KR20150053832A - Driver assistance systems and controlling method for the same - Google Patents

Driver assistance systems and controlling method for the same Download PDF

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Publication number
KR20150053832A
KR20150053832A KR1020130133124A KR20130133124A KR20150053832A KR 20150053832 A KR20150053832 A KR 20150053832A KR 1020130133124 A KR1020130133124 A KR 1020130133124A KR 20130133124 A KR20130133124 A KR 20130133124A KR 20150053832 A KR20150053832 A KR 20150053832A
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KR
South Korea
Prior art keywords
module
road
curvature
vehicle
headlamp
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KR1020130133124A
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Korean (ko)
Inventor
최태림
김현우
배상진
신승환
Original Assignee
현대오트론 주식회사
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Priority to KR1020130133124A priority Critical patent/KR20150053832A/en
Publication of KR20150053832A publication Critical patent/KR20150053832A/en

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
    • B60Q1/00—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor
    • B60Q1/02—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to illuminate the way ahead or to illuminate other areas of way or environments
    • B60Q1/04—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to illuminate the way ahead or to illuminate other areas of way or environments the devices being headlights
    • B60Q1/06—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to illuminate the way ahead or to illuminate other areas of way or environments the devices being headlights adjustable, e.g. remotely-controlled from inside vehicle
    • B60Q1/08—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to illuminate the way ahead or to illuminate other areas of way or environments the devices being headlights adjustable, e.g. remotely-controlled from inside vehicle automatically
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
    • B60Q1/00—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor
    • B60Q1/02—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to illuminate the way ahead or to illuminate other areas of way or environments
    • B60Q1/04—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to illuminate the way ahead or to illuminate other areas of way or environments the devices being headlights
    • B60Q1/06—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to illuminate the way ahead or to illuminate other areas of way or environments the devices being headlights adjustable, e.g. remotely-controlled from inside vehicle
    • B60Q1/08—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to illuminate the way ahead or to illuminate other areas of way or environments the devices being headlights adjustable, e.g. remotely-controlled from inside vehicle automatically
    • B60Q1/12—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to illuminate the way ahead or to illuminate other areas of way or environments the devices being headlights adjustable, e.g. remotely-controlled from inside vehicle automatically due to steering position
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
    • B60Q11/00—Arrangement of monitoring devices for devices provided for in groups B60Q1/00 - B60Q9/00

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Lighting Device Outwards From Vehicle And Optical Signal (AREA)

Abstract

The present invention can be applied to a vision module for acquiring image information of a road, a steering angle sensing module for acquiring a steering angle corresponding to a curvature of the road, and a navigation module for acquiring a curvature of the road from the extracted curvature when the quality of the image information is good, A controller for calculating an irradiation angle of the headlamp, a controller for calculating an irradiation angle of the headlamp from the steering angle when the quality of the image information is not good and the curvature of the road is not extractable, To a headlamp controller using vision.

Description

Technical Field [0001] The present invention relates to a head lamp control apparatus and a control method thereof,

BACKGROUND OF THE INVENTION 1. Field of the Invention [0001] The present invention relates to a headlamp control apparatus using a vision and a control method thereof, and more particularly, to a headlamp control apparatus and a control method thereof using a vision for changing a direction of a headlamp according to a curvature of a road.

The driver assistance system is designed to detect the danger and detect the risk of accident through visual, auditory and tactile factors, as well as speed deceleration for avoiding front collision or vehicle safety Device. In addition, the driving assistance system can perform lane departure warning, blind spot monitoring, and improved rearward surveillance.

The driving assist system is divided into various types according to its functions. The Forward Collision Warning System (FCW) is a system that provides visual, auditory, and tactile warning to drivers for the purpose of avoiding collision with the forward vehicle by detecting the vehicle in the same direction ahead of the driving lane to be.

The Advanced Emergency Braking System (AEBS) detects the possibility of collision with an automobile located in front of the driving lane and warns the driver. If the driver does not respond or it is determined that a collision is inevitable, It is a system for automatically decelerating the vehicle for the purpose of making it possible.

The Adaptive Cruise Control (ACC) automatically detects the vehicle in the same direction in front of the driving lane according to the driver's setting conditions and automatically accelerates or decelerates according to the speed of the vehicle and maintains the safety distance And automatically runs at the target speed.

In addition, the driving assistance system includes a lane departure warning system (LDWS), a lane keeping assist system (LKAS), blind spot detection (BSD), and a rear collision warning system Rear-end Collision Warning System, RCW).

When the head lamp is fixed and illuminates only the front surface of the vehicle, there is a problem that it is difficult to secure the visibility of the driver because the direction of the head lamp is not switched on the curved road. Further, in the case of the headlamp control using only the steering angle sensor, the headlamp is changed in direction after the driver has already turned the handle after the vehicle has already entered the curved road, making it difficult to secure the driver's view.

SUMMARY OF THE INVENTION It is an object of the present invention to provide a headlamp control apparatus using a vision which is advantageous for ensuring the visibility of a driver by switching the direction of the headlamp immediately before entering a curved road.

The problems of the present invention are not limited to the above-mentioned problems, and other problems not mentioned can be clearly understood by those skilled in the art from the following description.

According to an aspect of the present invention, there is provided an apparatus for controlling a headlamp using a vision system including a vision module for acquiring image information of a road, a steering angle sensing module for acquiring a steering angle corresponding to a curvature of the road, Calculating an irradiation angle of a headlamp from the extracted curvature when the curvature of the road can be extracted because the quality of the information is good and the curvature of the road is not extractable because the quality of the image information is not good, A controller for calculating an irradiation angle of the head lamp, and a head lamp direction switching module for changing the direction of the head lamp by the irradiation angle.

The details of other embodiments are included in the detailed description and drawings.

According to the head lamp control apparatus and the control method thereof using the vision of the present invention, one or more of the following effects can be obtained.

First, when the image obtained from the vision module is good, when the headlamp is controlled by using the vision sensor, there is an advantage that the direction of the headlamp is changed before entering the curved road.

Second, the driver can prepare for entry into the curved road in advance before entering the curved road, which is advantageous for securing the driver's view on the curved road at night.

Third, there is an advantage that it can be safely operated on curved roads at nighttime.

The effects of the present invention are not limited to the effects mentioned above, and other effects not mentioned can be clearly understood by those skilled in the art from the description of the claims.

1 is a block diagram of a driving assistance system according to an embodiment of the present invention.
2 is a diagram illustrating the operation of a vision module and a radar module of a driving assistance system according to an embodiment of the present invention.
3 is a block diagram of a head lamp control apparatus using a vision according to an embodiment of the present invention.
4 is a flowchart according to an embodiment of the present invention.

BRIEF DESCRIPTION OF THE DRAWINGS The advantages and features of the present invention and the manner of achieving them will become apparent with reference to the embodiments described in detail below with reference to the accompanying drawings. The present invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the invention to those skilled in the art. To fully disclose the scope of the invention to those skilled in the art, and the invention is only defined by the scope of the claims. Like reference numerals refer to like elements throughout the specification.

The suffix "module" and "part" for constituent elements used in the following description are given or mixed in consideration of ease of specification, and do not have their own meaning or role.

Hereinafter, the present invention will be described with reference to the drawings for explaining a head lamp control apparatus using a vision and a control method thereof according to embodiments of the present invention.

FIG. 1 is a block diagram of a driving assistance system according to an embodiment of the present invention, and FIG. 2 is a diagram illustrating an operation of a vision module and a radar module of a driving assist system according to an embodiment of the present invention.

The driving assistance system according to an embodiment of the present invention includes an acceleration input module 10, a brake input module 20, a vision module 210, a radar module 40, a velocity sensing module 50, 60, a position sensing module 70, a controller 200, a memory 150, a warning module 110, and a power / braking module 120.

The acceleration input module 10 is a user's operation device for increasing the speed of the vehicle. The acceleration input module 10 increases the power of the power / braking module 120 to increase the speed of the vehicle. Generally, the acceleration input module 10 increases the speed of the vehicle by increasing the rotation of the vehicle engine. The acceleration input module 10 is generally provided as an accelerator pedal in the form of a pedal below the driver's seat of the vehicle.

Acceleration input module 10 may be inputted with an acceleration degree in accordance with a user's operation. If the acceleration input module 10 is an accelerator pedal, the degree of acceleration may be input according to the pedal pressure.

When the user operates the acceleration input module 10, the acceleration input module 10 outputs an acceleration signal including the degree of acceleration to the controller 200. The controller 200 controls the power / braking module 120 according to the input acceleration signal to accelerate the vehicle. According to the embodiment, the acceleration input module 10 can directly control the power / braking module 120 to accelerate the vehicle.

The braking input module 20 is a user's operating device for reducing the speed of the vehicle or for stopping the vehicle. The braking input module 20 reduces the power of the power / braking module 120 or generates a braking force to decelerate or stop the vehicle. Generally, the braking input module 20 operates a brake that applies a frictional force to a disk of a wheel of a vehicle to reduce the speed of the vehicle. Depending on the embodiment, the braking input module 20 may directly reduce the rotation of the vehicle engine or operate a reduction device such as a retarder. The braking input module 20 is generally provided as a brake pedal in the form of a pedal below the driver's seat of the vehicle.

The braking input module 20 can be inputted with the degree of deceleration according to the operation of the user. If the braking input module 20 is a brake pedal, the degree of deceleration may be inputted according to the pedal pressure.

When the user operates the braking input module 20, the braking input module 20 outputs the braking signal including the deceleration degree to the controller 200. [ The controller 200 controls the power / braking module 120 according to the input braking signal to decelerate or stop the vehicle. The braking input module 20 may directly control the power / braking module 120 to decelerate or stop the vehicle.

The speed sensing module 50 senses the current speed of the vehicle. The speed sensing module 50 senses the rotation speed of the wheels of the vehicle or senses the rotation speed of the output shaft of the transmission connected to the engine of the vehicle to calculate the current speed of the vehicle. The speed sensing module 50 may include a speed sensor for sensing a rotation speed and a processor for calculating a current speed value of the vehicle.

The speed sensing module 50 outputs the sensed speed value of the vehicle to the controller 200.

The posture sensing module 60 senses the posture variation of the vehicle. The posture sensing module 60 senses a variation of at least one of a pitch axis, a yaw axis, and a roll axis, and senses a yaw rate in the present embodiment. That is, in the present embodiment, the attitude sensing module 60 senses the yaw rate of the vehicle and senses the degree of rotation of the vehicle. The attitude detection module 60 may include a gyro sensor or an acceleration sensor for detecting the attitude change, a processor for calculating the variation value, and the like.

The attitude detection module (60) outputs the detected attitude variation value of the vehicle to the controller (200).

The position sensing module 70 senses the position of the vehicle. The position sensing module 70 is generally a receiver of a global positioning system (GPS), and receives distance and information from a satellite to calculate the position of the vehicle. According to the embodiment, the position sensing module 70 can replace the speed sensing module 50 by calculating the speed of the vehicle.

The vision module 210 is a device that recognizes an object outside the vehicle by photographing an image outside the vehicle and identifies the type of the object. The vision module 210 is generally disposed at the front end of the vehicle to capture an image of the front of the vehicle.

As shown in FIG. 2 (a), the vision module 210 can distinguish the road R and recognize various objects O on the road R to recognize and distinguish the objects. The vision module 210 can recognize whether the object O is a vehicle, a person, or a simple object by recognizing the shape of the object O. In the case of a vehicle, the vision module 210 can discriminate whether it is a passenger car, a truck or a two-

The vision module 210 can recognize the lane L on the road R and distinguish whether the lane L is a general lane, a center line, a curb line, or a divided lane. In addition, the vision module 210 can recognize and distinguish a curb or a walk on the road.

The vision module 210 can recognize the lane N between the lane L and the lane L through the recognized lane L. [ The vision module 210 can recognize the lane N in which the subject vehicle H equipped with the vision module 210 is running. In addition, the vision module 210 may recognize which lane N the recognized object O is located on, or whether the recognized object O lies on the lane L.

The recognition and identification of the object O can be performed in the vision module 210 itself or in the controller 200 through the image captured by the vision module 210. [

The vision module 210 has a constant field of view. As shown in FIG. 2 (a), the vision module 210 photographs the objects O in the clock F. FIG. According to the embodiment, the vision module 210 can change the shooting direction up and down and / or left and right. That is, the vision module 210 can change the center of the clock F up and down and / or right and left.

The vision module 210 may include a camera that captures an image, a processor that processes the captured image, and a memory that stores data. According to an embodiment, the vision module 210 may include a driving device capable of changing the shooting direction of the camera.

The vision module 210 may output the photographed image data to the controller 200 or output information of the recognized object O to the controller 200. [

The radar module 40 is a device that emits an electromagnetic wave to a specific object O and then receives an electromagnetic wave reflected from the object O to sense the distance, position, direction, speed, etc. with the object O. The radar module 40 is generally disposed at the front end of the vehicle to calculate the distance to a specific object O in front of the vehicle, and the like. According to an embodiment, the radar module 40 may be a lidar that fires a laser at the object O.

The radar module 40 detects the distance, position, direction, speed, and the like to the target vehicle T, which is a specified one among various objects O as shown in FIG. 2 (b). The target vehicle T is generally selected from the data detected by the radar module 40 and the vision module 210 as the object O to be tracked by the controller 200 and is generally provided to the radar module 40 and the vision module 210, Is an object O recognized as a vehicle at a distance closest to the front of the subject vehicle H on the lane N in which the subject vehicle H is installed.

The radar module 40 may include a radar that emits electromagnetic waves, a processor that processes information about the electromagnetic waves received by the radar, and a memory that stores data.

The radar module 40 outputs information such as distance, position, direction, velocity, etc. to the object O to the controller 200.

The warning module 110 is a device for giving a warning to a driver who drives the vehicle, and can warn the driver visually, audibly, and tactually according to the embodiment. The warning module 110 may display a warning on the dash panel of the driver's seat, a head-up display, a navigation system, an integrated information display device, and the like. The warning module 110 can make a warning through the speaker of the vehicle. The warning module 110 can warn the driver by vibrating the steering wheel of the vehicle or tightening the seat belt.

The warning module 110 may operate according to the control of the controller 200 to warn the driver.

The power / braking module 120 is a device that accelerates, decelerates, or stops the vehicle. The power / braking module 120 may include an engine and / or a motor that generates a rotational force to rotate the wheels of the vehicle, and a transmission that changes the rotation ratio of the engine and / or the motor. The power / brake module 120 may include brakes and / or retarders that generate braking forces or reduce rotation of the engine and / or motor.

The power / braking module 120 may operate under the control of the controller 200 or may be operated by the acceleration input module 10 or the braking input module 20.

The controller 200 includes an acceleration input module 10, a braking input module 20, a vision module 210, a radar module 40, a velocity sensing module 50, a position sensing module 60 and a position sensing module 70 And controls the warning module 110 and the power / braking module 120 according to the processed result. The controller 200 may include a CAN (Controller Area Network) for data communication with each module. On the other hand, the scope of the present invention is not limited to the communication using the CAN (Controller Area Network), and the communication method used in the automobile network is included in the scope of the present invention.

Memory 150 stores programs, instructions, and data. The controller 200 stores data in the memory 150 or calls programs, commands, or data stored in the memory 150. [

3 is a block diagram of a head lamp control apparatus using a vision according to an embodiment of the present invention.

Referring to FIG. 3, the head lamp control apparatus using a vision may include a controller 200, a vision module 210, a steering angle sensing module 220, and a headlamp direction switching module 230.

The vision module 210 is mounted on a vehicle and acquires image information of a road on which the vehicle is traveling. The vision module 210 may be disposed at the front end of the vehicle to acquire image information of the front of the vehicle. The vision module 210 can distinguish the road R and distinguish whether the road R is a straight road or a curved road. The vision module 210 may include a camera that includes a night view function. A camera with a night vision function may include an infrared camera.

The vision module 210 transmits the acquired image information to the controller 200.

The steering angle sensing module 220 obtains the steering angle corresponding to the curvature of the road. That is, when the vehicle runs on a curved road, the driver rotates the handle to the left or right in response to the curved road. The turning angle of the steering wheel is called the steering angle. The steering angle sensing module 220 is a device for sensing the steering angle. The steering angle sensing module 220 may be coupled to the steering wheel. The steering angle sensing module 220 transmits the obtained steering angle to the controller 200.

The controller 200 receives image information from the vision module 210. In addition, the controller 200 receives the steering angle from the steering angle sensing module 220.

The controller 200 judges whether or not the curvature of the road being driven can be extracted from the acquired image information. The curvature of road is extracted by image processing method. Here, the image processing method may be a method by Hough Transformation. In extracting the curvature of the road, it is possible to extract based on both lanes of the lane during the current driving. If the lane is unclear, it can be extracted based on the center lane. In the embodiment, the controller 200 extracts the curvature of the road under driving from the image information. However, the present invention is not limited to this. That is, the curvature of the road under driving from the image information can be performed by the processor included in the vision module 210.

If the curvature of the road can be extracted from the image information, the rotation angle of the head lamp is calculated from the extracted road curvature. At this time, the rotational irradiation angle may have the same value in both head lamps. For example, the rotational irradiation angle of the headlamp may be a value calculated by multiplying the road curvature by the first coefficient. In this case, the counterclockwise direction can be defined as a positive value, and the clockwise direction can be defined as a negative value. That is, the rotational irradiation angle of the headlamp can form a predetermined proportional relationship with the road curvature. Here, the first coefficient is a value determined by the experimental value and can be determined by the automobile manufacturer. The first coefficient is not limited to a specific value.

On the other hand, the curvature of the road can not be extracted from the image information. In this case, the quality of the image information acquired by the vision module 210 may be such that the curvature of the road can not be extracted. It is also possible that both lanes or the center lane of a lane that is the reference for extracting the curvature of the road is unclear. If the curvature of the road can not be extracted from the image information, the controller 200 calculates the rotational irradiation angle of the head lamp from the steering angle received from the steering angle sensing module 220. At this time, the rotational irradiation angle may have the same value in both head lamps. For example, the rotational irradiation angle of the headlamp may be a value calculated by multiplying the steering angle by the second coefficient. In this case, the left turn direction of the vehicle can be defined as a positive value, and the right turn direction can be defined as a negative value. That is, the rotational irradiation angle of the headlamp can form a predetermined proportional relationship with the steering angle. At this time, the second coefficient is a value determined by the experimental value and can be determined by the automobile manufacturer. The second coefficient is not limited to a specific value.

The controller 200 controls the head lamp direction switching module on the basis of the calculated irradiation angle of the head lamp. For example, when the irradiation angle of 20 degrees is calculated to the left of the running direction of the vehicle, the controller 200 controls the headlamp direction switching module so that the headlamp can be rotated by 20 degrees to the left in the running direction of the vehicle do.

The headlamp direction switching module 230 switches the direction of the headlamp (not shown) under the control of the controller 200. [ The headlamp redirection module 230 may include an actuator coupled to the headlamp. For example, when the controller 200 receives a control command to turn 20 degrees to the left of the driving direction of the vehicle, the headlamp direction switching module 230 operates to rotate the headlamp 20 degrees to the left.

4 is a flowchart according to an embodiment of the present invention.

Referring to FIG. 4, the controller 200 receives the image information of the road obtained by the vision module 210 (S310). Here, the image information may be image information of the road on which the automobile is traveling.

Meanwhile, the vision module 210 may be disposed at the front end of the vehicle to acquire image information of the front of the vehicle. The vision module 210 can distinguish the road R and distinguish whether the road R is a straight road or a curved road. The vision module 210 may include a camera that includes a night view function. A camera with a night vision function may include an infrared camera.

The controller 200 receives the steering angle corresponding to the curvature of the road that the automobile obtained by the steering angle sensing module is running (S320).

The steering angle sensing module 220 obtains the steering angle corresponding to the curvature of the road. That is, when the vehicle runs on a curved road, the driver rotates the handle to the left or right in response to the curved road. The turning angle of the steering wheel is called the steering angle. The steering angle sensing module 220 is a device for sensing the steering angle. The steering angle sensing module 220 may be coupled to the steering wheel.

Meanwhile, in the embodiment, the steering angle receiving step S320 may be performed after the image information receiving step S310, but the step S320 may be performed before the step S310.

The controller 200 determines whether the curvature of the road can be extracted from the image information (S330). The curvature of road is extracted by image processing method. Here, the image processing method may be a method by Hough Transformation. In extracting the curvature of the road, it is possible to extract based on both lanes of the lane during the current driving. If the lane is unclear, it can be extracted based on the center lane.

On the other hand, the curvature of the road can not be extracted from the image information. In this case, the quality of the image information acquired by the vision module 210 may be such that the curvature of the road can not be extracted. It is also possible that both lanes or the center lane of a lane that is the reference for extracting the curvature of the road is unclear.

If it is possible to extract the curvature of the road from the image information, the rotation angle of the headlamp is calculated from the extracted road curvature (S340). At this time, the rotational irradiation angle may have the same value in both head lamps. For example, the rotational irradiation angle of the headlamp may be a value calculated by multiplying the road curvature by the first coefficient. That is, the rotational irradiation angle of the headlamp can form a predetermined proportional relationship with the road curvature. In this case, the counterclockwise direction can be defined as a positive value, and the clockwise direction can be defined as a negative value. At this time, the first coefficient is a value determined by the experimental value and can be determined by the automobile manufacturer. The first coefficient is not limited to a specific value.

If the curvature of the road can not be extracted from the image information, the controller 200 calculates the rotation angle of the head lamp from the steering angle received from the steering angle sensing module 220 (S350). At this time, the rotational irradiation angle may have the same value in both head lamps. For example, the rotational irradiation angle of the headlamp may be a value calculated by multiplying the steering angle by the second coefficient. That is, the rotational irradiation angle of the headlamp can form a predetermined proportional relationship with the steering angle. In this case, the left turn direction of the vehicle can be defined as a positive value, and the right turn direction can be defined as a negative value. At this time, the second coefficient is a value determined by the experimental value and can be determined by the automobile manufacturer. The second coefficient is not limited to a specific value.

When the calculation of the irradiation angle is completed, the controller 200 controls the head lamp direction switching module based on the calculated irradiation angle of the calculated head lamp, and switches the direction of the head lamp by the calculated irradiation angle (S360). For example, when the irradiation angle of 20 degrees is calculated to the left of the running direction of the vehicle, the controller 200 controls the headlamp direction switching module so that the headlamp can be rotated by 20 degrees to the left in the running direction of the vehicle do.

Here, the headlamp direction switching module 230 switches the direction of the headlamp (not shown) under the control of the controller 200. The headlamp redirection module 230 may include an actuator coupled to the headlamp. For example, when the controller 200 receives a control command to turn 20 degrees to the left of the driving direction of the vehicle, the headlamp direction switching module 230 operates to rotate the headlamp 20 degrees to the left.

At this point, it will be appreciated that the combinations of blocks and flowchart illustrations in the process flow diagrams may be performed by computer program instructions. These computer program instructions may be loaded into a processor of a general purpose computer, special purpose computer, or other programmable data processing apparatus, so that those instructions, which are executed through a processor of a computer or other programmable data processing apparatus, Thereby creating means for performing functions. These computer program instructions may also be stored in a computer usable or computer readable memory capable of directing a computer or other programmable data processing apparatus to implement the functionality in a particular manner so that the computer usable or computer readable memory The instructions stored in the block diagram (s) are also capable of producing manufacturing items containing instruction means for performing the functions described in the flowchart block (s). Computer program instructions may also be stored on a computer or other programmable data processing equipment so that a series of operating steps may be performed on a computer or other programmable data processing equipment to create a computer- It is also possible for the instructions to perform the processing equipment to provide steps for executing the functions described in the flowchart block (s).

In addition, each block may represent a module, segment, or portion of code that includes one or more executable instructions for executing the specified logical function (s). It should also be noted that in some alternative implementations, the functions mentioned in the blocks may occur out of order. For example, two blocks shown in succession may actually be executed substantially concurrently, or the blocks may sometimes be performed in reverse order according to the corresponding function.

The term " module " used in this embodiment means a hardware component such as software or an FPGA or an ASIC, and the module performs certain roles. However, a module is not limited to software or hardware. A module may be configured to reside on an addressable storage medium and configured to play back one or more processors. Thus, by way of example, a module may include components such as software components, object-oriented software components, class components and task components, and processes, functions, attributes, procedures, Microcode, circuitry, data, databases, data structures, tables, arrays, and variables, as will be appreciated by those skilled in the art. The functionality provided within the components and modules may be combined into a smaller number of components and modules or further separated into additional components and modules. In addition, the components and modules may be implemented to play back one or more CPUs in a device or a secure multimedia card.

While the present invention has been particularly shown and described with reference to exemplary embodiments thereof, it is to be understood that the invention is not limited to the disclosed exemplary embodiments, but, on the contrary, It should be understood that various modifications may be made by those skilled in the art without departing from the spirit and scope of the present invention.

200: controller
210: Vision module
220: Steering angle sensing module
230: headlamp direction switching module

Claims (7)

A vision module for acquiring image information of the road;
A steering angle sensing module for obtaining a steering angle corresponding to a curvature of the road;
Calculating an irradiation angle of a headlamp from the extracted curvature when the quality of the image information is good and extracting a curvature of the road; if the quality of the image information is not good and the curvature of the road is not extractable, A controller for calculating an irradiation angle of the headlamp from the steering angle; And
And a headlamp direction switching module for changing the direction of the headlamp by the irradiation angle. The method according to claim 1,
The controller comprising:
And calculates the irradiation angle based on a proportional relationship between the curvature of the road and the irradiation angle when the quality of the image information is good. The method according to claim 1,
The controller comprising:
And calculates the irradiation angle based on the proportional relationship between the steering angle and the irradiation angle when the quality of the image information is not good. Receiving image information of the road acquired by the vision module;
Receiving a steering angle corresponding to a curvature of the road obtained by the steering angle sensing module;
Calculating the irradiation angle of the headlamp from the curvature of the road when the quality of the image information is good and the curvature of the road can be extracted; And
And changing a direction of the head lamp by the irradiation angle. Acquiring image information of a road by a vision module;
Obtaining a steering angle corresponding to a curvature of the road by a steering angle sensing module;
Calculating an irradiation angle of the headlamp from the steering angle when the quality of the image information is not good and the curvature of the road can not be extracted; And
And changing a direction of the head lamp by the irradiation angle. 5. The method of claim 4,
Wherein the irradiation angle is calculated based on a curvature of the road and a proportional relation of the irradiation angle. 6. The method of claim 5,
Wherein the irradiation angle is calculated based on a proportional relationship between the steering angle and the irradiation angle.
KR1020130133124A 2013-11-04 2013-11-04 Driver assistance systems and controlling method for the same KR20150053832A (en)

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