KR20170070459A - Vehicle and method for controlling vehicle - Google Patents

Vehicle and method for controlling vehicle Download PDF

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Publication number
KR20170070459A
KR20170070459A KR1020150177991A KR20150177991A KR20170070459A KR 20170070459 A KR20170070459 A KR 20170070459A KR 1020150177991 A KR1020150177991 A KR 1020150177991A KR 20150177991 A KR20150177991 A KR 20150177991A KR 20170070459 A KR20170070459 A KR 20170070459A
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KR
South Korea
Prior art keywords
door
vehicle
opening angle
opened
image
Prior art date
Application number
KR1020150177991A
Other languages
Korean (ko)
Inventor
김성운
Original Assignee
현대자동차주식회사
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Publication date
Application filed by 현대자동차주식회사 filed Critical 현대자동차주식회사
Priority to KR1020150177991A priority Critical patent/KR20170070459A/en
Publication of KR20170070459A publication Critical patent/KR20170070459A/en

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
    • B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60J—WINDOWS, WINDSCREENS, NON-FIXED ROOFS, DOORS, OR SIMILAR DEVICES FOR VEHICLES; REMOVABLE EXTERNAL PROTECTIVE COVERINGS SPECIALLY ADAPTED FOR VEHICLES
    • B60J5/00—Doors
    • B60J5/04—Doors arranged at the vehicle sides
    • B60J5/047—Doors arranged at the vehicle sides characterised by the opening or closing movement
    • 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
    • B60Q5/00—Arrangement or adaptation of acoustic signal devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R21/00—Arrangements or fittings on vehicles for protecting or preventing injuries to occupants or pedestrians in case of accidents or other traffic risks
    • B60R21/01—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents
    • B60R21/013—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents including means for detecting collisions, impending collisions or roll-over
    • B60R21/0134—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents including means for detecting collisions, impending collisions or roll-over responsive to imminent contact with an obstacle, e.g. using radar systems
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/08—Interaction between the driver and the control system
    • B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/08—Interaction between the driver and the control system
    • B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
    • B60W2050/143—Alarm means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/08—Interaction between the driver and the control system
    • B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
    • B60W2050/146—Display means

Abstract

The disclosed embodiment provides a vehicle and a control method thereof that can prevent a door from colliding with a nearby vehicle when a door of the vehicle is opened using an image acquired from a camera of the vehicle. According to one embodiment, a vehicle includes an image sensor for acquiring an image around a vehicle; A processor for calculating an opening angle of the door so that a door of the vehicle does not collide with an object around the vehicle when the door of the vehicle is opened using the image acquired by the image sensor; And a user interface unit for outputting a warning signal when the door is opened by a predetermined ratio or more of the opening angle.

Description

[0001] VEHICLE AND METHOD FOR CONTROLLING VEHICLE [0002]

The present invention relates to a vehicle.

In recent years, cameras have been installed to assist safe driving. The camera acquires the image of the surroundings of the vehicle and provides it to the driver so that the driver can more accurately recognize the situation around the vehicle.

In recent years, not only cameras for capturing forward and backward images but also cameras capable of capturing images on the left and right sides of the vehicle are mounted on the vehicle.

With the installation of such a camera, the driver can visually confirm the situation around the vehicle inside the vehicle.

The disclosed embodiment provides a vehicle and a control method thereof that can prevent a door from colliding with a nearby vehicle when a door of the vehicle is opened using an image acquired from a camera of the vehicle.

According to one embodiment, a vehicle includes an image sensor for acquiring an image around a vehicle; A processor for calculating an opening angle of the door so that a door of the vehicle does not collide with an object around the vehicle when the door of the vehicle is opened using the image acquired by the image sensor; And a user interface unit for outputting a warning signal when the door is opened by a predetermined ratio or more of the opening angle.

Also, the processor can recognize an object existing on the side of the vehicle using the image acquired by the image sensor, and calculate the distance between the vehicle and the recognized object.

Further, the processor can calculate the opening angle of the door from the calculated distance.

In addition, the processor may stop the opening of the door if the opening angle of the door is greater than a predetermined ratio that is greater than a ratio at which the warning signal is output.

The door may further include a door braking unit for applying a braking force to the door.

Also, the user interface unit may output distance information between the door and the object.

In addition, the user interface unit may include a display unit for displaying an image of the surroundings of the vehicle, which is acquired by the image sensor, And a speaker for voice guidance of the opened state of the door.

Also, the display unit may display a warning message when the door is opened by a predetermined ratio or more of the opening angle, and the speaker may output a warning sound when the door is opened by a predetermined ratio or more of the opening angle.

A method of controlling a vehicle according to an exemplary embodiment of the present invention includes: acquiring an image of a periphery of a vehicle from an image sensor; Calculating an opening angle of the door so that the door does not collide with an object around the vehicle when the door of the vehicle is opened using the image acquired by the image sensor; And outputting a warning signal when the door is opened by a predetermined ratio or more of the opening angle.

The calculation of the opening angle of the door may include calculating a distance between the vehicle and an object existing on the side of the vehicle using the image acquired by the image sensor; And calculating an opening angle of the door from the calculated distance.

The calculating of the opening angle of the door may further include recognizing an object existing on the side of the vehicle using the image acquired by the image sensor.

And stopping the opening of the door when the door is opened by a predetermined ratio greater than a ratio at which the alarm signal is output.

The method may further include displaying distance information on an object existing on a side of the vehicle among the objects around the vehicle displayed in the image acquired by the image sensor.

The method may further include synthesizing and displaying an image of the surroundings of the vehicle, which is acquired by the image sensor, centering on the vehicle.

The method may further include voice guidance of the open state of the door.

Further, the outputting of the warning signal may include displaying a warning message when the door is opened at a predetermined ratio or more of the opening angle on the display unit; And outputting a warning sound when the door is opened from the speaker by a predetermined ratio or more of the opening angle.

The vehicle according to the disclosed embodiment can prevent the door from colliding with the object close to the door when the door is opened.

1 is a view schematically showing an external configuration of a vehicle according to an embodiment.
2 is a view showing an internal configuration of a vehicle according to an embodiment.
3 is a control block diagram of a vehicle according to an embodiment.
FIG. 4 is a diagram illustrating synthesis of an image obtained by an image sensor of a vehicle according to an embodiment of the present invention into a vehicle-centered image.
Fig. 5 is a diagram showing another vehicle around the vehicle in the image of Fig. 4. Fig.
Fig. 6 is a view showing the distance between the door and the other vehicle in the direction in which the door of the vehicle is opened according to the embodiment.
Fig. 7 is a diagram showing a parameter for calculating the opening angle of the vehicle using the distance from the other vehicle in Fig. 6; Fig.
8 is a flowchart showing a control method of a vehicle according to an embodiment.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings.

FIG. 1 is an external view of a vehicle according to an embodiment of the present invention, and FIG. 2 is a diagram illustrating a configuration inside a vehicle according to an embodiment of the present invention.

1, a vehicle according to an embodiment of the present invention includes a main body 1 forming an outer appearance of a vehicle, wheels 51 and 52 for moving the vehicle, driving devices for rotating the wheels 51 and 52 A door 71 for shielding the inside of the vehicle from the outside, a windshield 30 for providing a driver's front view to the inside of the vehicle, and side mirrors 81 and 82 for providing a rear view of the vehicle to the driver .

The wheels 51 and 52 include a front wheel 51 provided at the front of the vehicle and a rear wheel 52 provided at the rear of the vehicle.

The driving device 80 provides a rotational force to the front wheel 51 or the rear wheel 52 so that the main body 1 moves forward or backward. The driving device 60 may include an engine for generating a rotational force by burning fossil fuel or a motor for generating a rotational force by receiving power from a capacitor (not shown).

The door 71 is rotatably provided on the left and right sides of the main body 1 so that the driver can ride on the inside of the vehicle at the time of opening and shields the inside of the vehicle from the outside when the door is closed.

A front glass 30 called windshield glass is provided on the front upper side of the main body 100. The driver inside the vehicle can see the front of the vehicle through the windshield 30. [

The side mirrors 81 and 82 include a left side mirror 81 provided on the left side of the main body 1 and a right side mirror 82 provided on the right side. The driver inside the vehicle can visually confirm the situation on the side and rear of the vehicle through the side mirrors 81 and 82. [

In addition, the vehicle may include various sensors for detecting obstacles around the vehicle and helping the driver to recognize the situation around the vehicle. For example, the vehicle may include a plurality of cameras capable of acquiring front, rear, left, and right images of the vehicle.

The vehicle may include a dashboard provided therein with a gear box 120, a center fascia 130, a steering wheel 140 and a dashboard 150 as shown in Fig.

The gear box 120 may be provided with a gear lever 121 for shifting the vehicle. Also, as shown in the figure, the gear box includes a dial control unit 111, which is provided to allow the user to control the functions of the multimedia device including the navigation device 10 and the audio device 133, And an input device 110 including various buttons.

The air conditioner 132, the audio device 133, and the navigation device 10 may be installed in the center fascia 130.

The air conditioner controls the temperature, humidity, air cleanliness and air flow inside the vehicle to keep the interior of the vehicle comfortable. The air conditioner may include at least one discharge port 132 installed in the center pacea 130 and discharging air. The center fascia 130 may be provided with a button or a dial for controlling the air conditioner or the like. A user such as a driver can control the air conditioner of the vehicle by using a button or dial arranged on the center pace. Of course, the air conditioner may be controlled through the buttons of the input device 110 installed in the gear box 120 or the dial control unit 111.

According to the embodiment, the navigation device 10 may be installed in the center fascia 130. The navigation device 10 may be embedded in the center pacea 130 of the vehicle. According to one embodiment, an input unit for controlling the navigation device 10 may be provided in the center fascia. Depending on the embodiment, the input of the navigation device 10 may be located at a different location than the center fascia. For example, the input unit of the navigation device 10 may be formed around the display unit 300 of the navigation device 10. [ As another example, the input unit of the navigation device 10 may be installed in the gear box 120 or the like.

The steering wheel 140 is a device for adjusting the running direction of the vehicle and includes a rim 141 held by a driver and a spoke (not shown) connected to the steering device of the vehicle and connecting the rim 141 to a hub of a rotary shaft for steering 142). According to the embodiment, the spokes 142 may be provided with operating devices 142a and 142b for controlling various devices in the vehicle, for example, an audio device. The steering wheel 140 may perform a function of calling the driver's attention so that the driver can perform safe driving. For example, the steering wheel 140 may warn the driver of drowsy operation by tactile vibration when the driver is in a drowsy operation of the driver, You may.

Also, various dashboards 150 may be installed on the dashboard to indicate the running speed of the vehicle, the number of revolutions of the engine, or the remaining amount of the fuel. The dashboard 150 may include a dashboard display unit 151 that displays a vehicle status, information related to vehicle driving, information related to the operation of the multimedia device, and the like.

The display unit 300 of the vehicle, for example, the display unit 300 of the navigation system, may display an image of the outside of the vehicle obtained by an image sensor provided outside the vehicle and acquiring an image outside the vehicle. The driver can see the image of the outside of the vehicle displayed on the display unit 300 and can recognize the surroundings of the vehicle which is difficult to confirm in the driver's seat. On the other hand, when the driver or the passenger opens the door of the vehicle to get off the vehicle, the door may collide with other vehicles or objects around the vehicle. The disclosed embodiment provides a vehicle that can prevent a collision with a nearby vehicle or the like when the vehicle door is opened using the image of the surroundings of the vehicle acquired by the image sensor. This will be described in detail below.

FIG. 3 is a control block diagram of a vehicle according to an embodiment. FIG. 4 is a view illustrating an image obtained by an image sensor of a vehicle according to an embodiment, And also shows other vehicles around the vehicle in the image. Fig. 6 is a view showing the distance between the vehicle and another vehicle in the direction in which the door of the vehicle is opened according to the embodiment. Fig. 7 is a graph showing a parameter for calculating the opening angle of the vehicle Fig.

Referring to FIG. 3, the vehicle according to the disclosed embodiment includes an image sensor 220 for acquiring an image of the surroundings of the vehicle, a processor 220 for calculating an opening angle for preventing the door from colliding with the surrounding vehicle A user interface unit 230 for displaying an image acquired by the image sensor 220 and outputting a signal warning a risk of collision between the door and the surrounding vehicle, a door docking unit for applying a braking force to the door, 350).

The user interface unit may include a display unit 300 for displaying an image and a speaker 310 for outputting sound. The display unit 300 may be located in the center fascia 130, which is a central area of the dashboard. The display unit 300 may include a light emitting diode (LED), an organic light emitting diode (OLED) or a liquid crystal display (LCD) Can be adopted. Also, the display unit 300 may employ a touch screen panel (TSP) that receives a control command from a user and displays operation information corresponding to the received control command. The touch screen panel includes a display for displaying operation information and control commands that can be input by a user, a touch panel for detecting coordinates of a part of the user's body contacted, And a touch screen controller for determining the input control command. The touch screen controller can recognize the control command inputted by the user by comparing the touch coordinates of the user detected through the touch panel with the coordinates of the control command displayed through the display. The speaker 310 may be provided integrally with the display unit, or a plurality of the speaker 310 may be provided at various positions of the vehicle separate from the display unit.

The image sensor 220 includes a front camera 221 for acquiring an image of the front of the vehicle, a left camera 225 and a right camera 227 for acquiring left and right side images of the vehicle, a rear camera 223 ). That is, the image sensor 220 may be an AVM (Around View Monitoring) image sensor. If the images of the front, rear, left and right rooms of the vehicle can be acquired, there is no restriction on the installation position or the number of the cameras. The camera may comprise a CCD or CMOS sensor.

The processor 400 performs image processing on the image acquired by the camera to process the image. The processed image can be displayed on the display unit 300. The processor 400 may be integrated into at least one System On Chip (SOC) embedded in the vehicle.

The images obtained from the cameras may be directly displayed on the display unit 300 without the image processing of the processor 400. [ This is because it is necessary for the driver to check the images acquired from the unique time of each camera.

For example, when performing rear parking, it is necessary to check an image taken at a specific time of the rear camera. In this case, the image processing of the processor 400 may not be performed.

However, if the images (FI, RI, LI, BI) obtained from front, rear, left and right cameras should be synthesized and displayed based on the vehicle as shown in FIG. 4, the peripheral images must be matched based on the vehicle. In this case, the processor 400 may perform predetermined image processing on the image of the surroundings of the vehicle obtained by the image sensor 220.

That is, as shown in the upper diagram of FIG. 4, images obtained by each camera may have distortion due to a lens or the like. When the images are matched without removing such distortion, it is difficult for the driver to accurately recognize the surroundings . Therefore, the processor can generate a matched image SI whose distortion is removed as shown in the lower figure of FIG. 4 by using information on the distance to the vehicle, which is matched for each pixel and stored in advance. The driver can recognize the situation around the vehicle as if looking down on the vehicle from the distorted matching image.

The processor can recognize the objects as an obstacle O through image processing when an object such as a vehicle exists in such a matched image. Especially in the disclosed embodiment, as shown in Fig. 5, an object existing around the door of the vehicle is recognized as an obstacle.

When the obstacle is recognized, the processor calculates the distance K between the recognized obstacle and the child vehicle as shown in FIG. 6, in particular, the distance between the door and the obstacle in the closed state of the child vehicle. The processor can calculate the distance between the subject vehicle and the obstacle by using the distance information with respect to the pre-stored vehicle, which is matched for each pixel stored in advance. When the distance between the obstacle and the vehicle is calculated, the processor displays the distance through the display unit or outputs the distance through the speaker by voice so that the driver can estimate the distance between the vehicle and the obstacle.

When the distance between the vehicle and the obstacle is calculated, the processor calculates the maximum opening angle of the door that can be opened without colliding with the obstacle by using Equations (1) and (2) below.

&Quot; (1) "

K = L? Sin?

&Quot; (2) "

? = sin -1 (K / L)

In Equations (1) and (2), K is the distance between the obstacle and the vehicle door portion in a closed state of the door, L is the length of the door, and is the maximum opening angle of the door. Since K can be expressed by Equation (1), the maximum opening angle? Can be expressed by Equation (2).

When the maximum opening angle at which the door can be opened without colliding with the obstacle is calculated, the processor outputs a warning signal through the user interface unit when the door is opened at a predetermined ratio (b) or more of the calculated maximum opening angle, Inform the driver or passenger of the risk of door collision. For example, the processor can display a message through which the door may collide with the obstacle through the user display unit when the door is opened by 70% or more of the calculated maximum opening angle. Alternatively, the processor controls the speaker to output a beep sound when the door is opened. As the door opening angle increases, the risk of collision can be notified by narrowing the output interval of the beep sound or changing the frequency. When the door is opened by a predetermined ratio or more, a warning message previously stored in addition to the signal tone may be output as a voice.

The driver can recognize the possibility of collision of the door through the warning output from the user interface unit, and thus can stop the opening of the door or carefully open the door.

When the door is opened beyond a predetermined ratio (c, c > b) of the maximum opening angle, despite the output of the warning signal through the user interface unit, the processor acts in the opposite direction to the force acting in the direction in which the door is opened The door braking unit 350 is driven so that the braking force can be applied to the door. For example, when the door is opened by 90% or more of the maximum opening angle, the processor drives the door brake so as to stop the opening of the door. The processor activates the door braking portion to stop the door opening, thereby preventing the door from colliding with the obstacle.

The door braking section may include a motor to apply a braking force to the door, or prevent the door from being opened, including the linear actuator. The linear actuator includes a second structure that is adapted to engage a first serrated structure that can be provided on a rotary axis of the door and moves the second structure toward the first structure so that the first structure and the second structure are engaged The opening of the door can be stopped. The motor and the linear actuator are merely examples, and a structure or device capable of applying the braking force to the opening of the door may be included in the door braking section.

When the door decelerating portion is driven to forcibly stop the opening of the door, the processor can notify the driver or the passenger of the door opening through the user interface portion.

8 is a flowchart showing a control method of a vehicle according to an embodiment

As shown in FIG. 8, when the image sensor acquires an image of the surroundings of the vehicle (800), the processor detects an object on the side of the vehicle in the image (810) and calculates a distance between the vehicle and the detected object (820). The processor calculates the maximum opening angle at which the door does not collide with the object using the calculated distance (830).

The processor can recognize the objects as an obstacle (O) through image processing when an object such as a vehicle exists in the image acquired by the image sensor. Especially in the disclosed embodiment, as shown in Fig. 5, an object existing around the door of the vehicle is recognized as an obstacle.

When the obstacle is recognized, the processor calculates the distance K between the recognized obstacle and the child vehicle as shown in FIG. 6, in particular, the distance between the door and the obstacle in the closed state of the child vehicle. The processor can calculate the distance between the subject vehicle and the obstacle by using the distance information with respect to the pre-stored vehicle, which is matched for each pixel stored in advance. When the distance between the obstacle and the vehicle is calculated, the processor displays the distance through the display unit or outputs the distance through the speaker by voice so that the driver can estimate the distance between the vehicle and the obstacle.

When the distance between the vehicle and the obstacle is calculated, the processor calculates the maximum opening angle of the door that can be opened without colliding with the obstacle using Equations (1) and (2).

(840), the processor outputs (850) a warning signal through the user interface unit (850). If the door opening angle is greater than the calculated maximum opening angle If the predetermined ratio (c, c > b) is reached (860), the braking force is applied to the door opening (870).

When the maximum opening angle at which the door can be opened without collision with the obstacle is calculated, the processor outputs a warning signal through the user interface unit when the door is opened beyond a predetermined ratio b of the calculated maximum opening angle, It informs the passenger of the risk of collision of the door. For example, the processor can display a message through which the door may collide with the obstacle through the user display unit when the door is opened by 70% or more of the calculated maximum opening angle. Alternatively, the processor controls the speaker to output a beep sound when the door is opened. As the door opening angle increases, the risk of collision can be notified by narrowing the output interval of the beep sound or changing the frequency. When the door is opened by a predetermined ratio or more, a warning message previously stored in addition to the signal tone may be output as a voice.

The driver can recognize the possibility of collision of the door through the warning output from the user interface unit, and thus can stop the opening of the door or carefully open the door.

When the door is opened beyond a predetermined ratio (c, c > b) of the maximum opening angle, despite the output of the warning signal through the user interface unit, the processor acts in the opposite direction to the force acting in the direction in which the door is opened The door braking unit 350 is driven so that the braking force can be applied to the door. For example, when the door is opened by 90% or more of the maximum opening angle, the processor drives the door brake so as to stop the opening of the door. The processor activates the door braking portion to stop the door opening, thereby preventing the door from colliding with the obstacle. When the door decelerating portion is driven to forcibly stop the opening of the door, the processor can notify the driver or the passenger of the door opening through the user interface portion.

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. For example, it is to be understood that the techniques described may be performed in a different order than the described methods, and / or that components of the described systems, structures, devices, circuits, Lt; / RTI > or equivalents, even if it is replaced or replaced.

Therefore, other implementations, other embodiments, and equivalents to the claims are also within the scope of the following claims.

200: Image sensor
400: processor
230: a user interface section
300:
310: Speaker
350:

Claims (16)

An image sensor for acquiring images of the surroundings of the vehicle;
A processor for calculating an opening angle of the door so that a door of the vehicle does not collide with an object around the vehicle when the door of the vehicle is opened using the image acquired by the image sensor;
And a user interface unit for outputting a warning signal when the door is opened by a predetermined ratio or more of the opening angle. The method according to claim 1,
The processor comprising:
Wherein the vehicle recognizes an object existing on the side of the vehicle using the image acquired by the image sensor and calculates the distance between the vehicle and the recognized object. 3. The method of claim 2,
The processor comprising:
And calculates the opening angle of the door from the calculated distance. The method according to claim 1,
The processor comprising:
And stops the opening of the door when the opening angle of the door is more than a predetermined ratio larger than a ratio at which the warning signal is outputted. The method according to claim 1,
And a door braking section for applying a braking force to the opening of the door The method according to claim 1,
Wherein the user interface unit outputs distance information between the door and the object. The method according to claim 1,
The user interface unit,
A display unit for synthesizing an image of the surroundings of the vehicle, which is acquired by the image sensor, on a vehicle; And
And a speaker for audibly guiding the open state of the door The method according to claim 1,
Wherein the display unit displays a warning message when the door is opened at a predetermined ratio or more of the opening angle,
Wherein the speaker outputs a warning sound when the door is opened at a predetermined ratio or more of the opening angle. Acquiring images of the surroundings of the vehicle from the image sensor;
Calculating an opening angle of the door so that the door does not collide with an object around the vehicle when the door of the vehicle is opened using the image acquired by the image sensor;
And outputting a warning signal when the door is opened by a predetermined ratio or more of the opening angle. 10. The method of claim 9,
The calculating of the opening angle of the door,
Calculating a distance between the vehicle and an object existing on the side of the vehicle using the image acquired by the image sensor;
And calculating an opening angle of the door from the calculated distance. 11. The method of claim 10,
The calculating of the opening angle of the door,
And recognizing an object existing on a side of the vehicle using the image acquired by the image sensor. 10. The method of claim 9,
And stopping the opening of the door when the door is opened by a predetermined ratio larger than a ratio at which the warning signal is output. 10. The method of claim 9,
And displaying distance information on an object existing on a side of a vehicle among objects around the vehicle that are displayed on the image acquired by the image sensor. 10. The method of claim 9,
And synthesizing and displaying an image of the surroundings of the vehicle acquired by the image sensor, centering on the vehicle. 10. The method of claim 9,
And guiding the open state of the door by voice. 10. The method of claim 9,
To output the warning signal,
Displaying a warning message when the door is opened at a predetermined ratio or more of the opening angle on the display unit;
And outputting a warning sound when the door is opened from the speaker by a predetermined ratio or more of the opening angle.
KR1020150177991A 2015-12-14 2015-12-14 Vehicle and method for controlling vehicle KR20170070459A (en)

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KR1020150177991A KR20170070459A (en) 2015-12-14 2015-12-14 Vehicle and method for controlling vehicle

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
KR1020150177991A KR20170070459A (en) 2015-12-14 2015-12-14 Vehicle and method for controlling vehicle

Publications (1)

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KR20170070459A true KR20170070459A (en) 2017-06-22

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Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108528443A (en) * 2018-03-29 2018-09-14 京东方科技集团股份有限公司 Vehicle and its anti-scratch method, system, processor
KR20190027649A (en) * 2017-09-07 2019-03-15 삼성전자주식회사 Electronic device and method for protecting vehicle
CN109552164A (en) * 2018-11-15 2019-04-02 山东华宇工学院 A kind of arrangements for automotive doors safety control system
KR20190042313A (en) * 2017-10-16 2019-04-24 현대자동차주식회사 Apparatus and method for warning contact between vehicle doors and object

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR20190027649A (en) * 2017-09-07 2019-03-15 삼성전자주식회사 Electronic device and method for protecting vehicle
KR20190042313A (en) * 2017-10-16 2019-04-24 현대자동차주식회사 Apparatus and method for warning contact between vehicle doors and object
CN108528443A (en) * 2018-03-29 2018-09-14 京东方科技集团股份有限公司 Vehicle and its anti-scratch method, system, processor
CN108528443B (en) * 2018-03-29 2020-12-08 京东方科技集团股份有限公司 Vehicle, scratch prevention method and system thereof and processor
CN109552164A (en) * 2018-11-15 2019-04-02 山东华宇工学院 A kind of arrangements for automotive doors safety control system

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