driver's gaze based on a ratio of the time that the driver looks at the rear of the vehicle for a predetermined time. 6. The method of claim 5,
The control unit is
A vehicle for determining the predetermined time by multiplying the expected collision time by a predetermined constant value. The method of claim 1,
The control unit is
A vehicle for changing a braking start time of the vehicle when the vehicle is reversing based on the determined reliability and the expected collision time. The method of claim 1,
The control unit is
Based on the expected collision time, the vehicle transmits a braking start signal of the vehicle at a time remaining for a time calculated based on the determined reliability and the collision expected time. delete delete delete The method of claim 1,
The detection sensor is
Obtaining the location information of the object,
The control unit is
A vehicle for calculating the expected collision time based on a distance between the vehicle and the object and a traveling speed of the vehicle. The method of claim 1,
The vehicle further comprising a; speed adjusting unit for adjusting the traveling speed of the vehicle according to the control of the control unit. detecting an object behind the vehicle;
obtain driver's gaze information;
calculating an expected collision time between the vehicle and the object;
determine a reliability of the driver's gaze to the rear of the vehicle based on a time that the driver looks to the rear of the vehicle;
change a braking start time of the vehicle based on the determined reliability;
and controlling the driving speed of the vehicle based on the changed braking start time.
Controlling the driving speed of the vehicle
When it is determined that the driver gazes at the rearview mirror based on the driver's gaze information and the height of the object is determined to be less than a predetermined height, a braking start signal of the vehicle is transmitted based on the expected collision time,
When it is determined that the driver gazes at the rearview mirror based on the driver's gaze information and the distance between the vehicle and the object is determined to be less than a predetermined distance, a braking start signal of the vehicle based on the expected collision time send or
When it is determined that the driver looks at the side mirror based on the driver's gaze information and the angle between the vehicle and the object is determined to be less than a predetermined angle, a braking start signal of the vehicle based on the expected collision time Transmitting the; vehicle control method comprising a. 15. The method of claim 14,
Obtaining the driver's gaze information includes:
A vehicle control method for acquiring the driver's gaze information by detecting an angle in a direction in which the driver's pupil gazes. 15. The method of claim 14,
determining a position at which the driver gazes from among a display unit outputting an image of the rear of the vehicle, a rearview mirror provided inside the vehicle, or a side mirror provided outside the vehicle, based on the obtained driver's gaze information; A vehicle control method further comprising a. 17. The method of claim 16,
and determining a time for the driver to gaze at the rear of the vehicle through any one of the display unit, the rearview mirror, and the side mirror. 15. The method of claim 14,
Determining the reliability of the driver's gaze,
A vehicle control method for determining the reliability of the driver's gaze based on a ratio of the time the driver looks at the rear of the vehicle for a predetermined time. 19. The method of claim 18,
and determining the predetermined time by multiplying the expected collision time by a predetermined constant value. 15. The method of claim 14,
Changing the braking start time of the vehicle includes:
A vehicle control method for changing a braking start time of the vehicle when the vehicle is reversing based on the determined reliability and the expected collision time. 15. The method of claim 14,
Changing the braking start time of the vehicle includes:
and transmitting a braking start signal of the vehicle at a time remaining for a time calculated based on the determined reliability and the predicted collision time based on the expected collision time. delete delete delete 15. The method of claim 14,
Detecting the object behind the vehicle,
Including; acquiring the location information of the object;
Calculating the expected collision time is,
and calculating the expected collision time based on a distance between the vehicle and the object and a traveling speed of the vehicle. 15. The method of claim 14,
and adjusting the traveling speed of the vehicle according to the control.

Images