KR20150033149A - Vihicle control apparatus and method thereof - Google Patents

Abstract

The present invention relates to a vehicle control apparatus and a method thereof which can automatically control a directional lamp of a vehicle on the basis of a driving pattern of a driver. According to embodiments of the present invention, the vehicle control apparatus comprises: a first camera filming a current driving lane of the vehicle; a second camera filming an image of the driver inside the vehicle; and a control portion detecting a left offset value and a right offset value of the filmed current driving lane, detecting the driver′s eyes from the filmed image of the driver, and controlling the directional lamp of the vehicle on the basis of the left and right offset values and the driver′s eyes.

Description

[0001] VIHICLE CONTROL APPARATUS AND METHOD THEREOF [0002]

The present invention relates to a vehicle control apparatus and a method thereof.

Generally, a vehicle uses a turn signal light to notify others of a lane change or a change of direction that must be caused when driving on the road. To change lanes during driving, the driver turned on the turn signal manually. The vehicle control apparatus according to the prior art is also disclosed in Korean Patent Application No. 10-2010-0119947.

An object of the present invention is to provide a vehicle control apparatus and method which can automatically control a turn signal lamp of a vehicle based on an operation pattern of a driver.

A vehicle control apparatus according to embodiments of the present invention includes: a first camera that photographs a current driving lane of a vehicle; A second camera for photographing a driver image in the vehicle; And a controller for detecting the left offset value and the right offset value of the photographed current driving lane, detecting the driver's gaze from the photographed driver image, and detecting the driver's gaze based on the left offset value and the right offset value, And a control unit for controlling the turn signal lamp.

In the present invention, when the left offset value of the photographed current driving lane becomes smaller than the right offset value and the driver's line of sight is directed toward the left side mirror of the vehicle, Can be automatically turned on.

In the present invention, when the right offset value of the photographed current driving lane becomes smaller than the left offset value and the driver's line of sight is directed to the right side mirror of the vehicle, Can be automatically turned on.

In one embodiment of the present invention, the control unit detects a head pose of the driver from a driver image photographed through the second camera, and detects the left offset value, the right offset value, the driver's gaze, It is possible to control the turn signal lamp of the vehicle based on the head pose.

As an example related to the present invention, when the left offset value of the photographed current driving lane becomes smaller than the right offset value and the driver's gaze and the head pose of the driver face the left side mirror of the vehicle The left turn indicator of the vehicle is automatically turned on and the right offset value of the photographed current driving lane becomes smaller than the left offset value so that the driver's gaze and the head pose of the driver are detected by the right side mirror The right turn signal lamp of the vehicle can be automatically turned on.

The controller determines that the driver's gaze and the head pose of the driver are less than the left direction indicator of the vehicle as the left offset value of the photographed current driving lane becomes smaller than the right offset value Wherein the controller is configured to automatically turn on the left turn indicator of the vehicle if the predetermined trajectory and the head pose of the driver's line of sight for turn- The gaze of the driver and the head pose of the driver are the same or similar to the preset locus of the driver's gaze and the head pose and the predetermined locus for turning on the right turn indicator of the vehicle The right turn signal lamp of the vehicle can be automatically turned on.

In the present invention, when the left offset value of the photographed current driving lane becomes smaller than the right offset value and the driver's gaze is directed toward the left side mirror of the vehicle, To the left lane.

In the present invention, when the right offset value of the photographed current driving lane becomes smaller than the left offset value and the driver's gaze is directed toward the right side mirror of the vehicle, To the right lane.

A vehicle control method according to embodiments of the present invention includes the steps of: photographing a current driving lane of a vehicle; Capturing an operator image in the vehicle; Detecting a left offset value and a right offset value of the photographed current driving lane; Detecting a driver's gaze from the photographed driver image; And controlling the turn signal lamp of the vehicle based on the left offset value and the right offset value and the sight line of the driver.

The vehicle control apparatus and method according to the embodiments of the present invention can automatically control the turn signal lamp of the vehicle based on the left or right offset value of the current driving lane of the vehicle and the driver's sight line.

The vehicle control apparatus and method according to embodiments of the present invention can automatically and accurately control the turn signal lamp of the vehicle based on the left or right offset value of the current driving lane of the vehicle and the driver's gaze and the head pose of the driver have.

1 is a block diagram illustrating a configuration of a mobile communication terminal for explaining embodiments of the present invention.
2 is a block diagram illustrating a vehicle navigation system for explaining embodiments of the present invention.
3 is a block diagram illustrating a configuration of a telematics terminal for explaining embodiments of the present invention.
4 is a diagram illustrating a navigation (vehicle navigation) device for explaining embodiments of the present invention.
5 is an exemplary view illustrating a terminal to which a control apparatus according to an embodiment of the present invention is applied.
6 is a flowchart illustrating a method of controlling a vehicle according to an embodiment of the present invention.
7 is a flowchart illustrating a control method of a vehicle according to another embodiment of the present invention.

It is noted that the technical terms used herein are used only to describe specific embodiments and are not intended to limit the invention. It is also to be understood that the technical terms used herein are to be interpreted in a sense generally understood by a person skilled in the art to which the present invention belongs, Should not be construed to mean, or be interpreted in an excessively reduced sense. Further, when a technical term used herein is an erroneous technical term that does not accurately express the spirit of the present invention, it should be understood that technical terms that can be understood by a person skilled in the art are replaced. In addition, the general terms used in the present invention should be interpreted according to a predefined or prior context, and should not be construed as being excessively reduced.

Also, the singular forms "as used herein include plural referents unless the context clearly dictates otherwise. In the present application, the term "comprising" or "comprising" or the like should not be construed as necessarily including the various elements or steps described in the specification, Or may be further comprised of additional components or steps.

Furthermore, terms including ordinals such as first, second, etc. used in this specification can be used to describe various elements, but the elements should not be limited by the terms. The terms are used only for the purpose of distinguishing one component from another. For example, without departing from the scope of the present invention, the first component may be referred to as a second component, and similarly, the second component may also be referred to as a first component.

Hereinafter, exemplary embodiments of the present invention will be described in detail with reference to the accompanying drawings, wherein like reference numerals refer to like or similar elements throughout the several views, and redundant description thereof will be omitted.

In the following description, well-known functions or constructions are not described in detail since they would obscure the invention in unnecessary detail. It is to be noted that the accompanying drawings are only for the purpose of facilitating understanding of the present invention, and should not be construed as limiting the scope of the present invention with reference to the accompanying drawings.

1 is a block diagram illustrating a configuration of a mobile communication terminal 100 for explaining embodiments of the present invention. The mobile communication terminal (mobile phone) 100 may be implemented in various forms. For example, the mobile communication terminal 100 includes a mobile phone, a smart phone, a notebook computer, a digital broadcasting terminal, a PDA (Personal Digital Assistants), and a PMP (Portable Multimedia Player).

1, the mobile communication terminal 100 includes a wireless communication unit 110, an A / V (audio / video) input unit 120, a user input unit 130, a sensing unit 140, an output unit 150 A memory 160, an interface unit 170, a control unit 180, a power supply unit 190, and the like. All of the components of the mobile communication terminal 100 shown in FIG. 1 are not essential components, and the mobile communication terminal 100 may be implemented by more components than the components shown in FIG. 1, The mobile communication terminal 100 may be implemented by a component.

The wireless communication unit 110 may include at least one component for performing wireless communication between the mobile communication terminal 100 and the wireless communication system or wireless communication between the mobile communication terminal 100 and a network on which the mobile communication terminal 100 is located . For example, the wireless communication unit 110 may include a broadcast receiving module 111, a mobile communication module 112, a wireless Internet module 113, a short range communication module 114 and a location information module 115 .

The broadcast receiving module 111 receives broadcast signals and / or broadcast-related information from an external broadcast management server through a broadcast channel. The broadcast channel may include a satellite channel and a terrestrial channel. The broadcast management server may be a server for generating and transmitting broadcast signals and / or broadcast-related information, or a server for receiving previously generated broadcast signals and / or broadcast-related information and transmitting the broadcast signals and / or broadcast- related information to the mobile communication terminal 100 . The broadcast-related information may refer to a broadcast channel, a broadcast program, or information related to a broadcast service provider. The broadcast signal may include a TV broadcast signal, a radio broadcast signal, a data broadcast signal, and a broadcast signal in which a data broadcast signal is combined with a TV broadcast signal or a radio broadcast signal.

Meanwhile, the broadcast related information may be provided through a mobile communication network, and in this case, it may be received by the mobile communication module 112. The broadcast-related information may exist in various forms. For example, an EPG (Electronic Program Guide) of DMB (Digital Multimedia Broadcasting) or an ESG (Electronic Service Guide) of Digital Video Broadcast-Handheld (DVB-H).

The broadcast receiving module 111 receives broadcasting signals using various broadcasting systems. In particular, the broadcasting receiving module 111 may be a Digital Multimedia Broadcasting-Terrestrial (DMB-T), a Digital Multimedia Broadcasting-Satellite (DMB-S) Only Digital Broadcast-Handheld (DVB-H), Integrated Services Digital Broadcast-Terrestrial (ISDB-T), and the like. Of course, the broadcast receiving module 111 is configured to be suitable for all broadcasting systems that provide broadcasting signals as well as the digital broadcasting system described above. The broadcast signal and / or broadcast related information received through the broadcast receiving module 111 may be stored in the memory 160.

The mobile communication module 112 transmits and receives radio signals to at least one of a base station, an external terminal, and a server on a mobile communication network. Here, the wireless signal may include various types of data related to transmission and reception of a voice call signal, a video call signal, and / or a text / multimedia message.

The wireless Internet module 113 refers to a module for wireless Internet access, and the wireless Internet module 113 can be embedded in the mobile communication terminal 100 or externally. Here, the wireless Internet technology includes a wireless LAN (WLAN), a Wi-Fi, a wireless broadband (Wibro), a WiMAX, and a High Speed Downlink Packet Access (HSDPA) Can be used.

The short-range communication module 114 means a module for short-range communication. Bluetooth, radio frequency identification (RFID), infrared data association (IrDA), ultra wideband (UWB), ZigBee, etc. may be used as the short distance communication technology.

The position information module 115 is a module for confirming or obtaining the position of the mobile terminal (capable of checking the position of the vehicle when the mobile terminal is mounted on the vehicle). One example is the GPS (Global Position System) module. The GPS module receives position information from a plurality of satellites. Here, the location information may include coordinate information indicated by latitude and longitude. For example, the GPS module can accurately calculate the current position according to the triangle method by measuring the precise time and distance from three or more satellites and measuring three different distances. A method of obtaining distance and time information from three satellites and correcting the error by one satellite may be used. In particular, the GPS module can acquire latitude, longitude and altitude as well as three-dimensional velocity information and accurate time from the position information received from the satellite. A Wi-Fi Positioning System and / or a Hybrid Positioning System may be applied as the location information module 115.

The A / V input unit 120 is for inputting an audio signal or a video signal. The A / V input unit 120 includes a camera 121 and a microphone 122, . The camera 121 processes an image frame such as a still image or a moving image obtained by the image sensor in the video communication mode or the photographing mode. The processed image frame can be displayed on the display unit 151. [

The image frame processed by the camera 121 may be stored in the memory 160 or transmitted to the outside through the wireless communication unit 110. [ The camera 121 may be composed of two or more according to the configuration of the mobile terminal.

The microphone 122 receives an external sound signal by a microphone in a communication mode, a recording mode, a voice recognition mode, and the like, and processes it as electrical voice data. In the call mode, the processed voice data can be converted into a form that can be transmitted to the mobile communication base station through the mobile communication module 112 and output. The microphone 122 may be implemented with various noise reduction algorithms for eliminating noise generated in the process of receiving an external sound signal.

The user input unit 130 generates input data for a user to control the operation of the mobile terminal. The user input unit 130 may include a key pad dome switch, a touch pad (static / static), a jog wheel, a jog switch, and the like. Particularly, when the touch pad has a mutual layer structure with the display unit 151, it can be called a touch screen.

The sensing unit 140 senses the position of the mobile communication terminal 100 in the open / close state, the position of the mobile communication terminal 100, the presence of the user, the orientation of the mobile communication terminal 100, The mobile communication terminal 100 senses the current state of the mobile communication terminal 100 and generates a sensing signal for controlling the operation of the mobile communication terminal 100. For example, when the mobile communication terminal 100 is in the form of a slide phone, it is possible to sense whether the slide phone is opened or closed. The sensing unit 140 senses whether the power supply unit 190 is powered on, whether the interface unit 170 is connected to an external device, and the like.

The interface unit 170 serves as an interface with all external devices connected to the mobile communication terminal 100. For example, the interface unit 170 may include a headset port, an external charger port, a wired / wireless data port, a memory card port, a port for connecting a device having an identification module, An audio input / output (I / O) port, a video I / O (input / output) port, and an earphone port. Here, the identification module is a chip that stores various information for authenticating the usage right of the mobile communication terminal 100, and includes a user identification module (UIM), a subscriber identity module (SIM) ), A Universal Subscriber Identity Module (" USIM "), and the like. In addition, an apparatus (hereinafter, referred to as 'identification device') having the identification module may be manufactured in a smart card format. Accordingly, the identification module can be connected to the mobile communication terminal 100 through the port. The interface unit 170 receives data from an external device or receives power from the external device and transmits the received data to each component in the mobile communication terminal 100 or transmits data in the mobile communication terminal 100 to an external device.

The output unit 150 is for outputting an audio signal, a video signal, or an alarm signal. The output unit 150 includes a display unit 151, an audio output module 152, an alarm unit 153, May be included.

The display unit 151 displays information to be processed by the mobile communication terminal 100 and outputs the information. For example, when the mobile communication terminal 100 is in the call mode, a UI (User Interface) or a GUI (Graphic User Interface) associated with a call is displayed. When the mobile communication terminal 100 is in the video communication mode or the photographing mode, the displayed image or the UI or GUI is displayed.

The display unit 151 may be a liquid crystal display, a thin film transistor-liquid crystal display, an organic light-emitting diode, a flexible display, a three-dimensional display (3D display). There may be two or more display units 151 according to the embodiment of the mobile communication terminal 100. For example, the mobile communication terminal 100 may be provided with an external display unit (not shown) and an internal display unit (not shown) at the same time.

(Hereinafter, referred to as a 'touch screen') has a mutual layer structure with the display unit 151 and a sensor (hereinafter, referred to as 'touch sensor' It can also be used as an input device in addition to the device. The touch sensor may have the form of, for example, a touch film, a touch sheet, a touch pad, or the like.

The touch sensor may be configured to convert a change in a pressure applied to a specific portion of the display unit 151 or a capacitance generated in a specific portion of the display unit 151 into an electrical input signal. The touch sensor can be configured to detect not only the position and area to be touched but also the pressure at the time of touch. If there is a touch input to the touch sensor, the corresponding signal (s) is sent to a touch controller (not shown). The touch controller processes the signal (s) and transmits the corresponding data to the control unit 180. Thus, the control unit 180 can know which area of the display unit 151 is touched or the like.

The proximity sensor 141 may be disposed in an inner region of the mobile communication terminal 100 or in the vicinity of the touch screen, which is surrounded by the touch screen. The proximity sensor 141 refers to a sensor that detects the presence of an object approaching a predetermined detection surface or an object existing in the vicinity thereof without mechanical contact by using electromagnetic force or infrared rays. The proximity sensor 141 has a longer lifetime and higher utilization than the contact-type sensor.

Examples of the proximity sensor 141 include a transmission type photoelectric sensor, a direct reflection type photoelectric sensor, a mirror reflection type photoelectric sensor, a high frequency oscillation type proximity sensor, a capacitive proximity sensor, a magnetic proximity sensor, and an infrared proximity sensor. And to detect the proximity of the pointer by the change of the electric field along the proximity of the pointer when the touch screen is electrostatic. In this case, the touch screen (touch sensor) may be classified as a proximity sensor.

Hereinafter, for convenience of explanation, the act of recognizing that the pointer is positioned on the touch screen while the pointer is not in contact with the touch screen is referred to as "proximity touch" The act of actually touching the pointer on the screen is called "Contact Touch ". A position where the pointer is proximally touched on the touch screen means a position where the pointer corresponds to the touch screen vertically when the pointer is touched.

Further, the proximity sensor 141 detects a proximity touch and a proximity touch pattern (for example, a proximity touch distance, a proximity touch direction, a proximity touch speed, a proximity touch time, a proximity touch position, do. Information corresponding to the detected proximity touch operation and the proximity touch pattern may be output on the touch screen.

The sound output module 152 outputs audio data received from the wireless communication unit 110 or stored in the memory 160 in a call signal reception mode, a call mode or a recording mode, a voice recognition mode, and a broadcast reception mode. The sound output module 152 outputs sound signals related to functions (e.g., call signal reception sound, message reception sound, etc.) performed in the mobile communication terminal 100. The sound output module 152 may include a speaker, a buzzer, and the like.

The alarm unit 153 outputs a signal for notifying the occurrence of an event of the mobile communication terminal 100. Examples of events that occur in the mobile terminal include receiving a call signal, receiving a message, and inputting a key signal. The alarm unit 153 may output a signal for notifying the occurrence of an event in a form other than an audio signal or a video signal. For example, it is possible to output a signal in a vibration mode. When the call signal is received or the message is received, the alarm unit 153 can vibrate the mobile terminal through the vibration means to inform it. Alternatively, when the key signal is input, the alarm unit 153 may vibrate the mobile communication terminal 100 through the vibration means with the feedback of the key signal input. Through the above-described vibration, the user can recognize the occurrence of the event. Of course, a signal for notifying the occurrence of an event may also be output through the display unit 151 or the audio output module 152.

The haptic module 154 generates various tactile effects that the user can feel. A typical example of the haptic effect generated by the haptic module 154 is vibration. The intensity and pattern of the vibration generated by the hit module 154 can be controlled. For example, different vibrations may be synthesized and output or sequentially output.

In addition to vibration, the haptic module 154 may include a pin arrangement vertically moving with respect to the contact skin surface, a spraying force or suction force of air through the injection port or the suction port, a spit on the skin surface, contact with an electrode, And various effects of tactile effect such as effect of reproducing the cold sensation using the heat absorbing or heatable element can be generated.

The haptic module 154 can transmit a tactile effect through direct contact, and the tactile effect can be felt by a user through a muscular sense such as a finger or an arm. At least two haptic modules 154 may be provided according to the configuration of the telematics terminal. The haptic module 154 may be provided in a place where frequent contact with a user is frequent in the vehicle. For example, a steering wheel, a shift gear lever, a seat, and the like.

The memory 160 may store a program for processing and controlling the controller 180 and temporarily store the input / output data (e.g., map data, a phone book, a message, a still image, For example.

The memory 160 may be a flash memory type, a hard disk type, a multimedia card micro type, a card type memory (for example, SD or XD memory) (Random Access Memory) SRAM (Static Random Access Memory), ROM (Read Only Memory), EEPROM (Electrically Erasable Programmable Read-Only Memory), PROM (Programmable Read-Only Memory) A disk, and / or an optical disk. In addition, the mobile communication terminal 100 may operate a web storage that performs a storage function of the memory 150 on the Internet.

The interface unit 170 serves as an interface with all external devices connected to the mobile terminal 100. For example, the interface unit 170 may include a headset port, an external charger port, a wired / wireless data port, a memory card port, a port for connecting a device having an identification module, An audio input / output (I / O) port, a video I / O (input / output) port, and an earphone port. Here, the identification module is a chip that stores various information for authenticating the use right of the mobile terminal 100, and includes a user identification module (UIM), a subscriber identity module (SIM) A Universal Subscriber Identity Module (USIM), and the like. In addition, the device having the identification module (hereinafter, referred to as 'identification device') can be manufactured in a smart card format. Accordingly, the identification module can be connected to the mobile terminal 100 through the port. The interface unit 170 receives data from an external device or receives power from the external device and transmits the received data to each component in the mobile terminal 100 or transmits data in the mobile terminal 100 to an external device.

When the mobile terminal 100 is connected to an external cradle, the interface unit 170 may be a path through which power from the cradle is supplied to the mobile terminal 100, or various commands A signal may be transmitted to the mobile terminal 100. The various command signals or the power source inputted from the cradle may be operated as a signal for recognizing that the mobile terminal 100 is correctly mounted on the cradle.

The controller 180 typically controls the overall operation of the mobile communication terminal 100. For example, the control unit 180 performs related control and processing for voice call, data communication, video call, and the like. In addition, the controller 180 may include a multimedia module 181 for multimedia playback. The multimedia module 181 may be implemented in the control unit 180 or may be implemented separately from the control unit 180.

The control unit 180 can perform a pattern recognition process for recognizing handwriting input or drawing input performed on the touch screen as characters and images, respectively.

The power supply unit 190 receives an external power source and an internal power source under the control of the controller 180 and supplies power required for operation of the respective components.

The functions of the components applied to the mobile communication terminal 100 may be implemented in a computer-readable recording medium using software, hardware, or a combination thereof. According to a hardware implementation, an application specific integrated circuit (ASIC), digital signal processors (DSPs), digital signal processing devices (DSPDs), programmable logic devices (PLDs), field programmable gate arrays (FPGAs) controllers may be implemented using at least one of micro-controllers, microprocessors, and electrical units for performing functions. In some cases, such embodiments may be implemented by the controller 180 In accordance with a software implementation, embodiments such as procedures or functions may be implemented with separate software modules that perform at least one function or operation. The software code may be stored in a software application written in a suitable programming language The software code may be stored in the memory 160, May also be performed by the < / RTI >

The voice recognition module 182 recognizes a voice uttered by a user and performs a corresponding function according to the recognized voice signal.

A navigation session 300 applied to the mobile communication terminal 100 displays a traveling route on the map data.

2 is a block diagram illustrating a vehicle navigation system for explaining embodiments of the present invention.

2, the vehicle navigation system includes an information providing center 30 for providing traffic information and various data (for example, programs, executable files, etc.); A telematics service system, which is installed in a vehicle and receives traffic information through a long-range wireless communication network 20 and / or a short-range wireless communication network, and provides a guidance service based on GPS signals received through the satellite 10 and the traffic information, And a terminal 200. Here, the communication network may further include a wired / wireless communication network such as a LAN (Local Area Network) and a WAN (Wide Area Network).

Traffic information such as traffic light information (eg, road traffic information, interest area information) is collected through the communication network and the collected information is transmitted from the information providing center 30 (for example, a server) Group) standard and transmitted to the broadcasting station. Accordingly, the broadcasting station inserts the traffic information including the traffic light information into the broadcast signal and broadcasts the traffic information to the vehicle 200.

The server is connected to various networks connected to a communication network, for example, an operator input, a wired / wireless Internet, a Transparent Data Channel (TDC), a digital broadcasting service such as a Multimedia Object Transport (MOC) Various traffic information, for example, TPEG (Transport Protocol

Expert Group) format and transmits it to the broadcasting station.

The server generates a traffic information format of the TPEG standard including the traffic light information

To a broadcasting station.

A broadcasting station transmits traffic information including traffic signal information received from a server to a traffic information reception terminal mounted on the vehicle 200, for example, a navigation device, on a broadcast signal and transmits the traffic information by radio. The traffic information includes traffic light information and information on various traffic conditions necessary for roads, marine, and air navigation such as accidents, road conditions, traffic congestion, road construction, road shutdown, . ≪ / RTI >

The broadcasting station receives traffic information including traffic signal information processed from a server and transmits the traffic information to the vehicle 200 through a digital signal according to various digital broadcasting standards. In this case, the broadcasting standard may be a digital audio broadcasting (DAB) standard based on Eureka-147 [ETSI EN 300 401], terrestrial or satellite digital multimedia broadcasting (DMB), terrestrial digital video broadcasting A Digital Video Broadcasting (DVB-T) standard, a Digital Video Broadcasting-Handheld (DVB-H) standard, and an MFLO (Media Forward Link Only) standard.

Also, the broadcasting station can transmit traffic information including traffic light information through a wired / wireless network such as wired / wireless Internet.

The vehicle 200 refers to all possible carriers that are implemented using mechanical or electronic devices for the purpose of moving people or objects, such as a general passenger car, a bus, a train, a ship, an aircraft, and the like.

The vehicle 200 mounts a traffic information reception terminal, receives traffic light information from a broadcasting station using the traffic information reception terminal installed therein, processes the traffic light information, and outputs the processed traffic light information as graphics, text, and / or audio To the user.

Hereinafter, a configuration of a telematics terminal 200 for explaining an embodiment of the present invention will be described with reference to FIG.

3 is a block diagram illustrating a configuration of a telematics terminal 200 for explaining embodiments of the present invention.

3, the telematics terminal 200 includes a control unit (e.g., a central processing unit, CPU) 212 for controlling the telematics terminal 200 as a whole, a memory 213 for storing various types of information, A key controller 211 for controlling various key signals, and an LCD controller 214 for controlling a liquid crystal display (LCD).

The memory 213 stores map information (map data) for displaying the route guidance information on the digital map. In addition, the memory 213 stores traffic information collection control algorithms for allowing the vehicle to input traffic information according to the current road conditions, and information for controlling the algorithms.

The main board 210 is provided with a code division multiple access (CDMA) module 206, which is a mobile communication terminal built in a vehicle to which a unique device number is assigned, guidance for the location of the vehicle, A GPS module 207 for receiving a GPS signal or transmitting traffic information collected by a user as a Global Positioning System (GPS) signal, a CD deck 208 for reproducing a signal recorded on a CD (compact disc) A gyro sensor 209, and the like. The CDMA module 206 and the GPS module 207 transmit / receive signals through the antennas 204 and 205, respectively.

The broadcast receiving module 222 is connected to the main board 210 and receives a broadcast signal through the antenna 223. The main board 210 includes a display unit (LCD) 201 under the control of the LCD control unit 214 through an interface board 203, a front board 202 under the control of the key control unit 211, A camera 227 for photographing the inside and / or the outside is connected. The display unit 201 displays various video signals and character signals. The front board 202 includes buttons for inputting various key signals, and a key signal corresponding to a user-selected button is transmitted to the main board 210 ). In addition, the display unit 201 includes the proximity sensor and the touch sensor (touch screen) of FIG.

The front board 202 may have a menu key for directly inputting traffic information, and the menu key may be controlled by the key controller 211.

The audio board 217 is connected to the main board 210 and processes various audio signals. The audio board 217 includes a microcomputer 219 for controlling the audio board 217, a tuner 218 for receiving a radio signal, a power source 216 for supplying power to the microcomputer 219, And a signal processing unit 215 for processing a signal.

The audio board 217 includes a radio antenna 220 for receiving radio signals and a tape deck 221 for reproducing audio tapes. The audio board 217 may further comprise a voice output unit (for example, an amplifier) 226 for outputting a voice signal processed by the audio board 217.

The audio output unit (amplifier) 226 is connected to the vehicle interface 224. That is, the audio board 217 and the main board 210 are connected to the vehicle interface 224. The vehicle interface 224 may be connected to a handsfree 225a for inputting a voice signal, an air bag 225b for occupant safety, a speed sensor 225c for detecting the speed of the vehicle, and the like. The speed sensor 225c calculates the vehicle speed and provides the calculated vehicle speed information to the central processing unit 212. [

The navigation session 300 applied to the telematics terminal 200 generates route guidance information based on the map data and the current vehicle location information, and notifies the user of the generated route guidance information.

The display unit 201 senses the proximity touch in the display window through the proximity sensor. For example, the display unit 201 may detect the position of the proximity touch when a pointer (e.g., a finger or a stylus pen) is touched in proximity, and transmit position information corresponding to the detected position And outputs it to the control unit 212.

The speech recognition device (or speech recognition module) 301 recognizes the speech uttered by the user and performs the corresponding function according to the recognized speech signal.

A navigation session 300 applied to the telematics terminal 200 displays a traveling route on the map data and displays the location of the mobile communication terminal 100 at a predetermined distance from a blind spot included in the traveling route. (For example, a car navigation device) mounted on a nearby vehicle and / or a mobile communication terminal carried by a nearby pedestrian through a wireless communication (for example, a short-range wireless communication network) Thereby receiving the location information of the neighboring vehicle from the terminal mounted on the neighboring vehicle and receiving the location information of the neighboring walker from the mobile communication terminal carried by the neighboring walker.

4 is a block diagram showing a configuration of a navigation (vehicle navigation) device 400 for explaining embodiments of the present invention.

The navigation (car navigation) device 400 is divided into an in-dash type and an on-dash type according to a type of installation in the vehicle 200. The navigation system (vehicle navigation system) of the Indy type is inserted into a fixed space allocated in a dash board of the vehicle 200 and is fixedly mounted. The vehicle of the onetime type is mounted on the dashboard of the vehicle 200 or installed near the dashboard of the vehicle 200 by using a fixed support, and can be detached from the vehicle 200, so that it can be separated from the vehicle 200 and carried.

The navigation (car navigation) device 400 according to the present embodiments includes the navigation device of the instantaneous type and the onetime type, and also includes a GPS (Global Positioning System) satellite in the vehicle 200 And an information processing apparatus capable of receiving and / or processing traffic information such as various portable terminals capable of performing a navigation function in conjunction with a GPS receiver receiving a navigation message to be transmitted.

4, the navigation device 400 receives a global positioning system (GPS) signal received from a satellite and transmits the GPS signal to a navigation device (telematics terminal 200 or mobile communication A GPS module 401 for generating first vehicle position data of the vehicle 100 (assumed to be in the same position as the terminal 100); A dead-reckoning (DR) sensor 402 for generating second vehicle position data based on the running direction of the vehicle and the speed of the vehicle; A storage unit (or memory) 404 for storing map data and various information; Generates a vehicle estimated position based on the first vehicle position data and the second vehicle position data, and generates a link in the map data stored in the storage unit 404 (the map matching link or the map matching road And outputs the matched map information (map matching result); A communication unit 408 for receiving real-time traffic information from the information providing center and / or a nearby vehicle through the wireless communication network 500, receiving traffic light information, and performing telephone communication; A controller 407 for generating route guidance information based on the matched map information (map matching result); A display unit (405) for displaying a route guidance map (including interest information) included in the route guidance information and the traffic light information; And a voice output unit 406 for outputting voice guidance information (a voice guidance voice message) included in the voice guidance information and a voice signal corresponding to the traffic light information.

The navigation device 400 may include a voice recognition device (or voice recognition module) 409 for recognizing a voice uttered by a user.

The communication unit 408 may further include a hands-free unit having a Bluetooth module, and may receive a broadcast signal including traffic information in the TPEG format from a broadcasting station through an antenna. The broadcast signal may include not only video and audio data according to various standards such as terrestrial or satellite digital multimedia broadcasting (DMB), digital audio broadcasting (DAB), digital video broadcasting (DVB-T, DVB- Service, traffic information according to a Binary Format for Scene (BIFS) data service, and various additional data. Also, the communication unit 408 tunes the signal band in which the traffic information is provided, demodulates the tuned signal, and outputs the demodulated signal to the TPEG decoder (included in the control unit 407).

The TPEG decoder decodes traffic information in the TPEG format and provides various information including traffic signal information included in the traffic information to the control unit 407.

The route guidance information may include not only map data but also various information related to driving such as lane information, traveling speed limit information, turn-by-turn information, traffic safety information, traffic guidance information, vehicle information, .

The signals received through the GPS module 401 include 802.11 which is a standard of a wireless network for a wireless LAN including a wireless LAN and some infrared communication proposed by IEEE (Institute of Electrical and Electronics Engineers), Bluetooth, UWB A wireless MAN (Metropolitan Area Network) (BWA) including 802.15, which is a standard for a wireless PAN (Personal Area Network) including a wireless LAN (WLAN) and ZigBee, and a city wideband network And 802.20, which is a standard for the mobile Internet for mobile broadband wireless access (MBWA) including WiBro, WiMAX, etc., And to provide the navigation device 400 with the location information.

The navigation unit 400 may further include an input unit, and the input unit may be a variety of devices such as a keypad, a touch screen, a jog shuttle, and a microphone.

The map matching unit 403 generates a vehicle estimated position based on the first position data and the second position data, and reads the map data corresponding to the traveling path from the storage unit 404.

The map matching unit 403 matches the vehicle estimated position with the link (road) included in the map data, and outputs the matched map information (map matching result) to the control unit 407 . For example, the map matching unit 403 generates a vehicle estimated position based on the first position data and the second position data, and outputs the generated vehicle estimated position and the map data stored in the storage unit 404 , And outputs the matched map information (map matching result) to the control unit 407 The map matching unit 403 may output the road attribute information such as a single-storey road or a multi-storey road included in the matched map information (map matching result) to the control unit 407. [ In addition, the function of the map matching unit 403 may be implemented in the controller 407.

The storage unit 404 stores map data. At this time, the stored map data includes geographic coordinates (geographic coordinates or latitude and longitude coordinates) indicating latitude and longitude in units of minutes (DMS unit: Degree / Minute / Second). In addition to the geographical coordinates, UTM (Universal Transverse Mercator) coordinates, UPS (Universal Polar System) coordinates, and TM (Transverse Mercator) coordinates may be used as the stored map data.

The storage unit 404 stores various information such as various menu screens, point of interest (POI), and functional characteristic information according to a specific position of the map data.

The storage unit 404 stores various user interface (UI) and / or graphical user interface (GUI).

The storage unit 404 stores data and programs necessary for the navigation apparatus 400 to operate.

The storage unit 404 stores destination information inputted from the user through the input unit. At this time, the destination information may be a destination, or a source and a destination.

The display unit 405 displays image information (or a route guidance map) included in the route guidance information generated by the control unit 407. Here, the display unit 405 includes a touch sensor (touch screen) and a proximity sensor. The route guidance information may include not only map data but also various information related to driving such as lane information, traveling speed limit information, turn-by-turn information, traffic safety information, traffic guidance information, have.

When displaying the image information, the display unit 405 can display various contents such as various menu screens and route guidance information using the user interface and / or graphical user interface included in the storage unit 404 have. The content displayed on the display unit 405 includes various text or image data (including map data and various information data), a menu screen including data such as an icon, a list menu, and a combo box.

The voice output unit 406 outputs voice information included in the route guidance information generated by the control unit 407 (or a voice message for the route guidance information). Here, the audio output unit 406 may be an amplifier or a speaker.

The control unit 407 generates route guidance information based on the matched map information and outputs the generated route guidance information to the display unit 405 and the voice output unit 406. At this time, the display unit 405 displays the route guidance information.

And real-time traffic information from the terminal (vehicle navigation device) installed in the control unit 407, the information providing center and / or the neighboring vehicle, and generates the route guidance information.

The control unit 407 is connected to the call center through the communication unit 408 to perform a telephone conversation or transmit / receive information between the navigation device 400 and the call center. Here, the communication unit 408 may further include a hands-free module having a Bluetooth function using a short-range wireless communication method.

When the POI search menu is selected by the user, the controller 407 searches POIs located on the route from the current position to the destination, and displays the POI on the display unit 405. At this time, the control unit 407 determines whether the POI located on the route (POI located on the left or right side of the traveling road, for example, where the route is not to be changed (re-searching)) and / Searches for a POI (a point at which a path should be changed, for example, a point where a predetermined path is to be changed to pass through a surrounding POI), and displays the retrieved POI on the display unit 405.

Hereinafter, a vehicle control apparatus and method capable of automatically controlling a turn signal lamp of a vehicle based on an operation pattern of a driver (user) boarded on the vehicle will be described.

5 is an exemplary view illustrating a terminal to which a control apparatus according to an embodiment of the present invention is applied.

As shown in FIG. 5, the terminal may be a telematics terminal (or a head unit) 200 mounted on a vehicle. The camera 227 included in the telematics terminal 200 may be installed at an upper end of a rear mirror of the vehicle and a microphone (MIC) 228 included in the telematics terminal 200 may be connected to the rear mirror As shown in FIG. The camera 227 and the microphone 228 may be installed on the dashboard of the vehicle as well as the rear mirror, or may be installed on the telematics terminal 200.

The navigation device 400 may be used instead of the telematics terminal 200 or the mobile communication terminal 100 may be used. (Rear Seat Entertainment System), a mobile phone, a smart phone, a notebook computer, a digital broadcasting terminal, a PDA (personal digital assistant), a PMP (personal digital assistant) Portable Multimedia Player), Tablet PC (Tablet Personal Computer) or the like may be used. Hereinafter, a speech recognition apparatus applied to the telematics terminal 200 will be described as an example.

6 is a flowchart illustrating a method of controlling a vehicle according to an embodiment of the present invention.

First, the control unit 212 detects a driving lane in real time through a forward camera (not shown) of the vehicle. For example, the control unit 212 recognizes (detects) a driving lane through a lane recognition program from an image (an image including a driving lane) photographed in real time by a front camera (not shown) of the vehicle.

The control unit 212 detects the left offset value and the right offset value of the detected driving lane in real time (S11). For example, as shown in FIG. 5, the control unit 212 determines whether the vehicle is adjacent to the left or right of the driving lane on the basis of the center line of the detected driving lane. Here, if the vehicle is adjacent to the left side of the driving lane, the left offset value becomes smaller than the right offset value, and if the vehicle is adjacent to the right side of the driving lane, the left offset value becomes larger than the right offset value. The controller 212 determines that the user desires to change from the current driving lane to the right lane if the right offset value gradually becomes smaller than the left offset value, The right turn indicator lamp of the display unit 10 may be turned on. On the other hand, if the left offset value gradually becomes smaller than the right offset value, the control unit 212 determines that the user (driver) desires to change from the current driving lane to the left lane, The left turn indicator lamp of the vehicle may be turned on.

The control unit 212 determines whether the left offset value and the right offset value of the detected driving lane are different from each other (S12). For example, the control unit 212 detects in real time whether the left offset value is gradually smaller than the right offset value or whether the right offset value is gradually smaller than the left offset value.

The control unit 212 receives a user image received in real time via the camera 227 and tracks (detects) the user's eyes from the user image in real time through a general eye tracking technique S13). For example, based on the tracked line of sight, the controller 212 determines whether the driver's line of sight is directed toward the side mirror or the room mirror to change the current driving lane. That is, the driver looks at the left side mirror when changing from the current driving lane to the left lane, and looks at the right side mirror when changing from the current driving lane to the right lane. Accordingly, the controller 212 may determine that the driver desires to change from the current driving lane to the left lane when the tracked line of sight is directed to the left side mirror. On the other hand, the controller 212 may determine that the driver wants to change from the current driving lane to the right lane if the tracked line of sight is directed to the right side mirror.

The control unit 212 determines whether the traced user's gaze is the same as or similar to the preset driver's operation pattern (S14). For example, the control unit 212 determines whether the traced user's gaze is directed toward the right side mirror or the traced user's gaze is directed toward the left side mirror. The predetermined driver operation pattern (or a predetermined turn signal lamp control pattern) may be information including a driver's sight line for turning on the left or right turn signal lamp of the vehicle.

The predetermined turn signal lamp control pattern (or a previously set driver operation pattern) may be a trajectory of the driver's sight line for turning on the left or right turn signal lamp of the vehicle (for example, And a trajectory of the driver's mean line of sight up to a time (for example, 5 seconds)).

The control unit 212 controls the turn signal lamp of the vehicle if the traced user's sight line is the same as or similar to the predetermined driver operation pattern (S15). For example, the control unit 212 may be configured such that the traced user's gaze automatically turns on the right turn indicator of the vehicle when the detected user head pose is directed toward the right side mirror, When the light is directed toward the left side mirror, the left turn indicator lamp of the vehicle is automatically turned on. The turn signal lamp is turned off when the handle is positioned in the same position as the general technique.

Therefore, the vehicle control apparatus and method according to the embodiments of the present invention can automatically control the turn signal lamp of the vehicle based on the left or right offset value of the current driving lane of the vehicle and the driver's sight line.

Hereinafter, a control apparatus and method of a vehicle according to another embodiment of the present invention capable of automatically controlling a turn signal lamp of a vehicle based on an operation pattern of a driver (user) aboard the vehicle will be described.

7 is a flowchart illustrating a control method of a vehicle according to another embodiment of the present invention.

First, the control unit 212 detects a driving lane in real time through a forward camera (not shown) of the vehicle. For example, the control unit 212 recognizes (detects) a driving lane through a lane recognition program from an image (an image including a driving lane) photographed in real time by a front camera (not shown) of the vehicle.

The control unit 212 detects a left offset value and a right offset value of the detected driving lane in real time (S21). For example, as shown in FIG. 5, the control unit 212 determines whether the vehicle is adjacent to the left or right of the driving lane on the basis of the center line of the detected driving lane. Here, if the vehicle is adjacent to the left side of the driving lane, the left offset value becomes smaller than the right offset value, and if the vehicle is adjacent to the right side of the driving lane, the left offset value becomes larger than the right offset value. The controller 212 determines that the user desires to change from the current driving lane to the right lane if the right offset value gradually becomes smaller than the left offset value, The right turn indicator lamp of the display unit 10 may be turned on. On the other hand, if the left offset value gradually becomes smaller than the right offset value, the control unit 212 determines that the user (driver) desires to change from the current driving lane to the left lane, The left turn indicator lamp of the vehicle may be turned on.

The control unit 212 determines whether the left offset value and the right offset value of the detected driving lane are different from each other (S22). For example, the control unit 212 detects in real time whether the left offset value is gradually smaller than the right offset value or whether the right offset value is gradually smaller than the left offset value.

The control unit 212 receives a user image received in real time via the camera 227 and tracks (detects) the user's eyes from the user image in real time through a general eye tracking technique S23). For example, based on the tracked line of sight, the controller 212 determines whether the driver's line of sight is directed toward the side mirror or the room mirror to change the current driving lane. That is, the driver looks at the left side mirror when changing from the current driving lane to the left lane, and looks at the right side mirror when changing from the current driving lane to the right lane. Accordingly, the controller 212 may determine that the driver desires to change from the current driving lane to the left lane when the tracked line of sight is directed to the left side mirror. On the other hand, the controller 212 may determine that the driver wants to change from the current driving lane to the right lane if the tracked line of sight is directed to the right side mirror.

The control unit 212 receives a user image received in real time via the camera 227 and detects a head pose of the user from the user image in real time (S24). For example, the control unit 212 determines, based on the detected head pose, whether the driver turns the driver's head toward the side mirror or the room mirror to change the current driving lane. That is, when changing from the current driving lane to the left lane, the driver turns his / her head to the left side mirror to look at the left side mirror. When the driver changes from the current driving lane to the right lane, And is turned toward the side mirror. Accordingly, the controller 212 may determine that the driver desires to change from the current driving lane to the left lane when the detected head pose faces the left side mirror. On the other hand, the controller 212 may determine that the driver desires to change from the current driving lane to the right lane when the detected head pose faces the right side mirror.

The control unit 212 determines whether the traced user's gaze and the detected user head pose are the same as or similar to the preset driver's driving pattern (S25). For example, the control unit 212 determines whether the tracked user's gaze and the detected user head pose are directed toward the right side mirror, or if the tracked user's gaze and the detected user head pose are directed toward the left side mirror Or the like. The predetermined driver operation pattern (or a predetermined turn signal lamp control pattern) may be information including a driver's gaze and a head pose for turning on the left or right turn signal lamp of the vehicle.

The predetermined turn signal lamp control pattern (or a preset driver operation pattern) is a pattern of the driver's gaze and the locus of the head pose for turning on the left or right turn signal lamp of the vehicle (for example, The trajectory of the driver's mean line of sight and the trajectory of the average head pose up to a preset time (for example, 5 seconds) from the turned on point.

When the tracked user's gaze and the detected user head pose are the same as or similar to the predetermined driver's operation pattern, the controller 212 controls the directional gauges and the like of the vehicle (S26). For example, the controller 212 may automatically turn on the right turn indicator of the vehicle when the tracked user's gaze and the detected user head pose are directed to the right side mirror, When the detected user head pose is directed toward the left side mirror, the left turn indicator lamp of the vehicle is automatically turned on. The turn signal lamp is turned off when the handle is positioned in the same position as the general technique.

Therefore, the vehicle control apparatus and method according to the embodiments of the present invention can automatically and accurately control the turn signal lamp of the vehicle based on the left or right offset value of the current driving lane of the vehicle, the driver's gaze and the head pose of the driver can do.

As described in detail above, the vehicle control apparatus and method according to the embodiments of the present invention can automatically control the turn signal lamp of the vehicle based on the left or right offset value of the current driving lane of the vehicle and the driver's sight line have.

The vehicle control apparatus and method according to embodiments of the present invention can automatically and accurately control the turn signal lamp of the vehicle based on the left or right offset value of the current driving lane of the vehicle and the driver's gaze and the head pose of the driver have.

It will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the spirit and scope of the invention as defined by the appended claims. Therefore, the embodiments disclosed in the present invention are intended to illustrate rather than limit the scope of the present invention, and the scope of the technical idea of the present invention is not limited by these embodiments. The scope of protection of the present invention should be construed according to the following claims, and all technical ideas within the scope of equivalents should be construed as falling within the scope of the present invention.

212: control unit 227: camera

Claims (15)

A first camera for photographing a current driving lane of the vehicle;
A second camera for photographing a driver image in the vehicle;
And a controller for detecting the left offset value and the right offset value of the photographed current driving lane, detecting the driver's gaze from the photographed driver image, and detecting the driver's gaze based on the left offset value and the right offset value, And a control unit for controlling the turn signal lamp. The apparatus of claim 1,
Wherein the left offset value of the photographed current driving lane becomes smaller than the right offset value and the left turn indicator of the vehicle is automatically turned on when the sight line of the driver faces the left side mirror of the vehicle Vehicle control device. The apparatus of claim 1,
Wherein the right offset value of the photographed current driving lane becomes smaller than the left offset value and the right turn indicator of the vehicle is automatically turned on when the driver's line of sight is pointed toward the right side mirror of the vehicle Vehicle control device. The apparatus of claim 1,
A head pose of the driver is detected from a driver image photographed through the second camera, and a direction indicator of the vehicle is detected based on the left offset value, the right offset value, the driver's gaze, The vehicle control apparatus comprising: 5. The apparatus of claim 4,
When the left offset value of the photographed current driving lane becomes smaller than the right offset value and the head pose of the driver and the head pose of the driver face the left side mirror of the vehicle, the left turn indicator of the vehicle is automatically turned- On,
When the right side offset value of the photographed current driving lane becomes smaller than the left offset value and the head gaze of the driver and the head pose of the driver face the right side mirror of the vehicle, The vehicle control apparatus comprising: 5. The apparatus of claim 4,
The left offset value of the photographed current driving lane becomes smaller than the right offset value so that the driver's gaze and the head pose of the driver are set to a preset locus of the driver's line for turning on the left turn indicator of the vehicle And if the head pose is the same as or similar to a preset locus, the left turn indicator lamp of the vehicle is automatically turned on,
The right offset value of the photographed current driving lane becomes smaller than the left offset value so that the driver's gaze and the head pose of the driver are set to a predetermined locus of the driver's line for turning on the right turn indicator of the vehicle And automatically turns on the right turn signal lamp of the vehicle if it is the same as or similar to the predetermined locus of the head pose. The apparatus of claim 1,
The left offset value of the photographed current driving lane becomes smaller than the right offset value and it is determined that the driver desires to change from the current driving lane to the left lane when the driver's gaze is directed toward the left side mirror of the vehicle And the vehicle control device. 8. The apparatus of claim 7,
The right offset value of the photographed current driving lane becomes smaller than the left offset value and it is determined that the driver desires to change from the current driving lane to the right lane when the driver's gaze is directed toward the right side mirror of the vehicle And the vehicle control device. Photographing a current driving lane of the vehicle;
Capturing an operator image in the vehicle;
Detecting a left offset value and a right offset value of the photographed current driving lane;
Detecting a driver's gaze from the photographed driver image;
And controlling the turn signal lamp of the vehicle based on the left offset value and the right offset value and the sight line of the driver. 10. The method according to claim 9, wherein the step of controlling the turn-
Turning on the left turn indicator of the vehicle when the left offset value of the photographed current driving lane becomes gradually smaller than the right offset value and the driver's line of sight is toward the left side mirror of the vehicle Wherein the vehicle control method comprises the steps of: 10. The method according to claim 9, wherein the step of controlling the turn-
And turning on the right turn indicator of the vehicle when the right side offset value of the photographed current driving lane becomes smaller than the left offset value and the driver's line of sight is pointing toward the right side mirror of the vehicle Wherein the vehicle control method comprises the steps of: 10. The method of claim 9,
Detecting a head pose of the driver from the photographed driver image, and controlling the turn signal of the vehicle based on the left offset value and the right offset value, the driver's gaze, and the head pose of the driver The vehicle control method comprising the steps of: 13. The method according to claim 12, wherein the step of controlling the turn-
When the left offset value of the photographed current driving lane becomes smaller than the right offset value and the head pose of the driver and the head pose of the driver face the left side mirror of the vehicle, the left turn indicator of the vehicle is automatically turned- Turning on;
When the right side offset value of the photographed current driving lane becomes smaller than the left offset value and the head gaze of the driver and the head pose of the driver face the right side mirror of the vehicle, And turning on the vehicle. 13. The method according to claim 12, wherein the step of controlling the turn-
The left offset value of the photographed current driving lane becomes smaller than the right offset value so that the driver's gaze and the head pose of the driver are set to a preset locus of the driver's line for turning on the left turn indicator of the vehicle And automatically turning on the left turn signal lamp of the vehicle if it is the same as or similar to a predetermined locus of the head pose,
The right offset value of the photographed current driving lane becomes smaller than the left offset value so that the driver's gaze and the head pose of the driver are set to a predetermined locus of the driver's line for turning on the right turn indicator of the vehicle And automatically turning on the right turn signal lamp of the vehicle if the head pose is the same as or similar to the predetermined trajectory of the head pose. 10. The method of claim 9,
The left offset value of the photographed current driving lane becomes smaller than the right offset value and it is determined that the driver desires to change from the current driving lane to the left lane when the driver's gaze is directed toward the left side mirror of the vehicle ;
The right offset value of the photographed current driving lane becomes smaller than the left offset value and it is determined that the driver desires to change from the current driving lane to the right lane when the driver's gaze is directed toward the right side mirror of the vehicle Further comprising the step of:

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