KR102518226B1 - Vehicle and controlling method thereof - Google Patents

Abstract

The disclosed invention relates to a vehicle and a control method thereof, and the vehicle includes an image acquisition unit installed at the rear of the vehicle to detect an obstacle; And when an obstacle is detected in the rear sensor detection area through the image acquisition unit, the shortest distance point with the obstacle is calculated using the detected image or the preset vehicle shape, and the vehicle and obstacle at the moment the shortest distance point is out of the sensor detection area and a control unit that calculates a current distance between the vehicle and an obstacle for the vehicle to move backward based on the distance between the vehicle and the vehicle's backward speed.

Description

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

It relates to a vehicle and its control method.

Vehicles tend to develop and install various vehicle value-added service devices in consideration of driver's convenience and safety.

More specifically, the vehicle supplementary service device includes safety assist devices such as a lane departure warning device that prevents departure from the driving lane by assisting the driver's steering wheel operation while driving the vehicle, as well as a route to a destination selected by the driver and It may include an additional service providing device such as a navigation system for guiding surrounding information along a route.

On the other hand, the vehicle provides a driver's convenience according to reverse or rear parking by providing a rear image during reverse driving. At this time, the vehicle detects the rear through the image sensor, but the area that the image sensor can detect is limited or an undetectable area occurs due to the shape of the rear of the vehicle.

Disclosed embodiments are intended to provide a vehicle and a control method for detecting a sensor non-sensing area that occurs due to limitations of a rear design of a vehicle and a sensor.

As a technical means for achieving the above-described technical problem, a vehicle according to an aspect includes an image acquisition unit mounted on the rear of the vehicle to detect an obstacle; and when an obstacle within the rear sensor sensing area is detected through the image acquisition unit, a shortest distance point with the obstacle is calculated using the detected image or a preset vehicle shape, and the moment the shortest distance point leaves the sensor sensing area A control unit for calculating a current distance between the vehicle and the obstacle for the vehicle moving backward based on the distance between the vehicle and the obstacle and the backward speed of the vehicle.

이고, 상기 a는 상기 센서감지영역을 벗어나는 순간의 차량과 장애물 간의 거리, v(t)는 시간당 차량의 후진속도를 의미할 수 있다.In addition, the control unit calculates the current distance between the vehicle and the obstacle based on Equation 1, wherein Equation 1,

Where a is the distance between the vehicle and the obstacle at the moment of leaving the sensor detection area, v(t) may mean the backward speed of the vehicle per hour.

In addition, when receiving a reverse signal according to a user's manipulation of a transmission gear shift (TGS) lever, the control unit may activate the image acquisition unit to detect whether an obstacle exists behind the vehicle.

In addition, when the current distance between the vehicle and the obstacle is less than or equal to the reference distance, the control unit may output a warning notification in at least one form among a visual form, an audible form, and a tactile form.

In addition, the image acquisition unit may be mounted on a tail spoiler.

According to an aspect of the vehicle control method, when a reverse signal is generated according to a user's operation of a transmission gear shift (TGS) lever, an image is obtained through an image acquisition unit, a reverse speed of the vehicle is determined, and the shortest distance between the obstacle and the obstacle is obtained. Calculate a distance point, calculate a current distance between the vehicle and the obstacle for the vehicle's backward movement based on the distance between the vehicle and the obstacle at the moment when the shortest distance point is out of the sensor sensing area and the backward speed of the vehicle, It may include outputting a warning notification when the current distance between the vehicle and the obstacle is less than or equal to the reference distance.

In addition, the shortest distance point may be calculated using a detected image or a preset vehicle shape when an obstacle within the sensor sensing area is detected through the image acquisition unit.

이고, 상기 a는 상기 센서감지영역을 벗어나는 순간의 차량과 장애물 간의 거리, v(t)는 시간당 차량의 후진속도를 의미할 수 있다.In addition, calculating the current distance between the vehicle and the obstacle calculates the current distance between the vehicle and the obstacle based on Equation 1, wherein Equation 1,

Where a is the distance between the vehicle and the obstacle at the moment of leaving the sensor detection area, v(t) may mean the backward speed of the vehicle per hour.

In addition, outputting the warning notification may output the warning notification in at least one form among a visual form, an auditory form, and a tactile form.

In addition, the image acquisition unit may be mounted on a tail spoiler.

A vehicle according to another aspect includes an image acquisition unit mounted on a tail gate of the vehicle to detect an obstacle; and when an obstacle within the sensor sensing area is detected through the image acquisition unit, a shortest distance point with the obstacle is calculated using the detected image or a preset open trajectory of the tailgate, and the shortest distance point is out of the sensor sensing area. and a control unit that calculates a current distance between the tailgate and the obstacle when the tailgate is opened based on the instantaneous distance between the tailgate and the obstacle and the opening speed of the tailgate.

이고, 상기 b는 상기 센서감지영역을 벗어나는 순간의 테일게이트와 장애물 간의 거리, v(t)는 시간당 테일게이트의 오픈속도를 의미할 수 있다.In addition, the control unit calculates the current distance between the tailgate and the obstacle based on Equation 2, wherein Equation 2,

Where b is the distance between the tailgate and the obstacle at the moment of leaving the sensor sensing area, v(t) may mean the opening speed of the tailgate per hour.

Also, when the current distance between the tailgate and the obstacle is equal to or less than the reference distance, the control unit may output a warning notification in at least one form among a visual form, an audible form, and a tactile form.

In addition, the control unit may control to stop the operation of the tailgate when the current distance between the tailgate and the obstacle is equal to or less than a reference distance.

According to another aspect of the vehicle control method, when a tailgate open signal is generated, an image is obtained through an image acquisition unit, an open trajectory and an open speed of the tailgate are identified, and a shortest distance point with the obstacle is calculated. and calculating the current distance between the tailgate and the obstacle for the opening of the tailgate based on the distance between the tailgate and the obstacle and the opening speed of the tailgate at the moment when the shortest distance point is out of the sensor sensing area, and outputting a warning notification when the current distance between the tailgate and the obstacle is equal to or less than a reference distance.

In addition, the shortest distance point may be calculated using a detected image or a predetermined open trajectory of the tailgate when an obstacle within the sensor sensing area is detected through the image acquisition unit.

이고, 상기 b는 상기 센서감지영역을 벗어나는 순간의 테일게이트와 장애물 간의 거리, v(t)는 시간당 테일게이트의 오픈속도를 의미할 수 있다.In addition, calculating the current distance between the tailgate and the obstacle calculates the current distance between the tailgate and the obstacle based on Equation 2, and Equation 2,

Where b is the distance between the tailgate and the obstacle at the moment of leaving the sensor sensing area, v(t) may mean the opening speed of the tailgate per hour.

Also, outputting the warning notification may be outputting the warning notification in at least one form among a visual form, an auditory form, and a tactile form.

Outputting the warning notification may further include controlling to stop the operation of the tailgate when the current distance between the tailgate and the obstacle is equal to or less than a reference distance.

According to the above-described means for solving the problems, the disclosed invention can expect an effect of detecting an undetected area according to the limit of the sensing angle of the image sensor.

In addition, in the case of assisting rear parking through an image sensor at the rear of the vehicle, the disclosed invention can omit the ultrasonic sensor for rear parking assist, so that an area that needs to be detected by a plurality of sensors can be sensed by one sensor. As a result, cost reduction can be expected.

1 is a view showing the appearance of a vehicle.
2 is a view showing the interior of a vehicle.
3 is a control block diagram illustrating a configuration of a vehicle according to an exemplary embodiment.
4 to 7 are exemplary diagrams for explaining a method of detecting a rear of a vehicle according to an exemplary embodiment.
8 is a flowchart illustrating a method for controlling a vehicle according to an exemplary embodiment.
9 is a control block diagram illustrating a configuration of a vehicle according to another exemplary embodiment.
10 is an exemplary diagram for explaining a method of detecting a rear of a vehicle according to another embodiment.
11 is a flowchart illustrating a method for controlling a vehicle according to another exemplary embodiment.

Like reference numbers designate like elements throughout the specification. This specification does not describe all elements of the embodiments, and general content or overlapping content between the embodiments in the technical field to which the present invention belongs is omitted. The term 'unit, module, member, block' used in the specification may be implemented in software or hardware, and according to embodiments, a plurality of 'units, modules, members, blocks' may be implemented as one component, It is also possible that one 'part, module, member, block' includes a plurality of components.

Throughout the specification, when a part is said to be "connected" to another part, this includes not only the case of being directly connected but also the case of being indirectly connected, and indirect connection includes being connected through a wireless communication network. do.

In addition, when a certain component is said to "include", this means that it may further include other components without excluding other components unless otherwise stated.

Terms such as first and second are used to distinguish one component from another, and the components are not limited by the aforementioned terms.

Expressions in the singular number include plural expressions unless the context clearly dictates otherwise.

In each step, the identification code is used for convenience of description, and the identification code does not explain the order of each step, and each step may be performed in a different order from the specified order unless a specific order is clearly described in context. there is.

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

1 is a view showing the appearance of a vehicle.

Referring to FIG. 1, the exterior of a vehicle 1 includes a main body 10 forming the exterior of the vehicle 1, a windscreen 11 providing a driver with a view of the front of the vehicle 1, and a driver A side mirror 12 providing a rear view of the vehicle 1, a door 13 shielding the inside of the vehicle 1 from the outside, and a front wheel 21 positioned at the front of the vehicle and a rear wheel positioned at the rear of the vehicle ( 22) may include wheels 21 and 22 for moving the vehicle 1.

The wind screen 11 is provided on the front upper side of the main body 10 so that the driver inside the vehicle 1 can obtain visual information of the front of the vehicle 1. In addition, the side mirror 12 includes a left side mirror provided on the left side of the body 10 and a right side mirror provided on the right side of the body 10, and the driver inside the vehicle 1 provides visual information of the side and rear of the vehicle 1. make it possible to obtain

Doors 13 are rotatably provided on the left and right sides of the main body 10 so that the driver can get inside the vehicle 1 when opened, and when closed, the inside of the vehicle 1 is shielded from the outside. can

In addition to the above-described configuration, the vehicle 1 includes a power device 16 for rotating the wheels 21 and 22, a steering device (not shown) for changing the moving direction of the vehicle 1, and a braking device for stopping the movement of the wheels ( not shown) may be included.

The power unit 16 provides rotational force to the front wheel 21 or the rear wheel 22 so that the body moves forward or backward. Such a power device 16 may include an engine generating rotational force by burning fossil fuel or a motor generating rotational force by receiving power from a capacitor (not shown).

The steering device includes a steering wheel (42 in FIG. 2) receiving a driving direction from a driver, a steering gear (not shown) that converts rotational motion of the steering wheel 42 into reciprocating motion, and reciprocating motion of the steering gear (not shown). It may include a steering link (not shown) that transmits to the front wheel 21. Such a steering device can change the driving direction of the vehicle 1 by changing the direction of the rotating shaft of the wheel.

The braking device includes a brake pedal (not shown) receiving a braking operation from a driver, a brake drum (not shown) coupled to the wheels 21 and 22, and a brake shoe that brakes the rotation of the brake drum (not shown) using frictional force. (not shown) and the like. Such a braking device can brake the running of the vehicle 1 by stopping rotation of the wheels 21 and 22 .

2 is a view showing the interior of a vehicle.

The inside of the vehicle 1 includes a dashboard 14 in which various devices for the driver to operate the vehicle 1 are installed, a driver's seat 15 for the driver of the vehicle 1 to sit on, and the vehicle 1 It may include cluster display units 51 and 52 that display operation information of the driver, and a navigation 70 that provides audio and video functions as well as a route guidance function that provides route guidance information according to a driver's operation command. there is.

The dashboard 14 protrudes from the lower part of the windscreen 11 toward the driver, and allows the driver to operate various devices installed on the dashboard 14 while looking forward.

The driver's seat 15 is provided at the rear of the dashboard 14 so that the driver can drive the vehicle 1 in a stable posture while keeping an eye on the front of the vehicle 1 and various devices on the dashboard 14 .

The cluster display units 51 and 52 are provided on the side of the driver's seat 15 of the dashboard 14, and display the driving speed gauge 51 displaying the driving speed of the vehicle 1 and the rotational speed of the power unit (not shown). It may include an rpm gauge 52 to indicate.

The navigation system 70 may include a display displaying information on a road on which the vehicle 1 is driving or a route to a destination that a driver intends to reach, and a speaker 41 outputting sound according to a driver's manipulation command. Recently, an audio video navigation (AVN) device in which an audio device, a video device, and a navigation device are integrated is being installed in a vehicle.

The navigation device 70 may be installed in a center fascia. At this time, the center fascia refers to the control panel portion between the driver's seat and the passenger's seat in the dashboard 14, and is an area where the dashboard 14 and the shift lever vertically meet, and includes a navigation system 70, an air conditioner, Heater controller, air outlet, cigar jack, ashtray, cup holder, etc. can be installed. In addition, the center fascia, along with the center console, can also play a role in separating the driver's seat and passenger seat.

In addition, a separate jog dial 60 for various driving operations including the navigation 70 may be provided.

The jog dial 60 of the disclosed invention is provided with a touch pad with a touch recognition function, as well as a method of performing a driving operation by rotating or applying pressure, using a user's finger or a tool with a separate touch recognition function. Thus, handwriting recognition for driving operation may be performed.

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

Hereinafter, a description will be made with reference to FIGS. 4 to 7 , which are exemplary diagrams for explaining a method for detecting a rear of a vehicle according to an exemplary embodiment.

Referring to FIG. 3 , the vehicle 100 includes a communication unit 110, an input unit 120, a storage unit 130, a display 140, an output unit 150, a transmission gear shift (TGS) lever 160, an image It may include an acquisition unit 170 and a control unit 180.

The communication unit 110 may include one or more components enabling communication with an external device, and may include, for example, at least one of a short-distance communication module, a wired communication module, and a wireless communication module.

The short-range communication module uses a wireless communication network such as a Bluetooth module, an infrared communication module, a Radio Frequency Identification (RFID) communication module, a Wireless Local Access Network (WLAN) communication module, an NFC communication module, and a Zigbee communication module to transmit signals at a short distance. It may include various short-range communication modules that transmit and receive.

Wired communication modules include various wired communication modules, such as Controller Area Network (CAN) communication modules, Local Area Network (LAN) modules, Wide Area Network (WAN) modules, or Value Added Network (VAN) modules. In addition to communication modules, various cable communication modules such as USB (Universal Serial Bus), HDMI (High Definition Multimedia Interface), DVI (Digital Visual Interface), RS-232 (recommended standard 232), power line communication, or POTS (plain old telephone service) can include

The wireless communication module includes the Radio Data System-Traffic Message Channel (RDS-TMC), Digital Multimedia Broadcasting (DMB), WiFi module, and Wireless broadband module, as well as the global System for Mobile (GSM) Communication), CDMA (Code Division Multiple Access), WCDMA (Wideband Code Division Multiple Access), UMTS (universal mobile telecommunications system), TDMA (Time Division Multiple Access), LTE (Long Term Evolution) wireless communication module supporting various wireless communication methods can include

The wireless communication module may include a wireless communication interface including an antenna and a receiver for receiving traffic information signals. In addition, the wireless communication module may further include a traffic information signal conversion module for demodulating an analog type wireless signal received through a wireless communication interface into a digital control signal.

Meanwhile, the communication unit 110 may further include an internal communication module (not shown) for communication between electronic devices inside the vehicle 100 . As an internal communication protocol of the vehicle 100, CAN (Controller Area Network), LIN (Local Interconnection Network), FlexRay, Ethernet, and the like may be used.

The input unit 120 is a hardware device such as various buttons, switches, pedals, keyboards, mice, track-balls, various levers, handles or sticks for user input. device may be included.

Also, the input unit 120 may include a GUI (Graphical User Interface), ie, a software device, such as a touch pad for user input. The touch pad may be implemented as a touch screen panel (TSP) to form a mutual layer structure with the display 140 .

The storage unit 130 is a component for storing various information related to the vehicle 100 .

The storage unit 130 may include a non-volatile memory device such as a cache, read only memory (ROM), programmable ROM (PROM), erasable programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM), and flash memory or RAM. It may be implemented as at least one of a volatile memory device such as (Random Access Memory), a hard disk drive (HDD), or a storage medium such as a CD-ROM, but is not limited thereto. The storage unit 130 may be a memory implemented as a separate chip from the processor described above in relation to the control unit 180, or may be implemented as a single chip with the processor.

The display 140 is a component for displaying various information related to the vehicle 100 so that the user can check it.

The display 140 includes a cathode ray tube (CRT), a digital light processing (DLP) panel, a plasma display panel, a liquid crystal display (LCD) panel, an electroluminescence ( Electro Luminescence (EL) panel, Electrophoretic Display (EPD) panel, Electrochromic Display (ECD) panel, Light Emitting Diode (LED) panel or Organic Light Emitting Diode (OLED) panel ) panel, etc., but is not limited thereto.

The output unit 150 is a component for outputting various information related to the vehicle 100 in the form of voice.

The TGS (Transmission Gear Shift) lever 160 is a configuration for determining the position of a manual valve of an automatic transmission for a vehicle.

Specifically, an automatic transmission (not shown) for a vehicle is a transmission that automatically implements an appropriate shift-speed based on variables related to vehicle driving, such as vehicle speed and throttle opening. In the automatic transmission for vehicles, TGS (Transmission Gear Shift) lever for the driver to specify the shift-range such as 'P', 'R', 'N', 'D', '+', '-', etc. is connected, the position of the manual valve of the automatic transmission is determined by the operation of the TGS (Transmission Gear Shift) lever, and an appropriate hydraulic supply line is formed according to the position of the TGS lever. The position of such a manual valve is detected by an inhibitor switch and provided to the transmission control unit (hereinafter referred to as 'TCU') that controls the transmission, and therefore, the TCU shifts gears appropriately in the driving mode designated by the driver. The hydraulic system of the automatic transmission is controlled so that the stage is established.

If such an automatic transmission is equipped with a manual up (+) / down (-) function, the TGS lever 160 is operated to perform shifting such as maintaining the current gear level, upshifting, downshifting, etc. through CAN communication to the TCU. It is possible to perform shift control to the corresponding target gear stage by transmitting the operating position state of .

The image acquisition unit 170 may be mounted on the rear of the vehicle 100 to detect obstacles. For example, the image acquisition unit 170 may be a 3D image sensor, but is not limited thereto, and any configuration capable of obtaining an image will be possible.

The image acquisition unit 170 may be mounted on a tail spoiler, but is not limited thereto and may be mounted anywhere as long as it is possible to capture an image of the rear of the vehicle.

When an obstacle in the rear sensor sensing area is detected through the image acquisition unit 170, the control unit 180 calculates the shortest distance point to the obstacle using the detected image or a preset vehicle shape, and the shortest distance point is Based on the distance between the vehicle and the obstacle at the moment of leaving the sensor detection area and the backward speed of the vehicle, a current distance between the vehicle and the obstacle for the vehicle moving backward may be calculated.

At this time, as shown in FIG. 5 , the shortest distance point indicates the point of the obstacle representing the shortest distance between the vehicle and the obstacle.

When receiving a reverse signal (gear R signal) according to the user's manipulation of the transmission gear shift (TGS) lever 160, the control unit 180 activates the image acquisition unit 170 to detect whether an obstacle exists behind the vehicle. there is.

The image acquisition unit 170 (S in FIG. 4 ) mounted on the rear of the vehicle 100 may detect an obstacle within the sensor detection area as shown in FIG. 4 .

If a reverse signal (for example, gear R signal) is generated from the vehicle 100, the image acquisition unit 170 is activated to detect an obstacle area behind, which is present in the sensor detection area as shown in FIG. 5. to detect obstacles.

At this time, when an obstacle is detected within the sensor detection area, the controller 180 calculates the shortest distance point (P in FIG. 5 ) of the obstacle using a preset geometry of the vehicle 100 .

When the distance at the moment when the vehicle 100 continues to move backward and the shortest distance point P goes out of the sensor detection area as shown in FIG. 6 is a, the controller 180 controls the distance between the obstacle and It is possible to continuously track an obstacle by calculating the distance based on Equation 1 described below. Accordingly, even if an obstacle exists in a shaded area outside the sensor detection area, the controller 180 may continuously calculate the distance to the obstacle and provide a warning according to rear parking or rear driving to the driver.

The controller 180 may calculate the current distance between the vehicle 100 and the obstacle based on Equation 1.

[Equation 1]

The a may mean the distance between the vehicle and the obstacle at the moment of leaving the sensor detection area, and v(t) may mean the backward speed of the vehicle per hour.

When the current distance between the vehicle 100 and the obstacle is less than or equal to the reference distance, the controller 180 may output a warning notification in at least one form among a visual form, an audible form, and a tactile form.

The above-described control unit 180 performs the above-described operation using a memory (not shown) for storing data for an algorithm or a program reproducing the algorithm for controlling the operation of components in the vehicle 100, and the data stored in the memory. It may be implemented as a processor (not shown) that performs. In this case, the memory and the processor may be implemented as separate chips. Alternatively, the memory and the processor may be implemented as a single chip.

8 is a flowchart illustrating a method for controlling a vehicle according to an exemplary embodiment.

First, when a reverse signal is generated according to the user's manipulation of a transmission gear shift (TGS) lever 160, the vehicle 100 may obtain an image through the image capture unit 170 (210, 220).

The image acquisition unit 170 may be mounted on a tail spoiler.

Next, the vehicle 100 may determine the reverse speed of the vehicle (230).

Next, the vehicle 100 calculates the shortest distance point (P in FIG. 5) with the obstacle, and based on the distance between the vehicle and the obstacle at the moment when the shortest distance point is out of the sensor detection area and the backward speed of the vehicle, A current distance between the vehicle and an obstacle may be calculated for the vehicle moving backward (240).

The vehicle 100 may calculate the shortest distance point using the detected image or a predetermined shape of the vehicle when an obstacle within the sensor detection area is detected through the image acquisition unit 170 .

Also, the vehicle 100 may calculate the current distance between the vehicle and the obstacle based on Equation 1 described above.

Next, the vehicle 100 may output a warning notification when the current distance between the vehicle and the obstacle is less than or equal to the reference distance (250, 260).

The vehicle 100 may output a warning notification in at least one form among a visual form, an audible form, and a tactile form.

9 is a control block diagram illustrating a configuration of a vehicle according to another exemplary embodiment.

Hereinafter, a description will be made with reference to FIG. 10 , which is an exemplary view for explaining a method of detecting a rear of a vehicle according to another embodiment.

Among the configurations to be described later, a detailed description of the same configuration as that of FIG. 3 will be omitted.

Referring to FIG. 9 , the vehicle 100 includes a communication unit 110, an input unit 120, a storage unit 130, a display 140, an output unit 150, a tailgate 190, and an image acquisition unit 170. And it may include a control unit 180.

The communication unit 110 may include one or more components enabling communication with an external device, and may include, for example, at least one of a short-distance communication module, a wired communication module, and a wireless communication module.

The short-range communication module uses a wireless communication network such as a Bluetooth module, an infrared communication module, a Radio Frequency Identification (RFID) communication module, a Wireless Local Access Network (WLAN) communication module, an NFC communication module, and a Zigbee communication module to transmit signals at a short distance. It may include various short-range communication modules that transmit and receive.

Wired communication modules include various wired communication modules, such as Controller Area Network (CAN) communication modules, Local Area Network (LAN) modules, Wide Area Network (WAN) modules, or Value Added Network (VAN) modules. In addition to communication modules, various cable communication modules such as USB (Universal Serial Bus), HDMI (High Definition Multimedia Interface), DVI (Digital Visual Interface), RS-232 (recommended standard 232), power line communication, or POTS (plain old telephone service) can include

The wireless communication module includes the Radio Data System-Traffic Message Channel (RDS-TMC), Digital Multimedia Broadcasting (DMB), WiFi module, and Wireless broadband module, as well as the global System for Mobile (GSM) Communication), CDMA (Code Division Multiple Access), WCDMA (Wideband Code Division Multiple Access), UMTS (universal mobile telecommunications system), TDMA (Time Division Multiple Access), LTE (Long Term Evolution) wireless communication module supporting various wireless communication methods can include

The wireless communication module may include a wireless communication interface including an antenna and a receiver for receiving traffic information signals. In addition, the wireless communication module may further include a traffic information signal conversion module for demodulating an analog type wireless signal received through a wireless communication interface into a digital control signal.

Meanwhile, the communication unit 110 may further include an internal communication module (not shown) for communication between electronic devices inside the vehicle 100 . As an internal communication protocol of the vehicle 100, CAN (Controller Area Network), LIN (Local Interconnection Network), FlexRay, Ethernet, and the like may be used.

The input unit 120 is a hardware device such as various buttons, switches, pedals, keyboards, mice, track-balls, various levers, handles or sticks for user input. device may be included.

Also, the input unit 120 may include a GUI (Graphical User Interface), ie, a software device, such as a touch pad for user input. The touch pad may be implemented as a touch screen panel (TSP) to form a mutual layer structure with the display 140 .

The storage unit 130 is a component for storing various information related to the vehicle 100 .

The storage unit 130 may include a non-volatile memory device such as a cache, read only memory (ROM), programmable ROM (PROM), erasable programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM), and flash memory or RAM. It may be implemented as at least one of a volatile memory device such as (Random Access Memory), a hard disk drive (HDD), or a storage medium such as a CD-ROM, but is not limited thereto. The storage unit 130 may be a memory implemented as a separate chip from the processor described above in relation to the control unit 180, or may be implemented as a single chip with the processor.

The display 140 is a component for displaying various information related to the vehicle 100 so that the user can check it.

The display 140 includes a cathode ray tube (CRT), a digital light processing (DLP) panel, a plasma display panel, a liquid crystal display (LCD) panel, an electroluminescence ( Electro Luminescence (EL) panel, Electrophoretic Display (EPD) panel, Electrochromic Display (ECD) panel, Light Emitting Diode (LED) panel or Organic Light Emitting Diode (OLED) panel ) panel, etc., but is not limited thereto.

The output unit 150 is a component for outputting various information related to the vehicle 100 in the form of voice.

A tailgate 190 means a door capable of opening and closing the rear of the vehicle 100 . The tailgate 190 in the disclosed invention is not limited to a rear door of a station wagon, SUV, pickup truck, etc., and is defined as any rear door capable of opening and closing the rear of the vehicle 100.

The image acquisition unit 170 may be mounted on a tail gate 190 of the vehicle 100 to detect an obstacle. At this time, the image acquisition unit 170 may be an image sensor.

When an obstacle within the sensor detection area (detection area of FIG. 10 ) is detected through the image acquisition unit 170 , the control unit 180 uses the detected image or a preset open trajectory of the tailgate 190 to obtain the shortest path to the obstacle. A distance point is calculated, and based on the distance between the tailgate 190 and an obstacle at the moment when the shortest distance point is out of the sensor sensing area and the opening speed of the tailgate 190, the opening of the tailgate 190 is performed. A current distance between the tailgate 190 and an obstacle for the vehicle can be calculated.

Referring to FIG. 10 , in a state in which the image acquisition unit 170 is mounted on the tailgate 190 (S in FIG. 10 ) of the vehicle, a sensor detection area and a sensor non-sensing area ( 10) occurs, and the controller 180 can calculate the current distance between the tailgate and the obstacle in the sensor undetected area through Equation 2 described later.

The controller 180 may calculate the current distance between the tailgate and the obstacle based on Equation 2.

[Equation 2]

The b may mean a distance between the tailgate and an obstacle at the moment of leaving the sensor sensing area, and v(t) may mean the opening speed of the tailgate per hour.

When the current distance between the tailgate 190 and the obstacle is less than or equal to the reference distance, the controller 180 may output a warning notification in at least one form among a visual form, an audible form, and a tactile form.

The controller 180 may control the operation of the tailgate 190 to be stopped when the current distance between the tailgate 190 and an obstacle is equal to or less than the reference distance.

11 is a flowchart illustrating a method for controlling a vehicle according to another exemplary embodiment.

First, when an open signal of the tailgate 190 is generated, the vehicle 100 may obtain an image through the image acquisition unit 170 (310, 320).

Next, the vehicle 100 may determine the open trajectory and open speed of the tailgate 190 (330).

Next, the vehicle 100 calculates the shortest distance point to the obstacle, and based on the distance between the tailgate 190 and the obstacle and the opening speed of the tailgate 190 at the moment when the shortest distance point is out of the sensor detection area. A current distance between the tailgate 190 and an obstacle when the tailgate 190 is opened may be calculated (340).

When an obstacle within the sensor detection area is detected through the image acquisition unit 170, the vehicle 100 may calculate the shortest distance point using the detected image or a predetermined open track of the tailgate.

The vehicle 100 may calculate the current distance between the tailgate 190 and the obstacle based on Equation 2 described above.

Next, when the current distance between the tailgate 190 and the obstacle is less than or equal to the reference distance, the vehicle 100 may output a warning notification (350, 360).

The vehicle 100 may output a warning notification in at least one form among a visual form, an audible form, and a tactile form.

In operation 360, the vehicle 100 may further include controlling to stop the operation of the tailgate 190 when the current distance between the tailgate 190 and the obstacle is equal to or less than the reference distance.

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 codes, and when executed by a processor, create program modules to perform operations of the disclosed embodiments. The recording medium may be implemented as a computer-readable recording medium.

Computer-readable recording media include all types of recording media in which instructions that can be decoded by a computer are stored. For example, there may be read only memory (ROM), random access memory (RAM), magnetic tape, magnetic disk, flash memory, optical data storage device, and the like.

As above, the disclosed embodiments have been described with reference to the accompanying drawings. Those skilled in the art to which the present invention pertains will understand that the present invention can be implemented in a form different from 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.

100: vehicle
110: Communication Department
120: input unit
130: storage unit
140: display
150: output unit
160: TGS lever
170: image acquisition unit
180: control unit
190: tailgate

Claims (19)

An image acquisition unit mounted on the rear of the vehicle to detect obstacles; and
When an obstacle in the rear sensor sensing area is detected through the image acquisition unit, a shortest distance point with the obstacle is calculated using a preset vehicle shape, and the distance between the vehicle and the obstacle at the moment when the shortest distance point is out of the sensor sensing area is calculated. a control unit for calculating a current distance between the vehicle and an obstacle for the vehicle traveling backward, based on the distance and the vehicle's backward speed;
A vehicle that includes a. According to claim 1,
The control unit,
Calculate the current distance between the vehicle and the obstacle based on Equation 1,
Equation 1 above is

ego,
wherein a is the distance between the vehicle and the obstacle at the moment of leaving the sensor detection area, and v(t) is the backward speed of the vehicle per hour. According to claim 1,
The control unit,
When a reverse signal is received according to a user's operation of a transmission gear shift (TGS) lever, the vehicle activates the image capture unit to detect whether an obstacle exists behind the vehicle. According to claim 1,
The control unit,
A vehicle that outputs a warning notification in at least one form of a visual form, an audible form, or a tactile form when the current distance between the vehicle and the obstacle is less than or equal to the reference distance. According to claim 1,
The image acquisition unit is mounted on a tail spoiler of a vehicle. delete delete delete delete delete An image acquisition unit mounted on a tail gate of a vehicle to detect an obstacle; and
When an obstacle within the sensor detection area is detected through the image acquisition unit, a shortest distance point with the obstacle is calculated using a preset open trajectory of the tailgate, and the tailgate at the moment when the shortest distance point is out of the sensor detection area a controller that calculates a current distance between the tailgate and an obstacle for opening of the tailgate based on the distance between the tailgate and the obstacle and the opening speed of the tailgate;
A vehicle that includes a. According to claim 11,
The control unit,
Based on Equation 2, the current distance between the tailgate and the obstacle is calculated,
Equation 2 above is

ego,
Wherein b is the distance between the tailgate and the obstacle at the moment of leaving the sensor detection area, and v(t) is the opening speed of the tailgate per hour. According to claim 11,
The control unit,
A vehicle that outputs a warning notification in at least one form of a visual form, an audible form, or a tactile form when the current distance between the tailgate and the obstacle is less than or equal to the reference distance. According to claim 11,
The control unit,
A vehicle that controls to stop the operation of the tailgate when the current distance between the tailgate and the obstacle is less than or equal to a reference distance. delete delete delete delete delete

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