KR102559534B1 - Method and apparatus for supporting driving lines of vehicle in bad weather - Google Patents

Abstract

According to an embodiment, a driving lane support method for a vehicle in bad weather recognizes a lane of a vehicle in motion, drives a light emitting device in the direction of the recognized lane based on a recognition rate of the lane, and displays a virtual lane using light emitted through the light emitting device.

Description

Method and apparatus for supporting driving lines of vehicle in bad weather

The present invention relates to a method and apparatus for assisting a driving lane of a vehicle in bad weather.

An autonomous vehicle performs autonomous driving by using a lane keeping control system installed in the vehicle during autonomous driving. This lane keeping control system controls the vehicle using the vehicle's steering system (herein, comprehensively referred to as a combination of the steering system, braking system, and driving system) of the vehicle based on relative information values (including departure angle, departure distance, curvature, road width, etc.) . The lane keeping control system of an autonomous vehicle is largely composed of recognition, judgment, and operation layers as follows.

However, although the lane recognition rate is increasing as autonomous driving technology is advanced, there is a problem in that it does not help safe driving because the lane recognition rate is significantly reduced in bad weather, for example, in a situation where lanes on the road surface are reflected by ambient light due to rain or rainwater.

[Prior art document number]

Prior Art 1: Korean Patent Registration No. 10-2264265

Prior Art 2: Korean Patent Registration No. 10-2264961

An embodiment is to provide a method and apparatus for assisting a driving lane of a vehicle in bad weather. In addition, it is to provide a computer-readable recording medium recording a program for executing the method on a computer. The technical problem to be solved is not limited to the technical problems described above, and other technical problems may exist.

According to an embodiment, a method for supporting a driving lane of a vehicle in bad weather includes recognizing a lane of a vehicle in motion; driving a light emitting device in the direction of the recognized lane based on the recognition rate of the lane; and displaying a virtual lane using light emitted through the light emitting device.

The method for assisting a driving lane of a vehicle in bad weather further includes determining whether a recognition rate of the lane is smaller than a predetermined threshold value,

When the recognition rate of the lane is smaller than a predetermined threshold, the light emitting device is driven in the direction of the recognized lane.

The driving lane support method of the vehicle in bad weather further includes receiving a user selection through a user interface for driving lane support selection,

When the user selection is input, the light emitting device is driven in the direction of the recognized lane based on the recognition rate of the lane.

The method for supporting a driving lane of a vehicle in bad weather further includes determining weather conditions,

When the determined meteorological condition is determined to be unfavorable, the light emitting device may be driven in the direction of the recognized lane based on the recognition rate of the lane.

The meteorological condition may be determined from at least one of weather information received from an external device, driving degree of wipers of the vehicle, and sensing information sensed from a rain sensor or humidity sensor of the vehicle.

The method for supporting a driving lane of a vehicle in bad weather further includes determining a distance between the front and rear vehicles of the vehicle,

When the determined distance is greater than or equal to a predetermined distance threshold, four light emitting devices may be driven in directions of four lanes in the front and rear of the vehicle to display four virtual lanes.

An apparatus for assisting a driving lane of a vehicle in bad weather according to another embodiment includes a light emitting element provided on the outside of the vehicle; And a processor for driving the light emitting element,

The processor recognizes a lane of the vehicle in motion, drives the light emitting device in the direction of the recognized lane based on a recognition rate of the lane, and displays a virtual lane using light emitted through the light emitting device.

The processor may determine whether the recognition rate of the lane is less than a predetermined threshold, and if the recognition rate of the lane is less than the predetermined threshold, drive the light emitting device in the direction of the recognized lane.

The vehicle driving lane assistance device in bad weather further includes a user interface for driving lane support selection,

The processor may drive the light emitting device in the direction of the recognized lane based on a recognition rate of the lane when a user selection is input through the user interface.

The processor may determine weather conditions, and drive the light emitting device in the direction of the recognized lane based on a recognition rate of the lane when the determined weather condition is determined to be unfavorable.

The meteorological condition may be determined from at least one of weather information received from an external device, driving degree of wipers of the vehicle, and sensing information sensed from a rain sensor or humidity sensor of the vehicle.

The processor determines the distance from the front and rear vehicles of the vehicle, and when the determined distance is equal to or greater than a predetermined distance threshold, drives four light emitting devices in directions of four lanes in the front and rear of the vehicle, thereby displaying four virtual lanes.

and a recording medium recording a program for executing a method for assisting a driving lane of a vehicle in bad weather according to another embodiment in a computer.

1 is a block diagram of the interior of a vehicle;
FIG. 2 is a block diagram of the vehicle driving assistance system (ADAS) shown in FIG. 1;
3 is a schematic diagram of an apparatus for assisting a driving lane of a vehicle according to an exemplary embodiment.
4 is a flowchart of a method for assisting a driving lane of a vehicle in bad weather according to another embodiment.
5 is a flowchart of a method for assisting a driving lane of a vehicle in bad weather according to another embodiment.
6 is a flowchart of a method for assisting a driving lane of a vehicle in bad weather according to another embodiment.
7 is a flowchart of a method for assisting a driving lane of a vehicle in bad weather according to another embodiment.

The terms used in this specification will be briefly described, and the present invention will be described in detail.

The terms used in the present invention have been selected from general terms that are currently widely used as much as possible while considering the functions in the present invention, but they may vary depending on the intention or precedent of a person skilled in the field, the emergence of new technologies, and the like. In addition, in a specific case, there is also a term arbitrarily selected by the applicant, and in this case, the meaning will be described in detail in the description of the invention. Therefore, the term used in the present invention should be defined based on the meaning of the term and the overall content of the present invention, not simply the name of the term.

When it is said that a certain part "includes" a certain component throughout the specification, it means that it may further include other components without excluding other components unless otherwise stated. In addition, terms such as "...unit" and "module" described in the specification mean a unit that processes at least one function or operation, which may be implemented as hardware or software or a combination of hardware and software.

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

1 is an internal block diagram of a vehicle according to an exemplary embodiment.

Referring to FIG. 1 , a vehicle 100 may include a communication unit 110, an input unit 120, a sensing unit 125, a memory 130, an output unit 140, a vehicle driving unit 150, a vehicle driving assistance system (ADAS, 160), a control unit 170, an interface unit 180, and a power supply unit 190.

The communication unit 110 may include a short-range communication module, a location information module, an optical communication module, and a V2X communication module.

The input unit 120 may include a driving control unit, a camera, a microphone, and a user input unit.

The driving control unit receives a user input for driving the vehicle 100 . The driving control unit may include a steering input unit, a shift input unit, an acceleration input unit, and a brake input unit.

The acceleration input unit receives an input for acceleration of the vehicle 100 from a user. The brake input unit receives an input for decelerating the vehicle 100 from a user.

The camera may include an image sensor and an image processing module. The camera may process still images or moving images obtained by an image sensor (eg, CMOS or CCD). The image processing module may process a still image or video obtained through an image sensor, extract necessary information, and deliver the extracted information to the controller 170 .

Meanwhile, the vehicle 100 may include a front camera for capturing an image in front of the vehicle, an around view camera for capturing an image around the vehicle, and a rear camera for capturing an image behind the vehicle. Each camera may include a lens, an image sensor and a processor. The processor may computer-process the photographed image to generate data or information, and transmit the generated data or information to the controller 170 . A processor included in the camera may be controlled by the controller 170 .

The camera may include a stereo camera. In this case, the processor of the camera may use a disparity difference detected in the stereo image to detect a distance to the object, a relative speed to the object detected in the image, and a distance between a plurality of objects.

The camera may include a Time of Flight (TOF) camera. In this case, the camera may include a light source (eg, infrared or laser) and a receiver. In this case, the processor of the camera may detect the distance to the object, the relative speed to the object, and the distance between the plurality of objects based on the time (TOF) until the infrared light or laser emitted from the light source is reflected and received by the object.

Meanwhile, the rearview camera may be disposed near the rear license plate or trunk or tailgate switch, but the rearview camera is not limited thereto.

Each image captured by the plurality of cameras is transmitted to a processor of the camera, and the processor may synthesize the respective images to generate an image around the vehicle. In this case, the image around the vehicle may be displayed through the display unit as a top view image or a bird's eye image.

The sensing unit 125 senses various conditions of the vehicle 100 . To this end, the sensing unit 125 may include a collision sensor, a wheel sensor, a speed sensor, an inclination sensor, a weight sensor, a heading sensor, a yaw sensor, a gyro sensor, a position module, a vehicle forward/backward sensor, a battery sensor, a fuel sensor, a tire sensor, a steering sensor by steering wheel rotation, a temperature sensor inside the vehicle, a humidity sensor inside the vehicle, an ultrasonic sensor, an illuminance sensor, a radar, a rider, and the like.

Accordingly, the sensing unit 125 may obtain sensing signals for vehicle collision information, vehicle direction information, vehicle location information (GPS information), vehicle angle information, vehicle speed information, vehicle acceleration information, vehicle tilt information, vehicle forward/backward information, battery information, fuel information, tire information, vehicle lamp information, vehicle internal temperature information, vehicle internal humidity information, steering wheel rotation angle, vehicle external illuminance, and the like.

The memory 130 is electrically connected to the controller 170 . The memory 130 may store basic data for the unit, control data for controlling the operation of the unit, and input/output data. The memory 130 may be a variety of storage devices such as ROM, RAM, EPROM, flash drive, hard drive, etc. in terms of hardware. The memory 130 may store various data for overall operation of the vehicle 100, such as a program for processing or control by the control unit 170.

The output unit 140 is for outputting information processed by the controller 170 and may include a display unit, a sound output unit, and a haptic output unit.

The display unit may display information processed by the controller 170 . For example, the display unit may display vehicle-related information. Here, the vehicle-related information may include vehicle condition information indicating a current state of the vehicle or vehicle driving information related to driving of the vehicle. For example, the display unit may display information about the speed (or speed) of the current vehicle, the speed (or speed) of nearby vehicles, and the distance between the current vehicle and nearby vehicles.

Meanwhile, the display unit may include a cluster so that the driver can check vehicle state information or vehicle driving information while driving. Clusters can be located above the dashboard. In this case, the driver can check the information displayed on the cluster while keeping his/her gaze in front of the vehicle.

The sound output unit converts the electrical signal from the control unit 170 into an audio signal and outputs it. To this end, the sound output unit may include a speaker or the like.

The vehicle driving unit 150 may control the operation of various vehicle devices. The vehicle driving unit 150 may include a power source driving unit, a steering driving unit, a brake driving unit, a lamp driving unit, an air conditioning driving unit, a window driving unit, an airbag driving unit, a sunroof driving unit, and a suspension driving unit.

The power source driver may perform electronic control of the power source in the vehicle 100 . For example, when a fossil fuel-based engine (not shown) is the power source, the power source driver may perform electronic control of the engine. This makes it possible to control the output torque of the engine and the like. When the power source driver is an engine, the speed of the vehicle may be limited by limiting engine output torque according to the control of the control unit 170 .

The brake driver may perform electronic control of a brake apparatus (not shown) in the vehicle 100 . For example, the speed of the vehicle 100 may be reduced by controlling the operation of brakes disposed on wheels. As another example, the driving direction of the vehicle 100 may be adjusted to the left or right by differentiating the operation of the brakes respectively disposed on the left and right wheels.

The lamp driving unit may control turning on/off of lamps disposed inside or outside the vehicle. In addition, the intensity and direction of the light of the lamp can be controlled. For example, control of direction indicator lamps and brake lamps may be performed.

The controller 170 may control overall operations of each unit in the vehicle 100 . The controller 170 may be referred to as an Electronic Control Unit (ECU). The aforementioned accident determination device may be driven by the controller 170 .

In terms of hardware, the controller 170 may be implemented using at least one of application specific integrated circuits (ASICs), digital signal processors (DSPs), digital signal processing devices (DSPDs), programmable logic devices (PLDs), field programmable gate arrays (FPGAs), processors, controllers, micro-controllers, microprocessors, and electrical units for performing other functions.

In an embodiment, the control unit 170 may set an area capable of being photographed by a plurality of cameras in the vehicle, determine whether a predetermined object exists within the set photographable region, determine whether or not there is an accident based on whether the vehicle is in a driving or parking state and the type of the object present, and record an image of a predetermined scene in a memory according to the determination result. Accident determination or accident image storage according to the embodiment does not select an image to be recorded by an impact sensor, but uses only the image and applies image analysis or object recognition and an accident determination algorithm, thereby misrecognizing due to sensor malfunction. It can overcome the disadvantages of storing the wrong accident image.

The interface unit 180 may serve as a passage for various types of external devices connected to the vehicle 100 . For example, the interface unit 180 may have a port connectable to a mobile terminal (not shown), and may be connected to a mobile terminal (not shown) through the port. In this case, the interface unit 180 can exchange data with the mobile terminal.

The power supply unit 190 may supply power required for operation of each component according to the control of the control unit 170 . In particular, the power supply unit 190 may receive power from a battery (not shown) inside the vehicle.

FIG. 2 is a block diagram of the vehicle driving assistance system (ADAS) shown in FIG. 1;

The ADAS 200 is a vehicle driving assistance system that assists a driver in order to provide convenience and safety.

The ADAS 200 includes an automatic emergency braking module (hereinafter referred to as AEB: Autonomous Emergency Braking) 210, a forward collision avoidance module (hereinafter referred to as FCW: Forward Collision Warning) 211, a lane departure warning module (hereinafter referred to as LDW: Lane Departure Warning) 212, a lane keeping assistance module (hereinafter referred to as LKA: Lane Keeping Assist) 213), a speed assist system module (hereinafter referred to as SAS: Speed Assist System) 214, a traffic Signal detection module (TSR: Traffic Sign Recognition) (215), adaptive high beam control module (hereinafter, HBA: High Beam Assist) (216), blind spot monitoring module (hereinafter, BSD: Blind Spot Detection) (217), automatic emergency steering module (hereinafter, AES: Autonomous Emergency Steering) (218), curve speed warning system module (hereinafter, CSWS: Curve Speed Warning System) (219), adaptive steering control module (hereinafter, ACC: Adaptive Cruise Control (220), Smart Parking Assist System (SPAS) 221, Traffic Jam Assist (TJA) 222, and Around View Monitor (AVM) 223.

Each of the ADAS modules 210, 211, 212, 213, 214, 215, 216, 217, 218, 219, 220, 221, 222, and 223 may include a processor for controlling vehicle driving assistance functions.

A processor included in each of the ADAS modules 210, 211, 212, 213, 214, 215, 216, 217, 218, 219, 220, 221, 222, and 223 may be controlled by the controller 270.

Each of the ADAS modules (210, 211, 212, 213, 214, 215, 216, 217, 218, 219, 220, 221, 222, 223) processors, in terms of hardware, are application specific integrated circuits (ASICs), digital signal processors (DSPs), digital signal processing devices (DSPDs), and programmable logic devices (PLDs). ), field programmable gate arrays (FPGAs), processors, controllers, micro-controllers, microprocessors, and electrical units for performing other functions. Can be implemented using at least one.

The AEB 210 is a module that controls automatic braking in order to prevent a collision with a detected object. The FCW 211 is a module that controls a warning to be output in order to prevent a collision with an object in front of the vehicle. The LDW 212 is a module that controls a warning to be output to prevent lane departure while driving. The LKA 213 is a module that controls to maintain a driving lane while driving. The SAS 214 is a module that controls driving at a set speed or less. The TSR 215 is a module that detects a traffic signal while driving and provides information based on the detected traffic signal. The HBA 216 is a module that controls the irradiation range or amount of high beam light according to driving conditions. The BSD 217 is a module that detects an object outside the driver's visual field while driving and provides detection information. AES (218) is a module that automatically performs steering in an emergency. The CSWS 219 is a module that controls to output a route when driving at a preset speed or higher during curve driving. The ACC 220 is a module that controls the driving vehicle to follow the preceding vehicle. The SPAS 221 is a module that detects a parking space and controls to park in the parking space. The TJA 222 is a module that controls automatic operation in case of traffic congestion. The AVM 223 is a module that provides an image around the vehicle and controls to monitor the surroundings of the vehicle.

The ADAS 200 may provide a control signal for performing each vehicle driving assistance function to the output unit 250 or the vehicle driving unit 260 based on the data acquired by the input unit 230 or the sensing unit 235. The ADAS 200 may directly output the control signal to the output unit 250 or the vehicle driving unit 260 through in-vehicle network communication (eg, CAN). Alternatively, the ADAS 200 may output the control signal to the output unit 250 or the vehicle driving unit 260 via the control unit 270 .

3 is a schematic diagram of an apparatus for assisting a driving lane of a vehicle according to an exemplary embodiment.

Referring to FIG. 3 , the vehicle driving lane assistance device 300 includes a control unit 310 , a lane recognizing unit 320 and a light emitting unit 330 . Considering that the lane recognition rate is low in bad weather, the vehicle driving lane support device 300 displays a virtual lane to the driver by radiating light in the direction of the lane through a predetermined light emitting device, for example, an LED or a laser, when the lane is not well recognized.

The controller 310 recognizes the lane of the vehicle in motion, drives a light emitting device in the direction of the recognized lane based on the recognition rate of the lane, and displays a virtual lane using light emitted through the light emitting device.

The lane recognizing unit 320 recognizes a lane of a driving vehicle. Recognizes the left and right lines of a running vehicle. For lane recognition, an image of a driving road is captured by a camera, and a lane is detected from the captured image. In general, lane detection may use a method of estimating a lane using a line detection algorithm after detecting a lane candidate area by Sobel and Canny contour detection, but is not limited thereto, and various lane recognition algorithms may be used. For example, to detect lane markings, there are a method using edge detection for detecting the contours of lanes most frequently used, a method using an RGB color model, a method using an inverse perspective transformation method, a method using region merging, a frequency domain approach method, a method using region segmentation, a method using Hough transform, and the like.

The control unit 310 receives information on the lane recognized by the lane recognizing unit 320 and determines whether the lane recognition rate is smaller than a threshold value. The controller 310 stores basic information about lanes, eg, horizontal and vertical widths, brightness, etc., and compares them with the information about lanes provided by the lane recognizing unit 320 to determine whether they are constant reference values. The control unit 310 may digitize the comparison result, for example, if it is less than 50%, it may be determined that lane recognition is in a poor state, and may drive the light emitting unit 330 to display a virtual lane. This provides a criterion for determining that a situation in which the lane recognition rate is low is a bad weather situation in which it is difficult for the driver to recognize the lane with the naked eye.

In addition, the control unit 310 may drive the light emitting unit 330 in the direction of lane information recognized by the lane recognizing unit 320, for example, when receiving a user selection through a user interface for driving lane support selection.

In addition, the control unit 310 determines the weather condition, and when the determined weather condition is determined to be bad, the control unit 310 may drive the light emitting unit 330 based on lane information recognized by the lane recognizing unit 320 . Here, the weather condition may be estimated from weather information received from an external device (not shown), driving degree of the wiper of the vehicle, and sensing information sensed from a rain sensor or humidity sensor of the vehicle. For example, when precipitation is received through an external server and a network, or when weather information is received through interworking between a vehicle and a smartphone, the controller 310 may determine weather conditions.

In addition, the control unit 310 may determine the driving degree of the wiper of the vehicle, for example, when driving fast, that it is raining heavily. Also, the controller 310 may determine weather information from sensing information sensed by a rain sensor or humidity sensor of the vehicle.

After determining the weather conditions, the control unit 310 determines that it is difficult for the driver to visually recognize the lane, and displays a virtual lane through the light emitting unit 330 so that the driver can drive safely.

The controller 310 may determine the distance to the front and rear vehicles, and display four virtual lanes by driving four light emitting devices in the direction of the four lanes in the front and rear of the vehicle when the determined distance is less than or equal to a predetermined distance threshold. For example, when the distance from the front and rear vehicles is less than 100 m, the light emitting unit 330 is not driven. In this case, when the distance to the front and rear vehicles is short, if light is irradiated for displaying a virtual lane, the attention of the drivers of the front and rear vehicles may be disturbed. Accordingly, a virtual lane is displayed by irradiating light only when a certain distance from the front and rear vehicles is secured.

The light emitting unit 330 emits light according to the control of the controller 310 . Here, the light emitting unit 330 may be an LED device or a laser, but is not limited thereto. In addition, four light emitting units 330 may be disposed on the front, rear, left and right sides of the vehicle, and may be near a headlight or a rear lamp, but are not limited to the number or position of the light emitting units 330 .

In addition, the light emitting unit 330 may move the irradiation direction up, down, left and right according to the control of the controller 310 . Accordingly, light may be irradiated to correspond to the direction of the lane recognized by the lane recognizing unit 320 .

4 is a flowchart of a method for assisting a driving lane of a vehicle in bad weather according to another embodiment.

Referring to FIG. 4 , in step 400, a driving lane is recognized.

In step 402, it is determined whether the recognition rate of the next best is smaller than a predetermined threshold value.

As a result of the determination in step 402, when the recognition rate is smaller than the threshold value, in step 404, the light emitting element is driven in the direction of the recognized lane.

In step 406, a virtual lane is displayed with light emitted from the light emitting device.

5 is a flowchart of a method for assisting a driving lane of a vehicle in bad weather according to another embodiment.

Referring to FIG. 5 , in step 500, a driving lane is recognized.

In step 502, it is determined whether there is a user selection.

As a result of the determination in step 502, if there is a user selection, in step 504, the light emitting device is driven in the direction of the recognized lane.

In step 506, a virtual lane is displayed with light emitted from the light emitting device.

6 is a flowchart of a method for assisting a driving lane of a vehicle in bad weather according to another embodiment.

Referring to FIG. 6 , in step 600, a driving lane is recognized.

In step 602, weather conditions are determined.

As a result of the determination in step 602, if the weather condition is bad, in step 604, the light emitting device is driven in the direction of the recognized lane.

In step 606, a virtual lane is displayed with light emitted from the light emitting device.

7 is a flowchart of a method for assisting a driving lane of a vehicle in bad weather according to another embodiment.

Referring to FIG. 7 , in step 700, a driving lane is recognized.

In step 702, it is determined whether a virtual lane should be displayed. Displaying the virtual lane is the same as determining whether the recognition rate is smaller than a predetermined threshold value, user selection, or poor weather conditions, as described with reference to FIGS. 4 to 6 .

As a result of the determination in step 702, when a virtual lane is displayed, in step 704, front and rear vehicles are recognized.

In step 706, it is determined whether the front and rear vehicles are separated by a predetermined distance or more.

As a result of the determination in step 706, if the distance from the front and rear vehicles is greater than or equal to a predetermined distance, in step 708, the light emitting devices are driven in the direction of four front and rear lanes.

In step 710, four front and rear virtual lanes are displayed. The display of two front virtual lanes enables the driver of the vehicle to visually recognize the lane, and the display of two rear virtual lanes helps the driver of a vehicle entering from the rear to recognize the lane.

As a result of the determination in step 706, if the vehicle is not more than a predetermined distance away from the front and rear vehicles, that is, if it is close, the light emitting device is not driven to display a virtual lane. Therefore, unnecessary light that interferes with the driving of the driver of the front vehicle or the driver of the rear vehicle is not irradiated.

A device according to an embodiment may include a processor, a memory for storing and executing program data, a permanent storage unit such as a disk drive, a communication port for communicating with an external device, and a user interface device such as a touch panel, a key, and a button. Methods implemented as software modules or algorithms may be stored on a computer-readable recording medium as computer-readable codes or program instructions executable on the processor. Here, computer-readable recording media include magnetic storage media (e.g., read-only memory (ROM), random-access memory (RAM), floppy disk, hard disk, etc.) and optical reading media (e.g., CD-ROM), DVD (Digital Versatile Disc). A computer-readable recording medium may be distributed among computer systems connected through a network, and computer-readable codes may be stored and executed in a distributed manner. The medium may be readable by a computer, stored in a memory, and executed by a processor.

Reference numerals have been described in the embodiments shown in the drawings, and specific terms have been used to describe the embodiments, but the present invention is not limited by the specific terms, and the embodiments are common to those skilled in the art. It may include all conceivable components.

An embodiment may be presented as functional block structures and various processing steps. These functional blocks may be implemented with any number of hardware or/and software components that perform specific functions. For example, an embodiment may employ integrated circuit configurations such as memory, processing, logic, look-up tables, etc. that may execute various functions by control of one or more microprocessors or other control devices. Similar to components in the present invention that can be implemented as software programming or software elements, an embodiment can be implemented in a programming or scripting language such as C, C++, Java, assembler, etc., including various algorithms implemented as data structures, processes, routines, or combinations of other programming constructs. Functional aspects may be implemented in an algorithm running on one or more processors. In addition, the embodiment may employ conventional techniques for electronic environment setting, signal processing, and/or data processing. Terms such as “mechanism”, “element”, “means” and “composition” may be used broadly and are not limited to mechanical and physical components. The term may include a meaning of a series of software routines in association with a processor or the like.

Specific executions described in the embodiments are examples, and do not limit the scope of the embodiments in any way. For brevity of the specification, description of conventional electronic components, control systems, software, and other functional aspects of the systems may be omitted. In addition, the connection of lines or connecting members between components shown in the drawings are functional connections and / or physical or circuit connections as examples, and in actual devices, various functional connections that are replaceable or additional, physical connections, or circuit connections. In addition, if there is no specific reference such as “essential” or “important”, it may not be a component necessarily required for the application of the present invention.

In the specification of embodiments (particularly in the claims), the use of the term “above” and similar indicating terms may correspond to both singular and plural. In addition, when a range is described in the examples, it includes the invention to which individual values belonging to the range are applied (unless there is a description to the contrary), and each individual value constituting the range is described in the detailed description. Finally, if there is no explicit description or description of the order of steps constituting the method according to the embodiment, the steps may be performed in an appropriate order. Examples are not necessarily limited according to the order of description of the steps. The use of all examples or exemplary terms (eg, etc.) in the embodiments is simply to describe the embodiments in detail, and the scope of the embodiments is not limited due to the examples or exemplary terms unless limited by the claims. In addition, those skilled in the art can appreciate that various modifications, combinations and changes can be made according to design conditions and factors within the scope of the appended claims or equivalents thereof.

Claims (13)

Recognizing a lane of a vehicle in motion;
driving a light emitting device in the direction of the recognized lane based on the recognition rate of the lane; and
Displaying a virtual lane using light irradiated through the light emitting device;
Further comprising the step of determining the distance from the front and rear vehicles of the vehicle,
When the determined distance is greater than or equal to a predetermined distance threshold, four light emitting devices are driven in directions of four lanes in the front and rear of the vehicle to display four virtual lanes. According to claim 1,
Further comprising determining whether the recognition rate of the lane is less than a predetermined threshold value,
and driving the light emitting element in the direction of the recognized lane when the recognition rate of the lane is smaller than a predetermined threshold. According to claim 1,
Further comprising receiving a user selection through a user interface for driving lane support selection,
and driving the light emitting element in the direction of the recognized lane based on the lane recognition rate when the user selection is input. According to claim 1,
Further comprising the step of determining the weather condition,
and driving the light emitting element in the direction of the recognized lane based on the lane recognition rate when the determined meteorological condition is determined to be unfavorable. According to claim 4,
The meteorological conditions are
A method for supporting a driving lane of a vehicle in bad weather, characterized in that the determination is made from at least one of weather information received from an external device, driving degree of the wipers of the vehicle, and sensing information sensed from a rain sensor or humidity sensor of the vehicle. delete A recording medium recording a program for executing the driving lane support method of a vehicle according to any one of claims 1 to 5 in a computer. A light emitting device provided on the outside of the vehicle; and
A processor driving the light emitting device;
the processor,
Recognize the lane of the vehicle in motion,
Driving the light emitting element in the direction of the recognized lane based on the recognition rate of the lane;
Displaying a virtual lane using light irradiated through the light emitting device;
the processor,
Determining the distance from the front and rear vehicles of the vehicle, and displaying four virtual lanes by driving four light emitting devices in the direction of four lanes in the front and rear of the vehicle when the determined distance is equal to or greater than a predetermined distance threshold. According to claim 8,
the processor,
Determining whether the recognition rate of the lane is less than a predetermined threshold;
and driving the light emitting device in the direction of the recognized lane when the recognition rate of the lane is smaller than a predetermined threshold. According to claim 8,
Further comprising a user interface for driving lane assist selection;
the processor,
and driving the light emitting element in the direction of the recognized lane based on the lane recognition rate when a user selection is input through the user interface. According to claim 8,
the processor,
to judge weather conditions,
and driving the light emitting element in the direction of the recognized lane based on the lane recognition rate when the determined meteorological condition is determined to be unfavorable. According to claim 11,
The meteorological conditions are
A driving lane support device for a vehicle in bad weather, characterized in that it is determined from at least one of weather information received from an external device, driving degree of the wiper of the vehicle, and sensing information sensed from a rain sensor or humidity sensor of the vehicle. delete

Images