KR20030002615A - Automobile safety driving system and method thereof - Google Patents

Abstract

PURPOSE: A safety operation system and method of a vehicle is provided to promote of safety operation by a driver by early detecting an object of a blind spot through an ultrasonic sensor and giving the driver warning if the object of the blind spot is detected. CONSTITUTION: A safety operation system and method of a vehicle comprises a steering wheel sensor unit(210) for sensing steering wheel rotation angle data of a running vehicle and outputting to a control unit; a vehicle speed sensor unit(290) for sensing the speed data of the running vehicle and outputting to the control unit; an ultrasonic drive unit(260) for selecting a first ultrasonic transmitting and receiving unit and a second ultrasonic transmitting and receiving unit, and producing a first ultrasonic drive signal and a second ultrasonic drive signal; the first ultrasonic transmitting and receiving unit(240) for generating first ultrasonic waves according the first ultrasonic drive signal and sensing first reflective waves and converting the first reflective waves into an electric signal and then outputting the electric signal to a first receiving processing unit(270); the second ultrasonic transmitting and receiving unit(250) for generating second ultrasonic waves according to the second ultrasonic drive signal and sensing second reflective waves and converting the second reflective waves into an electric signal and then outputting the electric signal to a second receiving processing unit(280); the control unit(220) for outputting a warning display control signal to a warning display unit; and the warning display unit(230) for displaying warning data for the driver.

Description

Safe driving system of vehicle and its method {AUTOMOBILE SAFETY DRIVING SYSTEM AND METHOD THEREOF}

The present invention relates to a vehicle, and more particularly, to a safe driving system and a method of a vehicle.

The vehicle's safe driving system refers to all devices mounted in the vehicle to enable the driver to drive the vehicle safely. In general, even if a large truck or a small vehicle is equipped with a side mirror, there is a blind spot that is invisible to the driver. The presence of such blind spots causes a crash accident when the driver enters the side lane without seeing the next vehicle while driving. Because of the danger of blind spots, drivers often attach side mirrors in the form of convex mirrors to see blind spots.

However, since the installation of such a simple side mirror alone does not identify the objects in the blind spots in many cases, there is a problem that the driver cannot cope with an accident early in entering the side lane.

Therefore, in the driving of an automobile, an ultrasonic sensor is used to detect an object in the blind spot early, and if an object is present in the blind spot, a warning is displayed to the driver so that the driver can safely drive the differential car.

1 is a block diagram of a safety driving apparatus of a vehicle driving a safety driving system of a vehicle according to an embodiment of the present invention.

2 is a view for explaining the position of the first ultrasonic transceiver unit and the second ultrasonic transceiver unit installed in the vehicle in a safe driving system of the vehicle according to an embodiment of the present invention.

3 is a diagram illustrating a process of recognizing an object in a blind spot while the vehicle is driving and warning if there is an object at a predetermined distance at a predetermined vehicle speed in a safe driving system of a vehicle according to an exemplary embodiment of the present invention. It is a flow chart.

4 is a waveform diagram illustrating signals transmitted and received by a first ultrasonic transceiver unit and a second ultrasonic transceiver unit in a safe driving system for a vehicle according to an exemplary embodiment of the present invention.

FIG. 5 is a diagram illustrating a method of calculating a distance to an object in a blind spot in a safe driving system of a vehicle according to an exemplary embodiment of the present invention.

According to an aspect of the present invention, there is provided a safety driving system for a vehicle, including: a steering wheel sensor unit configured to detect steering wheel rotation angle information of a driving vehicle and output the same to a controller; A vehicle speed sensor unit configured to detect speed information of a running vehicle and output the detected speed information to a controller; The first ultrasonic transceiver unit and the second ultrasonic transceiver unit are selected according to the ultrasonic generation control signal of the controller, and each ultrasonic transceiver unit generates a first ultrasonic drive signal and a second ultrasonic drive signal to generate ultrasonic waves. Ultrasonic drive unit for transmitting; A first ultrasonic transceiver for generating a first ultrasonic wave according to the first ultrasonic driving signal received from the ultrasonic driver, detecting the reflected first reflected wave, converting the first reflected wave into a predetermined electrical signal, and outputting the first electrical signal to the first receiving processor; A second ultrasonic transceiver for generating a second ultrasonic wave according to the second ultrasonic driving signal received from the ultrasonic driver, detecting the reflected second reflected wave, converting the second reflected wave into a predetermined electrical signal, and outputting the second electrical signal to the second receiving processor; A first receiving processor for amplifying a predetermined electric signal with respect to the detected first reflected wave, shaping a waveform by a predetermined method, and outputting the waveform to a controller; A second receiving processor for amplifying a predetermined electric signal with respect to the detected second reflected wave, shaping a waveform by a predetermined method, and outputting the waveform to a controller; Selects a first ultrasonic transceiver and a second ultrasonic transceiver, and generates and outputs a first ultrasonic drive control signal and a second ultrasonic drive control signal for each of the selected ultrasonic transceivers to generate an ultrasonic wave; And steering wheel rotation angle information detected by the steering wheel sensor unit, vehicle speed information detected by the vehicle speed sensor unit, a first reflected wave signal detected by the first reception processor, and a second detected by the second reception processor. A warning display control signal for allowing a warning display corresponding to the rotation angle information to be displayed when the vehicle is running at a predetermined speed or less when it is determined that the object is in a predetermined blind spot by processing the received reflection signal. A control unit for outputting a warning display unit; And a warning display unit configured to receive and process a warning display control signal of the controller to display predetermined warning information so that the driver can know.

The ultrasonic driver may include a high voltage generator selectively generating a voltage according to an ultrasonic wave generation control signal of the controller and outputting the voltage to an ultrasonic wave driver; An ultrasonic driver for generating a first ultrasonic driving signal and a second ultrasonic driving signal to each mux so that each ultrasonic transceiver unit generates ultrasonic waves according to the ultrasonic generation control signal of the controller; And a mux (mux) for transmitting a signal transmitted by the ultrasonic driver to any one of the two ultrasonic transceivers according to the ultrasonic generation control signal of the controller.

The first receiving processor comprises: a first ultrasonic wave receiving processor for amplifying a predetermined electrical signal with respect to the detected first reflected wave and outputting the first electric wave to a first waveform shaper; And a first waveform shaper configured to waveform-form an electrical signal for the first reflected wave received by the first ultrasonic wave reception processor by a predetermined method and output the waveform to a controller.

The second receiving processor comprises: a second ultrasonic wave receiving processor for amplifying a predetermined electrical signal with respect to the detected second reflected wave and outputting it to a second waveform shaper; And a second waveform shaper configured to waveform-form an electrical signal for the first reflected wave received by the second ultrasonic wave reception processor by a predetermined method and output the waveform to a controller.

Accordingly, the safety driving system according to an embodiment of the present invention, the steering wheel sensor detects the steering wheel rotation angle information of the vehicle running, the vehicle speed sensor detects the speed information of the vehicle running, the ultrasonic drive unit In order to generate the first ultrasonic wave and the second ultrasonic wave according to the ultrasonic wave generation control signal of the first ultrasonic wave driving signal and the second ultrasonic wave driving signal, respectively, the first ultrasonic transmitting and receiving unit according to the first ultrasonic wave driving signal Generates one ultrasonic wave, detects the first reflected wave and converts it into a predetermined electrical signal, and the second ultrasonic transceiver generates the second ultrasonic wave according to the second ultrasonic drive signal and detects the reflected second reflected wave. Converts into an electrical signal, and a first receiving processor amplifies a predetermined electrical signal for the detected first reflected wave and Shaping the waveform by the method, and when the second receiving processor amplifies the predetermined electrical signal for the detected second reflected wave and shapes the waveform by the predetermined method, the control unit rotates the steering wheel sensed by the safety device. The angle of rotation, information on the vehicle speed information, the first reflection wave signal, and the second reflection wave signal are processed to determine that there is an object in a predetermined blind spot, and the vehicle is running below a predetermined speed. In response to the driver, a predetermined warning display can be made.

In a method of driving a safety driving system for a vehicle according to a feature of the present invention, the method for driving a vehicle equipped with a safety driving apparatus,

(a) detecting steering wheel rotation angle information of a vehicle in which the safe driving device is driven;

(b) detecting speed information of a vehicle in which the safe driving device is driven;

(c) generating a first ultrasonic drive signal and a second ultrasonic drive signal corresponding to the first ultrasonic wave and the second ultrasonic wave according to the ultrasonic wave generation control signal of the safe driving device;

(d) the safety driving device generating a first ultrasonic wave according to the first ultrasonic driving signal, detecting the reflected first reflected wave, and converting the first reflected wave into a predetermined electric signal;

(e) generating, by the safety driving device, a second ultrasonic wave according to the second ultrasonic driving signal, detecting the reflected second reflected wave, and converting the second reflected wave into a predetermined electric signal;

(f) the safe driving device amplifying a predetermined electrical signal for the sensed first reflected wave and shaping the waveform in a predetermined manner;

(g) the safe driving device amplifying a predetermined electrical signal for the sensed second reflected wave and shaping the waveform in a predetermined manner;

(h) receiving and processing the steering wheel rotation angle information, the vehicle speed information, the first reflected wave signal, and the second reflected wave signal sensed by the safe driving device to determine that an object exists within a predetermined blind spot; And

(i) if the vehicle is driving at a predetermined speed or less, the safe driving device includes a predetermined warning indication to the driver in response to the rotation angle information.

Hereinafter, with reference to the accompanying drawings, a detailed configuration and operation of the safety driving system for a vehicle according to the most preferred embodiment that can be easily implemented by those of ordinary skill in the art. do.

1 is a block diagram of an automatic driving device for driving a safe driving system according to an embodiment of the present invention.

As shown in FIG. 1, a safety driving system for a vehicle according to an exemplary embodiment of the present invention may allow a vehicle equipped with a safety driving apparatus for driving a safety driving system according to an exemplary embodiment of the present invention to drive safely. All devices in the vehicle. Safety driving apparatus for driving a safety driving system according to an embodiment of the present invention, the steering wheel sensor 210, the vehicle speed sensor 290, the ultrasonic drive unit 260, the first ultrasonic transceiver 240, The second ultrasonic wave transceiver 250, the first receiving processor 270, the second receiving processor 280, the control unit 220, and the warning display unit 230.

The steering wheel sensor unit 210 detects the steering wheel rotation angle information of the vehicle in operation and outputs it to the controller 220.

The vehicle speed sensor unit 290 detects the speed information of the vehicle in operation and outputs it to the controller 220.

The ultrasonic driver 260 selects the first ultrasonic transceiver 240 and the second ultrasonic transceiver 250 according to the ultrasonic generation control signal of the controller 220, and causes each of the selected ultrasonic transceivers to generate ultrasonic waves. An apparatus for generating and transmitting a first ultrasonic drive signal and a second ultrasonic drive signal, respectively, comprising a high pressure generator 263, an ultrasonic driver 262, and a mux 261.

The high pressure generator 263 selectively generates a voltage according to the ultrasonic wave generation control signal of the controller 220 and outputs the voltage to the ultrasonic wave driver 262.

The ultrasonic driver 262 generates a first ultrasonic drive signal and a second ultrasonic drive signal to each ultrasonic transceiver unit to generate ultrasonic waves according to the ultrasonic generation control signal of the controller 220. To transmit.

The MUX 261 transmits a signal transmitted from the ultrasonic driver 262 to any one of the two ultrasonic transmitters and receivers according to the ultrasonic wave generation control signal of the controller 220.

The first ultrasonic transceiver 240 generates a first ultrasonic wave according to the first ultrasonic driving signal received from the ultrasonic driver 260, detects the reflected first reflected wave, converts it into a predetermined electrical signal, and receives the first ultrasonic processing unit. Output at 270.

The second ultrasonic transceiver 250 generates a second ultrasonic wave according to the second ultrasonic driving signal received from the ultrasonic driver 260, detects the reflected second reflected wave, converts it into a predetermined electrical signal, and receives the second ultrasonic processing unit. Output to (280).

The first receiving processor 270 amplifies a predetermined electrical signal with respect to the detected first reflected wave, forms a waveform by a predetermined method, and outputs the same to the controller 220. The first ultrasonic wave receiving processor 271, And a first waveform shaper 272.

The first ultrasonic wave reception processor 271 amplifies a predetermined electric signal with respect to the detected first reflected wave and outputs the first electrical signal to the first waveform shaper 272.

The first waveform shaper 272 waveform-forms an electrical signal with respect to the first reflected wave received by the first ultrasonic wave receiving processor 271 and outputs the waveform to the controller 220 by a predetermined method. Here, waveform shaping refers to processing a received signal so that a waveform having the same shape as the first ultrasonic drive signal, which is a transmission signal for generating ultrasonic waves, comes out. That is, the transmission signal and the reception signal can be represented as shown in FIG.

The second receiving processor 280 is an apparatus for amplifying a predetermined electric signal for the detected second reflected wave, shaping a waveform by a predetermined method, and outputting the waveform to the controller 220. The second ultrasonic wave receiving processor 281, And a second waveform shaper 282.

The second ultrasonic wave reception processor 281 amplifies a predetermined electrical signal with respect to the detected second reflected wave and outputs it to the second waveform shaper 282.

The second waveform shaper 282 waveform-forms an electrical signal with respect to the first reflected wave received by the second ultrasonic wave reception processor 281 and outputs it to the controller 220 by a predetermined method. Here, waveform shaping refers to processing the received signal so that a waveform having the same form as the second ultrasonic drive signal, which is a transmission signal for generating ultrasonic waves, is produced. That is, the transmission signal and the reception signal can be represented as shown in FIG.

The controller 220 selects the first ultrasonic transceiver 240 and the second ultrasonic transceiver 250, and each of the first ultrasonic drive control signals and the second ultrasonic waves for causing each selected ultrasonic transceiver to generate ultrasonic waves. A driving control signal is generated and output to the ultrasonic driver 260, the steering wheel rotation angle information detected by the steering wheel sensor unit 210, the vehicle speed information detected by the vehicle speed sensor unit, and the first reception processor When the first reflected wave signal detected at 270 and the second reflected wave signal sensed by the second receiving processor 280 are received and processed to determine that an object exists within a predetermined blind spot, the vehicle is below a predetermined speed. In operation, the warning display control signal for outputting a warning display corresponding to the rotation angle information is output to the warning display unit 230.

The warning display unit 230 receives and processes the warning display control signal of the controller 220 to display predetermined warning information so that the driver can know.

The operation of the safety driving system of the vehicle according to the embodiment of the present invention having such a structure will be described in more detail.

FIG. 2 is a diagram illustrating a position of a first ultrasonic transceiver 240 and a second ultrasonic transceiver 250 installed in a vehicle in a safe driving system of an automobile according to an embodiment of the present invention. FIG. 3 is a flowchart illustrating a process of receiving an ultrasonic wave reflected from an object in a blind spot of a side lane and giving a warning indication to a driver in a safe driving system of a vehicle according to an embodiment of the present invention. have.

As shown in FIG. 2, the first ultrasonic transceiver 240 and the second ultrasonic transceiver 250 of the safety driving device for driving the safety driving system of the vehicle according to the embodiment of the present invention are located in front of the vehicle. Attached to the side, it transmits ultrasonic waves to the so-called blind spots and detects reflected waves reflected from the object. Here, for convenience of description, a process of attaching and operating the first ultrasonic transceiver 240 and the second ultrasonic transceiver 250 to only one side of the vehicle will be described. That is, the third ultrasonic transceiver unit (and thus the third reception processor) and the fourth ultrasonic transceiver unit (and thus the fourth reception processor) are mounted on the other side of the front side of the vehicle, so that either side of the vehicle is rotated. In addition, it is possible to detect the object in response.

In FIG. 2, the distance d between the first ultrasonic transceiver 240 and the second ultrasonic transceiver 250, the distances L1 and L2 from each of the objects shown in the blind spot, and the first ultrasonic transceiver ( 240 or an angle θ1 between a vertical line with respect to the ultrasonic transmission center point of the second ultrasonic transceiver 250 and a straight line perpendicular to the vehicle. That is, θ1 represents the installation angles of the first ultrasonic transceiver 240 and the second ultrasonic transmitter / receiver 250 capable of transmitting and receiving ultrasonic waves in anticipation of a blind spot with respect to the vehicle. When the relationship between θ2 and θ3 described below is greater than or equal to a predetermined value, the control unit 220 determines that the object is in an object in the blind spot.

3, the vehicle equipped with the first ultrasonic transceiver 240 and the second ultrasonic transceiver 250 according to the embodiment of the present invention as shown in FIG. If there is an object at a certain distance from the speed, a flow chart showing the process until the warning is displayed.

When the vehicle travels on a road where no object is in the blind spot, the vehicle runs without a warning display displayed to the driver (S100). At this time, since the safety driving device for driving the safety driving system of the vehicle according to the embodiment of the present invention during operation of the vehicle is in operation, the first ultrasonic transceiver 240 and the second ultrasonic transceiver 250 in the control unit Ultrasonic waves are transmitted and received according to the control signal of 220 (S110), and transmitted to the first receiving processor 270 and the second receiving processor 280, and the controller 220 continues to calculate a predetermined value according to the transmitted signals. Do this.

During driving of the vehicle, the controller 220 calculates as a received signal that a signal processed by the first receiving processor 270 and the second receiving processor 280 is equal to or greater than a predetermined correlation value (S120). If the received signal is greater than or equal to a predetermined correlation value and it is determined that there is a received signal (S130), the distance to the object in the blind spot is calculated.

Herein, the signal processed by the first receiving processor 270 and the second receiving processor 280 is equal to or greater than a predetermined correlation value, as shown in FIG. 4, as shown in the transmission signal for driving the ultrasonic wave and the received signal. If there is no noise, the received signal should have the same waveform as the transmission signal delayed by Δt. If the received signal is noisy, the correlation is assumed to be 1, and the correlation value is 1, For a received signal that cannot be seen, a rating is given as 0. For example, if a correlation value of 0.6 or more is provided, a criterion for determining that there is a received signal is provided.

5 is a diagram illustrating a method of calculating a distance to an object in a blind spot in a safe driving system of a vehicle according to an embodiment of the present invention. In FIG. 5, d is a distance between the first ultrasonic transceiver 240 (Q position) and the second ultrasonic transceiver 250 (P position), and represents a relationship with the object (R position) in the blind spot.

To calculate the distance, first, when the transmission signal for driving the ultrasonic waves of the first ultrasonic transceiver 240 and the second ultrasonic transceiver 250 and the received signal is delayed by Δt1, Δt2, respectively The distances L1 and L2 from the first ultrasonic transceiver 240 and the second ultrasonic transceiver 250 may be calculated by multiplying each of Δt1 and Δt2 by the average speed of sound waves 340 m / sec. .

Θ2 and θ3 shown in FIG. 5 are calculated from L1 and L2 calculated as described above.

It can be obtained from a general formula such as From θ2 and θ3 obtained as above, the vertical distance L from the vehicle to the object in the blind spot is

It can be obtained from a general formula such as

After the vertical distance L from the vehicle obtained as described above to the object in the blind spot is calculated (S140), it is determined whether the vehicle speed detected by the vehicle traveling speed sensor unit 290 is greater than or equal to a predetermined value (S150). In step S160, a warning signal is transmitted to the driver by transmitting a predetermined signal to the warning display unit 230 in case the vehicle rotates in the blind spot. Here, the warning display performed by the warning display unit 230 may be displayed differently as the distance to the object in the blind spot gets closer, and this display may sound a warning sound through the speaker or give a predetermined warning display on the LCD screen. have. In addition, through the left and right rotation angle information of the steering wheel (so-called steering wheel) detected by the steering wheel sensor unit 210, if there is an object in the blind spot when the driver rotates, the distance and the speed of the vehicle are calculated. Warnings may be given in other ways, such as to show more urgency.

As described above, the safe driving system of the vehicle according to the embodiment of the present invention, the steering wheel sensor unit 210 detects the steering wheel rotation angle information of the vehicle being driven, the vehicle speed sensor is the speed of the vehicle running It detects the information, and generates the first ultrasonic drive signal and the second ultrasonic drive signal corresponding to the ultrasonic driver 260 to generate the first ultrasonic wave and the second ultrasonic wave in accordance with the ultrasonic wave generation control signal of the controller 220 The first ultrasonic transceiver 240 generates the first ultrasonic wave according to the first ultrasonic driving signal, detects the reflected first reflected wave, converts the first ultrasonic wave into a predetermined electrical signal, and the second ultrasonic transceiver 250 The second ultrasonic wave is generated according to the second ultrasonic driving signal, the second reflected wave is detected and converted into a predetermined electrical signal, and the first receiving processor 270 detects the first half. Amplifying a predetermined electrical signal for a wave and shaping the waveform by a predetermined method, and the second receiving processor 280 amplifies the predetermined electrical signal with respect to the detected second reflected wave and shapes the waveform by a predetermined method. The controller 220 receives and processes the steering wheel rotation angle information, the vehicle speed information, the first reflected wave signal, and the second reflected wave signal detected by the safety driving device, and determines that an object exists within a predetermined blind spot. Thus, when the vehicle is running at a predetermined speed or less, the driver may be given a predetermined warning display in response to the rotation angle information.

The invention is susceptible to various modifications and implementations without departing from the scope of the claims set out below.

As described above, an object in the blind spot is detected through the transmission and reception of ultrasonic waves and a warning is displayed to the driver when the distance of the object and the speed of the vehicle are below a predetermined value. In addition, different warning signs are given to the driver according to the degree of danger, so that a vehicle crash can be prevented in advance.

Claims (5)

A steering wheel sensor unit configured to detect steering wheel rotation angle information of the driving vehicle and output the steering wheel sensor information to the controller; A vehicle speed sensor unit configured to detect speed information of a running vehicle and output the detected speed information to a controller; The first ultrasonic transceiver unit and the second ultrasonic transceiver unit are selected according to the ultrasonic generation control signal of the controller, and each ultrasonic transceiver unit generates a first ultrasonic drive signal and a second ultrasonic drive signal to generate ultrasonic waves. Ultrasonic drive unit for transmitting; A first ultrasonic transceiver for generating a first ultrasonic wave according to the first ultrasonic driving signal received from the ultrasonic driver, detecting the reflected first reflected wave, converting the first reflected wave into a predetermined electrical signal, and outputting the first electrical signal to the first receiving processor; A second ultrasonic transceiver for generating a second ultrasonic wave according to the second ultrasonic driving signal received from the ultrasonic driver, detecting the reflected second reflected wave, converting the second reflected wave into a predetermined electrical signal, and outputting the second electrical signal to the second receiving processor; A first receiving processor for amplifying a predetermined electric signal with respect to the detected first reflected wave, shaping a waveform by a predetermined method, and outputting the waveform to a controller; A second receiving processor for amplifying a predetermined electric signal with respect to the detected second reflected wave, shaping a waveform by a predetermined method, and outputting the waveform to a controller; Selects a first ultrasonic transceiver and a second ultrasonic transceiver, and generates and outputs a first ultrasonic drive control signal and a second ultrasonic drive control signal for each of the selected ultrasonic transceivers to generate an ultrasonic wave; And steering wheel rotation angle information detected by the steering wheel sensor unit, vehicle speed information detected by the vehicle speed sensor unit, a first reflected wave signal detected by the first reception processor, and a second detected by the second reception processor. A warning display control signal for allowing a warning display corresponding to the rotation angle information to be displayed when the vehicle is running at a predetermined speed or less when it is determined that the object is in a predetermined blind spot by processing the received reflection signal. A control unit for outputting a warning display unit; And A warning display unit for receiving and processing a warning display control signal of the controller to display predetermined warning information so that a driver can know Safe driving system of a vehicle comprising a. The method of claim 1, The ultrasonic drive unit, A high pressure generator selectively generating a voltage according to an ultrasonic wave generation control signal of the controller and outputting the voltage to an ultrasonic wave driver; An ultrasonic driver for generating a first ultrasonic driving signal and a second ultrasonic driving signal to each mux so that each ultrasonic transceiver unit generates ultrasonic waves according to the ultrasonic generation control signal of the controller; And A mux for transmitting a signal transmitted by the ultrasonic driver to any one of the two ultrasonic transceiver unit according to the ultrasonic wave generation control signal of the controller. Safe driving system of a vehicle comprising a. The method of claim 1, The first receiving processing unit, A first ultrasonic wave reception processor for amplifying a predetermined electrical signal with respect to the detected first reflected wave and outputting the amplified electric signal to a first wave shaper; And A first waveform shaper for shaping the electrical signal for the first reflected wave received by the first ultrasonic wave receiving processor by a predetermined method and outputting the waveform to the controller. Safe driving system of a vehicle comprising a. The method of claim 1, The second receiving processing unit, A second ultrasonic wave reception processor for amplifying a predetermined electrical signal with respect to the detected second reflected wave and outputting it to a second waveform shaper; And A second waveform shaper for shaping the electrical signal for the first reflected wave received by the second ultrasonic wave reception processor by a predetermined method and outputting the waveform to the controller. Safe driving system of a vehicle comprising a. In the method of driving a car equipped with a safety device, (a) detecting steering wheel rotation angle information of a vehicle in which the safe driving device is driven; (b) detecting speed information of a vehicle in which the safe driving device is driven; (c) generating a first ultrasonic drive signal and a second ultrasonic drive signal corresponding to the first ultrasonic wave and the second ultrasonic wave according to the ultrasonic wave generation control signal of the safe driving device; (d) the safety driving device generating a first ultrasonic wave according to the first ultrasonic driving signal, detecting the reflected first reflected wave, and converting the first reflected wave into a predetermined electric signal; (e) generating, by the safety driving device, a second ultrasonic wave according to the second ultrasonic driving signal, detecting the reflected second reflected wave, and converting the second reflected wave into a predetermined electric signal; (f) the safe driving device amplifying a predetermined electrical signal for the sensed first reflected wave and shaping the waveform in a predetermined manner; (g) the safe driving device amplifying a predetermined electrical signal for the sensed second reflected wave and shaping the waveform in a predetermined manner; (h) receiving and processing the steering wheel rotation angle information, the vehicle speed information, the first reflected wave signal, and the second reflected wave signal sensed by the safe driving device to determine that an object exists within a predetermined blind spot; And (i) if the vehicle is driving at a predetermined speed or less, the safety driving device provides a warning message to the driver in response to the rotation angle information; Method of driving a safe driving system of a vehicle comprising a.