KR102646669B1 - Vehicle and controlling method thereof - Google Patents

Abstract

A vehicle according to an embodiment of the disclosed invention includes a detection unit that acquires vehicle information related to the vehicle; An optical output unit including at least one light source; and a control unit that determines the expected trajectory and direction of travel of the vehicle based on the vehicle information acquired by the detection unit, and controls the light output unit to display a guideline indicating the determined expected trajectory and direction of travel. do.

Description

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

It relates to a vehicle that can provide information about vehicles around the vehicle and a method of controlling the vehicle.

In general, a vehicle imaging device is a device that more effectively conveys various images, including driving information, to the driver while the vehicle is driving.

Conventional vehicle imaging devices mainly used a method of displaying images including driving information on the car's windshield while the vehicle was driving, and this was limited to the purpose of providing driving information to the driver.

One aspect provides a vehicle and its control method that can provide information not only to the driver but also to outside pedestrians by projecting information about the vehicle around the vehicle.

As a technical means for achieving the above-described technical problem, a vehicle according to one aspect includes a sensing unit that acquires vehicle information related to the vehicle; An optical output unit including at least one light source; and a control unit that determines the expected trajectory and direction of travel of the vehicle based on the vehicle information acquired by the detection unit, and controls the light output unit to display a guideline indicating the determined expected trajectory and direction of travel. do.

Additionally, the sensor may obtain vehicle information including steering angle, steering direction, vehicle speed, and gear position status.

Additionally, the control unit may control the light output unit to illuminate the guideline when the vehicle speed is below a predetermined reference value.

Additionally, the control unit may determine an irradiation area based on the steering angle and control the light output unit to irradiate the guideline to the determined irradiation area.

In addition, the control unit determines a blind spot in which it is estimated that it will be difficult for the driver to obtain visual information based on the vehicle information acquired by the detection unit, and displays the guideline on the road surface of the determined blind spot. The optical output unit can be controlled.

In addition, when the gear position state is D (drive) and the steering direction is clockwise, or when the gear position state is R (reverse) and the steering direction is clockwise, the control unit determines the blind spot of the vehicle. It can be judged from the left rear of .

In addition, the control unit detects the blind spot when the gear position state is D (drive) and the steering direction is counterclockwise, or when the gear position state is R (reverse) and the steering direction is counterclockwise. It can be judged from the right rear of the vehicle.

In addition, the detection unit includes a rear ultrasonic sensor that acquires object information about the rear of the vehicle using ultrasonic waves and a rear camera sensor that acquires visual information about the rear of the vehicle, and the control unit includes the rear ultrasonic sensor. It may be determined whether an obstacle exists based on information obtained from at least one of the sensor and the rear camera sensor, and if it is determined that the obstacle exists, the light output unit may be controlled to illuminate the guideline.

Additionally, the control unit may determine whether it is night based on the vehicle information acquired by the detection unit, and control the light output unit to illuminate the guideline if it is determined that it is night.

Additionally, the control unit may determine the location of the rear corner of the vehicle based on the vehicle information, and control the light output unit to emit the guideline at the determined location of the rear corner.

A vehicle control method according to another aspect includes obtaining vehicle information related to the vehicle; determine the expected trajectory and direction of travel of the vehicle based on the obtained vehicle information; and examining guidelines indicating the determined expected trajectory and direction of progress.

Additionally, obtaining vehicle information related to the vehicle may include obtaining vehicle information including steering angle, steering direction, vehicle speed, and gear position status.

Additionally, examining the guideline may include examining the guideline when the vehicle speed is below a predetermined reference value.

Additionally, examining the guideline may include determining a survey area based on the steering angle; And it may include examining the guideline in the determined investigation area.

In addition, examining the guidelines includes determining blind spots where it is estimated that it will be difficult for the driver to obtain visual information based on the obtained vehicle information; And it may include examining the guideline on the road surface in the determined blind spot.

In addition, determining the blind spot is performed when the gear position state is D (drive) and the steering direction is clockwise or when the gear position state is R (reverse) and the steering direction is clockwise. It may include determining the zone to be the left rear of the vehicle.

In addition, determining the blind spot is performed when the gear position state is D (drive) and the steering direction is counterclockwise, or when the gear position state is R (reverse) and the steering direction is counterclockwise, It may include determining that the blind spot is at the right rear of the vehicle.

In addition, obtaining vehicle information related to the vehicle includes obtaining object information about the rear of the vehicle using ultrasonic waves and obtaining visual information about the rear of the vehicle, and following the guidelines. Investigating may include determining whether an obstacle exists based on at least one of the object information and visual information about the rear of the vehicle, and examining the guideline when it is determined that the obstacle exists. .

Additionally, examining the guideline may include determining whether it is night based on the obtained vehicle information, and examining the guideline if it is determined to be night.

Additionally, examining the guideline may include determining the location of the rear corner of the vehicle based on the vehicle information and examining the guideline at the determined location of the rear corner.

According to one aspect of the vehicle and its control method, information related to the vehicle can be intuitively provided not only to the driver but also to outside pedestrians, so that collision accidents can be prevented and the safety of drivers or pedestrians can be secured.

1A, 1B, and 1C are diagrams showing the exterior of a vehicle according to various embodiments.
FIG. 2 is a diagram illustrating the internal configuration of a vehicle according to the embodiment of FIG. 1A.
Figure 3 is a control block diagram of a vehicle according to one embodiment.
FIGS. 4A and 4B are diagrams illustrating examples of guidelines applied to a road surface by a vehicle according to an embodiment.
Figure 5 is a diagram illustrating an optical output unit of a vehicle according to an embodiment.
Figure 6 is a diagram showing guidelines for irradiating a road surface by a vehicle according to another embodiment.
Figure 7 is a flowchart of a vehicle control method according to an embodiment.
8 and 9 are flowcharts of a vehicle control method according to an embodiment.
Figure 10 is a flowchart of a vehicle control method according to an embodiment.
Figure 11 is a flowchart of a vehicle control method according to an embodiment.

Like reference numerals refer to 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 pertains is omitted. The term 'unit, module, member, block' used in the specification may be implemented as software or hardware, and depending on the embodiment, a plurality of 'unit, module, member, block' may be implemented as a single component, or It is also possible for one 'part, module, member, or block' to include multiple components.

Throughout the specification, when a part is said to be “connected” to another part, this includes not only direct connection but also indirect connection, and indirect connection includes connection through a wireless communication network. do.

Additionally, when a part "includes" a certain component, this means that it may further include other components rather than excluding other components, unless specifically stated to the contrary.

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

Singular expressions include plural expressions unless the context clearly makes an exception.

The identification code for each step is used for convenience of explanation. The identification code does not explain the order of each step, and each step may be performed differently from the specified order unless a specific order is clearly stated in the context. there is.

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

1A, 1B, and 1C are diagrams showing the exterior of a vehicle according to various embodiments.

As shown in FIG. 1A, one embodiment of the vehicle includes a main body 10 that forms the exterior of the vehicle 1, wheels 21 and 22 that move the vehicle 1, and a door that shields the inside of the vehicle 1 from the outside. (14), a windshield (17) that provides a view of the front of the vehicle (1) to the driver inside the vehicle (1), a side mirror (18, 19) that provides a view of the rear of the vehicle (1) to the driver, It includes a grill 23 and a wiper 15 provided to allow inflow.

The wheels 21 and 22 include a front wheel 21 provided at the front of the vehicle and a rear wheel 22 provided at the rear of the vehicle, and the front wheel 21 or rear wheel 22 provides rotational force from a drive device to be described later. The main body 10 can be moved forward or backward.

The door 14 is rotatably provided on the left and right sides of the main body 10 to allow the driver to board the inside of the vehicle 1 when opened, and to shield the inside of the vehicle 1 from the outside when closed. .

The front glass 17 is provided on the front upper side of the main body 10 to enable the driver inside the vehicle 1 to obtain visual information in front of the vehicle 1, and is also called windshield glass.

In addition, the side mirrors 18 and 19 include a left side mirror 18 provided on the left side of the main body 10 and a right side mirror 19 provided on the right side, and the driver inside the vehicle 1 can use the vehicle ( 1) Enables acquisition of visual information from the side and rear.

The grill 23 is installed on the front of the vehicle 1 and can reduce coolant and engine heat by using the air flowing into the hole of the grill 23 while driving. In addition, the grill 23 can protect against the risk of damage caused by external foreign substances colliding with the radiator.

The wiper 15 can wipe raindrops or snow falling on the windshield 17 and maintain forward visibility while the vehicle 1 is driving. The wiper 15 consists of a wiper arm and a wiper blade. The wiper blade attached to the end of the wiper arm moves left and right, and the front glass 17 can be wiped by the blade blade. The wiper 15 can be mounted not only on the front windshield 17 but also on the rear windshield and headlamps.

Unlike the vehicle of FIG. 1A, the vehicle according to the disclosed embodiment may be implemented as a commercial vehicle used to transport goods or passengers. Commercial vehicles may include trucks, dump trucks, vans, and forklifts used to transport goods, and buses and taxis used to transport people.

FIG. 1B illustrates a case where the vehicle 1 is implemented as a commercial vehicle including a tractor 10, which is a main body coupled to a trailer 50. The vehicle 1 in FIG. 1B is similar to the vehicle in FIG. 1A except that a non-powered trailer 50 and a tractor 10 with its own power source are combined and move together, so description of the same configuration is omitted. .

In addition, the vehicle 1 may include at least one sensor that can acquire various information to provide convenience to the driver.

The vehicle 1 may include an automotive camera sensor that allows the driver to obtain visual information around the vehicle 1 . The vehicle camera sensor may be installed on the front of the body 10 of the vehicle 1, or may be installed on the rear of the body 10 of the vehicle 1, but is not limited thereto. In particular, in cases where it is difficult to secure rear visibility, such as when the vehicle 1 is implemented as a commercial vehicle, the vehicle 1 may include a rear camera sensor 215 to provide convenience to the driver.

Additionally, the vehicle 1 may include an ultrasonic sensor capable of detecting obstacles around the vehicle 1. The ultrasonic sensor may be installed on the front of the body 10 of the vehicle 1, may be installed on the door 14 of the vehicle 1, may be installed on the rear of the body 10, etc., but is not limited thereto. In particular, in cases where it is difficult to secure rear visibility, such as when the vehicle 1 is implemented as a commercial vehicle, the vehicle 1 may include a rear ultrasonic sensor 214 to provide convenience to the driver. At this time, the rear ultrasonic sensor 214 is located at the rear end of the vehicle 1 and can detect surrounding objects and pedestrians.

Figure 1c illustrates the case where the vehicle 1 is implemented as a bus. The vehicle 1 in FIG. 1C is similar to the vehicle in FIG. 1A and includes a rear ultrasonic sensor 214 and a rear camera sensor 215 similar to FIG. 1B, so description of the same configuration will be omitted.

FIG. 2 is a diagram showing the internal configuration of a vehicle according to the embodiment of FIG. 1A.

As shown in FIG. 2, the vehicle 1 has a dashboard 150 ( Dashboard) may be included.

The gear box 120 may be equipped with a shift lever 121 for shifting the vehicle 1 and a dial operation unit 123 for controlling the performance of the vehicle 1's functions.

The steering wheel 140 provided on the dashboard 150 is a device for controlling the driving direction of the vehicle 1, and is connected to the rim 141 held by the driver and the steering device of the vehicle 1, and is connected to the rim 141 ) and a spoke 142 connecting the hub of the rotation axis for steering. Depending on the embodiment, operation devices 142a and 142b for controlling various devices in the vehicle 1, such as an audio device, may be formed on the spokes 142.

An air conditioning device 131, a clock 132, an audio device 133, a display 134, etc. may be installed in the center fascia 130 provided on the dashboard 150.

The air conditioning device 131 maintains a comfortable interior of the vehicle 1 by controlling the temperature, humidity, air purity, and air flow inside the vehicle 1. The air conditioning device 131 is installed in the center fascia 130 and may include at least one discharge port 131a that discharges air. Buttons or dials for controlling the air conditioning device 131, etc. may be installed on the center fascia 130. Passengers such as drivers can control the air conditioning system 131 using buttons placed on the center fascia 130.

The clock 132 may be provided around a button or dial for controlling the air conditioning device 131.

The audio device 133 may include a control panel equipped with a number of buttons for performing functions of the audio device 133. The audio device 133 may provide a radio mode that provides a radio function and a media mode that plays audio files from various storage media containing audio files. The sound generated through the audio device 133 may be output through the speaker 160 provided inside the vehicle 1.

The display 134 may display a UI (User Interface) that provides information related to the vehicle 1 to the driver in the form of an image or text. To this end, the display 134 may be formed to be embedded in the center fascia 130. However, the installation example of the display is not limited to this, and the display 134 may be provided to be separable from the center fascia 130 of the vehicle 1.

At this time, the display 134 may be implemented as a Liquid Crystal Display (LCD), Light Emitting Diode (LED), Plasma Display Panel (PDP), Organic Light Emitting Diode (OLED), or Cathode Ray Tube (CRT). It is not limited to this.

In addition, the dashboard 150 may further include various instrument panels that can display the driving speed, engine speed, or remaining fuel amount of the vehicle 1, and a glove box that can store various items. there is.

Additionally, the vehicle 1 may include a room mirror 170 that allows the driver inside to obtain visual information of the rear of the vehicle 1. The rear-view mirror 170 can obtain not only visual information about the rear of the vehicle 1 but also visual information inside the vehicle 1, that is, visual information inside the vehicle 1 about the rear of the driver's seat and the passenger seat. .

Meanwhile, the interior of the vehicle 1 may include various parts and devices in addition to the components mentioned above, but there is no limitation.

Figure 3 is a control block diagram of a vehicle according to one embodiment.

The vehicle 1 according to one embodiment includes a detection unit 210 that acquires various information, a control unit 220 that controls various devices in the vehicle 1, and an optical output unit 230 including at least one light source. It can be included.

The detection unit 210 includes a steering sensor 211 capable of acquiring steering information including the steering angle and steering direction of the vehicle 1, a vehicle speed sensor 212 capable of obtaining vehicle speed information, and a vehicle 1 A gear sensor 213 that can obtain information about the gear position status, a rear ultrasonic sensor 214 that can acquire information about objects around the vehicle (1), and visual information on the rear of the vehicle (1). It may include a rear camera sensor 215 that can.

The steering sensor 211 can measure the rotation angle, rotation direction, and torque value of the steering wheel 140, and can detect the steering angle of the vehicle 1 from this. For this purpose, the steering sensor 211 may be installed near the steering wheel 140.

The vehicle speed sensor 212 can measure the driving speed of the vehicle 1 and the amount of change in driving speed. Specifically, when the vehicle 1 decelerates more than a predetermined certain value, the vehicle speed sensor 212 may detect the deceleration of the vehicle 1.

The gear sensor 213 can obtain information about the gear position status of the vehicle 1, and specifically, the gear sensor 213 is capable of driving (D), reverse (R), neutral (N), and parking (P). Gear position information can be obtained by detecting the gear position status, etc.

The rear ultrasonic sensor 214 can obtain information about objects present behind the vehicle 1, and specifically can detect objects present behind the vehicle 1. The rear ultrasonic sensor 214 transmits an ultrasonic transmission signal around the vehicle 1 and can detect an object present behind the vehicle 1 depending on whether a reflected signal is detected.

The rear camera sensor 215 can obtain visual information about the rear of the vehicle 1, and specifically acquire an image about the rear of the vehicle 1. The image of the rear of the vehicle 1 acquired by the rear camera sensor 215 can be used as a control basis for determining the presence or absence of an obstacle behind the vehicle 1 by the control unit 220, which will be described later.

In order to detect environmental information of the vehicle 1 including such various information, the detection unit 210 may be installed at appropriate locations outside and inside the vehicle 1.

The optical output unit 230 can scan information about the vehicle 1 on the road surface. At this time, the information about the vehicle 1 displayed on the road surface may be information about the trajectory of the vehicle 1. A detailed description of information about the trajectory of the vehicle 1 will be described later.

To this end, the optical output unit 230 may include at least one light source that emits electromagnetic waves of various wavelengths. For example, the optical output unit 230 may include a laser module.

Additionally, the light output unit 230 may be installed at the bottom of the vehicle 1 to irradiate toward the road surface, and may also be installed at the bottom of the rear bumper at the rear of the vehicle 1. In addition, the light output unit 230 may be installed near the rear wheel 22 or at the bottom of both corners of the rear bumper, and is not limited to the above examples, depending on the intention of the designer of the vehicle 1. Multiple units may be provided.

The control unit 220 can determine various situations related to driving based on the information acquired by the detection unit 210, and can control various devices of the vehicle 1 according to the results of these determinations.

The control unit 220 may determine whether there are obstacles around the vehicle 1 based on information obtained from at least one of the rear ultrasonic sensor 214 and the rear camera sensor 215.

In addition, the control unit 220 may determine various situations related to the driving environment of the vehicle 1.

Specifically, the control unit 220 may determine whether it is night based on information obtained from the camera sensor, lighting sensor, clock 132, etc. In addition, the control unit 220 can determine whether the vehicle 1 is moving forward or backward based on the information obtained from the gear sensor 213, and the vehicle 1 can determine whether the vehicle 1 is moving forward or backward based on the information obtained from the steering sensor 211. ) can also determine whether to turn right or left.

In this way, the control unit 220 can collect information related to the driving of the vehicle 1 to provide a safe driving environment, generate information related to various driving situations from this, and provide this information to the driver. there is.

The control unit 220 can provide various information related to the vehicle 1 not only to the driver inside the vehicle 1 but also to people outside the vehicle 1, such as pedestrians.

To this end, the control unit 220 may control various devices including the optical output unit 230 based on information on various vehicles 1 obtained by the detection unit 210.

The control unit 220 may generate guideline information for the vehicle 1 based on the information acquired by the detection unit 210, and a light output unit ( 230) can be controlled.

At this time, the guideline information refers to information about the expected trajectory of the vehicle 1. Specifically, the guideline information may include expected trajectory information at both corners of the rear end of the vehicle 1.

To this end, the control unit 220 can calculate the expected trajectory of the vehicle 1 based on the information acquired by the sensing unit 210 and generate guideline information based on the expected trajectory. The control unit 220 can transmit this guideline information to the optical output unit 230, and the optical output unit 230 displays a guideline indicating the expected trajectory of the vehicle 1 on the road surface according to the received guideline information. can do.

Through this irradiation operation of the light output unit 230, the control unit 220 can transmit information about the vehicle 1 to both the driver inside the vehicle 1 and the pedestrians outside the vehicle 1.

To this end, the control unit performs the above-described operations using a memory (not shown) that stores data for an algorithm for controlling the operation of components within the vehicle 1 or a program that reproduces the algorithm, and the data stored in the memory. It can be implemented with a processor (not shown). At this time, the memory and processor may each be implemented as separate chips. Alternatively, the memory and processor may be implemented as a single chip.

Hereinafter, the irradiation operation of the light output unit 230 for delivering information related to the vehicle 1 to both the driver inside the vehicle 1 and the pedestrians outside the vehicle 1 and the operation of the control unit 220 for controlling the same. This will be explained in detail.

When driving the vehicle 1, there may be blind spots where it is difficult for the driver to obtain visual information using the side mirrors 18 and 19, etc. In particular, when the vehicle 1 is implemented as a large vehicle such as a commercial vehicle, there may be blind spots where it is difficult to secure visibility due to the long overall length. At this time, when the vehicle (1) makes a sharp turn due to cornering or reverse parking, the rear wheel (22) momentarily has a larger turning trajectory than the front wheel (21), so surrounding vehicles in blind spots where it is difficult to secure visibility , collision accidents with buildings, structures, and people may occur frequently.

In order to prevent collision accidents in such blind spots, the control unit 220 can provide information about the turning trajectory of the vehicle 1 not only to the driver but also to pedestrians. The control unit 220 may control the optical output unit 230 to display a guideline including information about the turning trajectory on the road surface in the blind spot.

The control unit 220 may determine whether the vehicle 1 is moving forward or backward from the gear position status information obtained from the gear sensor 213 of the detection unit 210, and the steering angle information obtained from the steering sensor 211. From this, it can be determined whether the steering wheel 140 is rotated clockwise or counterclockwise.

For example, the control unit 220 may determine that the vehicle 1 is moving forward when the gear position state obtained from the gear sensor 213 is D (driving), and when the gear position state is R (reverse), the vehicle 1 may be determined to be moving forward. This can be judged as going backwards.

Additionally, the control unit 220 may determine that the steering wheel 140 is rotated clockwise when the steering angle obtained from the steering sensor 211 has a positive value, and when the steering angle has a negative value. It may be determined that the steering wheel 140 is rotated counterclockwise.

The control unit 220 may determine the blind spot based on the situation of the vehicle 1. At this time, the blind spot refers to an area where it is judged difficult for the driver to obtain visual information through the side mirrors 18 and 19.

The control unit 220 may determine the blind spot based on the rotation direction of the steering wheel 140 and the moving direction of the vehicle 1.

Specifically, when the vehicle 1 moves forward while the steering wheel 140 is rotated clockwise, the control unit 220 may determine the blind spot to be the left corner area at the rear of the vehicle 1, and the steering wheel ( When 140) moves forward while rotating counterclockwise, the blind spot can be determined to be the right corner area behind the vehicle 1.

In addition, the control unit 220 may determine that the blind spot is the left corner area at the rear of the vehicle 1 when the vehicle 1 is moving backwards while the steering wheel 140 is rotated clockwise, and the steering wheel 140 ) When moving backwards while rotating counterclockwise, the blind spot can be determined to be the right corner area behind the vehicle (1).

In this way, the control unit 220 can determine the blind spot of the vehicle 1 based on the information acquired by the detection unit 210, and uses the light output unit 230 to illuminate the guideline on the road surface in the blind spot. You can control it. At this time, the guideline surveyed on the road surface in the blind spot includes information on the expected turning trajectory of the vehicle 1, that is, the direction and trajectory of the vehicle 1.

The control unit 220 may calculate an expected turning trajectory of the vehicle 1 for an area determined to be a blind spot based on at least one of vehicle speed information, steering angle information, and gear position status information obtained from the detection unit 210. , guideline information including this expected turning trajectory can be generated. The optical output unit 220 may display the guideline of the vehicle 1 on the road surface according to the guideline information generated by the control unit 230.

Additionally, the control unit 220 may control the light output unit 220 so that the guideline is projected onto the road surface only when the vehicle speed is below a predetermined reference value.

For example, the control unit 220 may transmit guideline information to the optical output unit 220 only when the vehicle speed is 15 kph or less and control the optical output unit 220 so that the guideline is projected onto the road surface only in low-speed situations.

Considering that in medium or high speed driving situations, there are rarely objects around, especially pedestrians, and the frequency of the vehicle 1 making sharp turns is low, the control unit 220 operates only in low speed situations where there is a high possibility of collision with pedestrians. Efficiency can be increased by ensuring that the guidelines are surveyed on the road surface.

Additionally, the control unit 220 may vary the area where the guideline will be projected onto the road surface based on the steering angle information. At this time, the control unit 220 can vary the area where the guideline will be illuminated on the road surface by varying the distance from the rear left corner area of the vehicle 1 to the guideline.

Specifically, the control unit 220 may determine whether the steering angle falls within a predetermined range based on the steering angle information, and control the light output unit 230 to illuminate the guideline in the area determined based on the determination result. You can.

The light output unit 220 may display guidelines indicating the direction and trajectory of the vehicle 1 using at least one marker having an arrow shape. At this time, at least one marker may have a 3D shape, and the color may be red in consideration of daytime and nighttime visibility and warning, and may have various shapes and colors depending on the design purpose, etc. It is not limited to

FIGS. 4A and 4B are diagrams illustrating examples of guidelines applied to a road surface by a vehicle according to an embodiment.

As shown in FIG. 4A, when the vehicle 1 moves forward while the steering wheel 140 rotates clockwise, the blind spot may be the left corner area behind the vehicle 1.

The control unit 220 may calculate the expected turning trajectory of the vehicle 1 for the left corner area behind the vehicle 1, and provide a guideline indicating the expected turning trajectory on the road surface of the left corner area behind the vehicle 1. The light output unit 230 can be controlled to irradiate.

Additionally, the control unit 220 may vary the area where the guideline is irradiated by varying the distance from the rear left corner area to the guideline depending on whether the steering angle falls within a predetermined range.

For example, if the steering angle θ obtained from the steering sensor 211 falls within the range of 0<θ≤15°, the guideline is investigated for area L1 where the distance from the rear left corner area to the guideline is D1. The optical output unit 230 can be controlled. In addition, when the steering angle θ is within the range of 15<θ≤30°, the control unit 220 examines the guideline for the area L2 where the distance from the rear left corner area to the guideline is D2, and the steering angle θ is 30°. If it falls within the range of °≤θ, the light output unit 230 can be controlled to irradiate the guideline to the area L3 where the distance from the rear left corner area to the guideline is D3.

In this case, the predetermined range for the steering angle and the distance to the guideline (D1, D2, D3) can be adjusted depending on the specific driving situation.

As another example, as shown in FIG. 4B, when the vehicle 1 moves backward while the steering wheel 140 rotates clockwise, the blind spot may be the left corner area at the rear of the vehicle 1.

The control unit 220 may calculate the expected turning trajectory of the vehicle 1 for the rear left corner area of the vehicle 1, and examine a guideline indicating the expected turning trajectory on the road surface of the rear left corner area of the vehicle 1. The optical output unit 230 can be controlled to do so.

In addition, as in the case of FIG. 4A, the control unit 220 determines that when the steering angle θ obtained from the steering sensor 211 falls within the range of 0<θ≤15°, the distance from the rear left corner area to the guideline is D1'. The light output unit 230 can be controlled to irradiate a guideline to the area L1'. In addition, when the steering angle θ is in the range of 15<θ≤30°, the control unit 220 examines the guideline for the area L2' where the distance from the rear left corner area to the guideline is D2', and the steering angle θ If falls within the range of 30°≤θ, the light output unit 230 can be controlled to irradiate the guideline to the area L3' where the distance from the rear left corner area to the guideline is D3'.

In addition, the control unit 220 operates when the vehicle 1 moves forward with the steering wheel 140 rotated counterclockwise or when the vehicle 1 moves backward with the steering wheel 140 rotated counterclockwise. In this case, the expected turning trajectory of the vehicle 1 can be calculated for the right corner area behind the vehicle 1, which is determined to be a blind spot, and the expected turning trajectory is shown on the road surface in the right corner area behind the vehicle 1. The light output unit 230 can be controlled to emit guidelines.

There may be a plurality of light output units 230, and for example, they may be installed at the lower left corner and lower right corner of the rear bumper, respectively.

When a plurality of optical output units 230 are installed, the control unit 220 determines the blind spot and The adjacent optical output unit 230 can be controlled to emit the guideline.

Figure 5 is a diagram illustrating an optical output unit of a vehicle according to an embodiment.

Referring to FIG. 5, the optical output unit 230 according to one embodiment may include at least one light source 231 and may include a protection unit 232 that protects the at least one light source 231. there is. The protection portion 232 may include grooves 232a, 232b, and 232c through which light transmitted from each of the at least one light source 231 passes. At this time, the number of grooves may be the same as the number of light sources 231.

Each of the at least one light source (231a, 231b, 231c) can pass through the grooves (232a, 232b, 232c) of the corresponding protection portion (232) to irradiate the guide lines (L1, L2, L3) in different areas. there is.

In the example of FIG. 4A described above, when the steering angle θ obtained from the steering sensor 211 falls within the range of 0<θ≤15°, the control unit 220 transmits light from the light source 231a that illuminates the guide line of area L1. The light output unit 230 can be controlled to emit this light. In addition, when the steering angle θ is within the range of 15<θ≤30°, the control unit 220 may control the light output unit 230 to emit light from the light source 231b that illuminates the guide line of area L2. , when the steering angle θ is within the range of 30°≤θ, the light output unit 230 can be controlled so that light is emitted from the light source 231c that illuminates the guide line of area L3.

In addition, the control unit 220 can control the light output unit 230 so that one light source illuminates the guidelines of a plurality of areas. In this case, the light output unit 230 guides the light source 231 at various angles. A rotating part (not shown) may be further included to inspect the line.

Figure 6 is a diagram showing guidelines for irradiating a road surface by a vehicle according to another embodiment.

Referring to FIG. 6, the control unit 220 according to one embodiment may determine whether it is night based on information obtained from a camera sensor, a lighting sensor, a clock 132, etc.

If it is determined that it is night, the control unit 220 may control the light output unit 230 to emit guidelines on the road surface. At this time, the light output unit 230 may be provided on the bottom of the rear bumper at the rear of the vehicle 1, and may be provided on the bottom of the left corner and the bottom of the right corner of the rear bumper, respectively.

If it is determined that it is night, the control unit 220 can determine the location of the rear end of the vehicle 1 and generate guideline information including the location of the rear end.

The optical output unit 230 may examine a guideline indicating the rear end position of the vehicle 1 based on the guideline information generated by the control unit 220.

For example, the light output unit 230 may irradiate the rear end position on the road surface using a 3D arrow-shaped marker (M). At this time, the shape, shape, color, location, and size of the marker M may be set differently depending on the guideline information generated by the control unit 220, and is not limited to the above-described example.

Through this, the driver can more easily determine the exact location of the rear end of the vehicle (1) when driving at night, and collision accidents between other objects and the vehicle (1) can be prevented, thereby ensuring the safety of the driver or pedestrian. .

Figure 7 is a flowchart of a vehicle control method according to an embodiment.

Referring to FIG. 7, the vehicle 1 according to one embodiment may determine whether the vehicle speed is less than or equal to a predetermined reference value (X1) (710).

If the vehicle speed is less than or equal to the predetermined reference value Specifically, the control unit 220 may determine that the vehicle 1 is moving forward when the gear position state is D (driving).

If it is determined that the vehicle 1 is moving forward (yes in 711), the control unit 220 may determine whether an obstacle is detected (712). Specifically, the control unit 220 may determine whether an obstacle exists based on information obtained from at least one of the rear ultrasonic sensor 214 and the rear camera sensor 215.

Thereafter, if it is determined that an obstacle is detected (Yes in 712), the control unit 220 may determine whether rotation is detected (713). Specifically, the control unit 220 may determine whether the vehicle 1 is turning based on steering information including the steering angle and steering direction obtained from the steering sensor 211.

When rotation is detected (example of 713), the control unit 220 may determine whether the steering wheel 140 rotates clockwise (714), and if the steering wheel 140 rotates clockwise, the vehicle The lower left rear (RL) corner of (1) can be judged to be a blind spot. If the blind spot is determined to be at the bottom of the left rear (RL) corner, the vehicle 1 may examine a guideline on the road surface at the bottom of the left rear (RL) corner (715).

When the steering wheel 140 does not rotate clockwise, that is, when it rotates counterclockwise, the control unit 220 may determine the lower right rear (RR) corner of the vehicle 1 to be a blind spot. If the blind spot is determined to be at the bottom of the right rear (RR) corner, the vehicle 1 can examine the guideline on the road surface at the bottom of the right rear (RR) corner (716).

As another example, when the vehicle 1 does not move forward (No in 711), the control unit 220 may determine whether the vehicle 1 moves backward (717). Specifically, when the gear position state is R (reverse), the control unit 220 may determine that the vehicle 1 is moving backwards.

If it is determined that the vehicle 1 is moving backwards (yes in 717), the control unit 220 may determine whether an obstacle is detected (718). When an obstacle is detected (yes in 718), the control unit 220 can determine whether rotation is detected (719). When rotation is detected (yes in 719), the control unit 220 may determine whether the steering wheel 140 rotates clockwise (720).

When the steering wheel 140 rotates clockwise, the control unit 220 may determine the bottom of the left rear (RL) corner of the vehicle 1 to be a blind spot. If the blind spot is determined to be at the bottom of the left rear (RL) corner, the vehicle 1 may examine a guideline on the road surface at the bottom of the left rear (RL) corner (721).

When the steering wheel 140 does not rotate clockwise, that is, when it rotates counterclockwise, the control unit 220 may determine the lower right rear (RR) corner of the vehicle 1 to be a blind spot. If the blind spot is determined to be at the bottom of the right rear (RR) corner, the vehicle 1 can examine the guideline on the road surface at the bottom of the right rear (RR) corner (722).

Through this, the possibility of collision between the vehicle 1 and pedestrians or surrounding objects in blind spots can be reduced. Additionally, since the guidelines are projected onto the road surface, drivers can accurately determine blind spots based on these guidelines, and pedestrians can avoid vehicles making sharp turns. Therefore, it is possible to ensure driving safety.

8 and 9 are flowcharts of a vehicle control method according to an embodiment.

FIG. 8 is a flowchart illustrating an operation for examining a guideline when the vehicle 1 moves forward according to an embodiment, and FIG. 9 is a flowchart for examining a guideline when the vehicle 1 moves backward according to an embodiment. This is a flowchart to explain the operation.

Referring to FIG. 8, the vehicle 1 according to one embodiment may check whether the D gear is input based on gear position status information (810).

When the D gear is input (example in 810), the vehicle 1 can determine whether an obstacle is detected by the rear ultrasonic sensor 214 (811).

When an obstacle is not detected by the rear ultrasonic sensor 214, the vehicle 1 may determine whether an obstacle is detected by the rear camera sensor 215 (812) and When an obstacle is detected (example of 812), it is possible to check whether the SAS value (Steering Angle Sensor value) obtained from the steering sensor 211, that is, the steering angle, is a positive number (813). At this time, the SAS value may have a positive or negative value.

If the SAS value is confirmed to be a positive number (example in 813), the vehicle 1 can determine (814) whether the vehicle speed is below the predetermined reference value (X1), and if the vehicle speed is below the predetermined reference value (X1), A guideline can be examined on the road surface at the bottom of the left rear (RL) corner (815).

If the SAS value is confirmed to be a negative number (No in 813), the vehicle 1 can determine (816) whether the vehicle speed is below the predetermined reference value (X1), and if the vehicle speed is below the predetermined reference value (X1) , a guideline can be examined on the road surface at the bottom of the right rear (RR) corner (817).

At this time, the guideline to be investigated may indicate the expected direction and trajectory of the vehicle 1, and the investigation step of the above-mentioned guideline is based on the vehicle information acquired by the detection unit 210. This may include calculating the expected direction and trajectory of progress.

Referring to FIG. 9, the vehicle 1 according to one embodiment may check whether the R gear is input based on gear position status information (910).

When the R gear is input (example in 910), the vehicle 1 can determine whether an obstacle is detected by the rear ultrasonic sensor 214 (911).

When an obstacle is not detected by the rear ultrasonic sensor 214, the vehicle 1 may determine whether an obstacle is detected by the rear camera sensor 215 (912) and When an obstacle is detected (example of 912), it is possible to check whether the SAS value (Steering Angle Sensor value) obtained from the steering sensor 211, that is, the steering angle, is a positive number (913). At this time, the SAS value may have a positive or negative value.

When the SAS value is confirmed to be a positive number (example in 913), the vehicle 1 can determine (914) whether the vehicle speed is below the predetermined reference value (X1), and if the vehicle speed is below the predetermined reference value (X1), A guideline can be examined on the road surface at the bottom of the left rear (RL) corner (915).

If the SAS value is confirmed to be a negative number (No in 913), the vehicle 1 can determine (916) whether the vehicle speed is below the predetermined reference value (X1), and if the vehicle speed is below the predetermined reference value (X1) , a guideline can be examined on the road surface at the bottom of the right rear (RR) corner (917).

Through this, the vehicle 1 can determine blind spots where it is estimated that it is difficult for the driver to obtain visual information based on the gear position state and the direction in which the steering wheel is turned, and the vehicle's expected progress on the road surface in these blind spots. By examining the guidelines indicating the direction and trajectory, a collision between the vehicle 1 and surrounding obstacles can be prevented. Additionally, these guidelines can be easily recognized by drivers, so drivers can easily obtain information about blind spots. Accordingly, driving safety can be increased.

Figure 10 is a flowchart of a vehicle control method according to an embodiment.

Referring to FIG. 10, the vehicle 1 according to one embodiment may determine whether the SAS value falls within the first range (1001). At this time, the first range is a predetermined reference range and can be set differently depending on the design purpose.

If the SAS value falls within the first range (example in 1001), the vehicle 1 may examine the guideline in the first area (1002). At this time, the first area is an area corresponding to the first range and means an area with a predetermined first horizontal distance D1 between the vehicle 1 and the guideline, and the first horizontal distance D1 is the first horizontal distance D1. It can be set to correspond to a SAS value in the 1 range.

Additionally, the step of irradiating the guideline to the first area may further include controlling the first light source corresponding to the first area to irradiate the guideline.

If the SAS value does not fall within the first range (No in 1001), the vehicle 1 may determine whether the SAS value falls within the second range (1003).

If the SAS value falls within the second range (example in 1003), the vehicle 1 may check the guideline in the second area (1004). At this time, the second area is an area corresponding to the second range and means an area with a predetermined second horizontal distance D2 between the vehicle 1 and the guideline, and the first horizontal distance D2 is the It can be set to correspond to a SAS value in the 2 range.

Additionally, the step of irradiating the guideline to the second area may further include controlling the second light source corresponding to the second area to irradiate the guideline.

If the SAS value does not fall within the second range (No in 1003), the vehicle 1 may determine whether the SAS value falls within the third range (1005).

If the SAS value falls within the third range (example in 1005), the vehicle 1 may check the guideline in the third area (1006). At this time, the third area is an area corresponding to the third range and means an area with a predetermined third horizontal distance D3 between the vehicle 1 and the guideline, and the third horizontal distance D3 is the third horizontal distance D3. It can be set to correspond to a SAS value in the 3 range.

Additionally, the step of irradiating the guideline to the third area may further include controlling a third light source corresponding to the third area to irradiate the guideline.

Through this, the area that the guideline investigates varies depending on the SAS value, so a wider guideline can be displayed for the vehicle (1) making a sharp turn, making it possible to secure a wider safety distance. Therefore, it is possible to ensure driving safety and pedestrian safety suitable for the specific situation of a sharp turn of the vehicle 1.

Figure 11 is a flowchart of a vehicle control method according to an embodiment.

Referring to FIG. 11, the vehicle 1 according to one embodiment may determine whether the ignition is in the ON state (1101).

When the ignition is in the ON state (example of 1101), the vehicle 1 can determine whether it is night (1102). Specifically, the vehicle 1 may determine whether it is night based on information obtained from a camera sensor, a lighting sensor, a clock 132, etc.

If it is determined that it is nighttime (example of 1102), the vehicle 1 may examine the guidelines on the road surface (1103). In this case, the vehicle 1 can determine the position of the rear end of the vehicle 1, and a guideline indicating the position of the rear end can be placed on the road surface corresponding to the position.

In addition, the vehicle 1 can irradiate guidelines at each of the rear left end position and the rear right end position of the vehicle 1, but the location and number of guidelines irradiated are not limited to this.

Through this, it is possible to recognize the position of the rear end of the vehicle (1), where visibility is difficult when driving at night, thereby ensuring driving safety, such as preventing lane departure, and preventing accidents with surrounding vehicles.

As described above, the disclosed embodiments have been described with reference to the attached drawings. A person skilled in the art to which the present invention pertains will understand that the present invention can be practiced in forms different from the disclosed embodiments without changing the technical idea or essential features of the present invention. The disclosed embodiments are illustrative and should not be construed as limiting.

Sensing unit: 210
Steering sensor: 211
Vehicle speed sensor: 212
Gear sensor: 213
Rear ultrasonic sensor: 214
Rear camera sensor: 215
Control unit: 220
Optical output: 230

Claims (20)

A detection unit that acquires vehicle information related to the vehicle;
An optical output unit including at least one light source; and
A control unit that determines the expected trajectory and direction of travel of the vehicle based on the vehicle information acquired by the detection unit and controls the light output unit to display a guideline indicating the determined expected trajectory and direction of travel. do,
The vehicle information is,
Including the steering angle, steering direction, vehicle speed, and gear position status of the vehicle,
The control unit,
Control the optical output unit to illuminate the guideline when the vehicle speed is below a predetermined reference value,
Determine the distance from the rear left corner area of the vehicle to the guideline differently depending on the range of the predetermined steering angle,
Determine an investigation area of the guideline based on the distance,
A vehicle that controls the light output unit to irradiate the guideline to the determined irradiation area when the steering angle of the vehicle information acquired by the detection unit falls within the range of the predetermined steering angle. delete delete delete According to paragraph 1,
The control unit,
Based on the vehicle information acquired by the detection unit, determine a blind spot in which it is estimated that it will be difficult for the driver to obtain visual information, and control the light output unit to project the guideline on the road surface of the determined blind spot. vehicle. According to clause 5,
The control unit,
When the gear position state is D (drive) and the steering direction is clockwise, or when the gear position state is R (reverse) and the steering direction is clockwise, the blind spot is determined to be the left rear of the vehicle. vehicle. According to clause 5,
The control unit,
When the gear position state is D (drive) and the steering direction is counterclockwise, or when the gear position state is R (reverse) and the steering direction is counterclockwise, the blind spot is moved to the right rear of the vehicle. A vehicle to judge. According to paragraph 1,
The sensing unit,
It includes a rear ultrasonic sensor that acquires object information about the rear of the vehicle using ultrasonic waves, and a rear camera sensor that acquires visual information about the rear of the vehicle,
The control unit,
A vehicle that determines whether an obstacle exists based on information obtained from at least one of the rear ultrasonic sensor and the rear camera sensor, and controls the light output unit to illuminate the guideline when it is determined that the obstacle exists. According to paragraph 1,
The control unit,
A vehicle that determines whether it is night based on the vehicle information acquired by the detection unit and controls the light output unit to illuminate the guideline when it is determined that it is night. According to clause 9,
The control unit,
A vehicle that determines the location of a rear corner of the vehicle based on the vehicle information and controls the light output unit to illuminate the guideline at the determined location of the rear corner. Obtain vehicle information related to the vehicle;
determine the expected trajectory and direction of travel of the vehicle based on the obtained vehicle information; and
It includes; examining guidelines indicating the determined expected trajectory and direction of progress;
The vehicle information includes steering angle, steering direction, vehicle speed, and gear position status;
Examining the above guidelines,
Including, examining the guideline when the vehicle speed is below a predetermined standard value,
determine the distance from the rear left corner area of the vehicle to the guideline differently according to a predetermined steering angle range;
determine an irradiation area of the guideline based on the distance;
A vehicle control method for irradiating the guideline to the determined irradiation area when the steering angle of the vehicle information falls within the range of the predetermined steering angle. delete delete delete According to clause 11,
Examining the above guidelines,
Based on the obtained vehicle information, determine a blind spot where it is estimated that it will be difficult for the driver to obtain visual information; and
A method of controlling a vehicle, including projecting the guideline on a road surface in the determined blind spot. According to clause 15,
To determine the blind spot,
When the gear position state is D (drive) and the steering direction is clockwise, or when the gear position state is R (reverse) and the steering direction is clockwise, the blind spot is determined to be the left rear of the vehicle. A vehicle control method comprising: According to clause 15,
To determine the blind spot,
When the gear position state is D (drive) and the steering direction is counterclockwise, or when the gear position state is R (reverse) and the steering direction is counterclockwise, the blind spot is moved to the right rear of the vehicle. A vehicle control method including making a decision. According to clause 11,
Obtaining vehicle information related to the vehicle,
It includes; obtaining object information about the rear of the vehicle using ultrasonic waves, and obtaining visual information about the rear of the vehicle,
Examining the above guidelines,
A vehicle control method comprising determining whether an obstacle exists based on at least one of the object information and visual information about the rear of the vehicle, and examining the guideline when it is determined that the obstacle exists. According to clause 11,
Examining the above guidelines,
A method of controlling a vehicle comprising: determining whether it is night based on the obtained vehicle information, and examining the guideline if it is determined to be night. According to clause 19,
Examining the above guidelines,
Determining the location of the rear corner of the vehicle based on the vehicle information, and examining the guideline at the determined location of the rear corner.

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