KR20170108720A - Apparatus for monitoring obstacle of vehicle and the control method thereof - Google Patents

Abstract

The present invention relates to an apparatus for monitoring an obstacle of a vehicle and a control method thereof. The apparatus comprises: an obstacle sensor for detecting information related to an obstacle during driving of a vehicle; a control portion for calculating a relative speed and a distance between the vehicle and the obstacle according to a preset method based on information inputted from the obstacle sensor, calculating a degree of collision risk based on the calculated relative speed and distance, and generating notification information based on the relative speed, distance, and the degree of risk; and a communication portion for outputting the notification information generated in the control portion to an interface apparatus connected in a wire and wireless method.

Description

BACKGROUND OF THE INVENTION 1. Field of the Invention [0001] The present invention relates to an obstacle monitoring apparatus,

The present invention relates to an obstacle monitoring apparatus and a control method thereof, and more particularly, to an obstacle monitoring apparatus and a control method thereof for monitoring a side, a rear and a dead zone region of a vehicle under running, And an object of the present invention is to provide an obstacle monitoring apparatus and a control method therefor.

Recently, vehicles equipped with driver assistance devices for the safety of the vehicle and the convenience of the driver are increasing. The driver assistance device automatically warns the driver of an accident risk or avoids an accident for the sake of stability of the vehicle, thereby preventing or avoiding an accident.

The driver assistance device is also capable of controlling the speed and steering of the vehicle automatically or semi-automatically under certain circumstances.

Also, the driver assistance device may be provided with detection sensors on the front, rear, and side of the vehicle to detect the position and speed of the surrounding vehicle, the lane, the position of the obstacle, and provide the detection information.

However, as described above, various driver assistance devices are installed in the vehicle to support safe driving of the driver, so that the driver's gaze may be dispersed to check various alert information output from the driver assistance device. For example, since the alert information is displayed on the instrument panel, the side mirrors, the room mirrors, the alarm LEDs, and the like, the front view of the driver is neglected, which may cause an accident.

BACKGROUND ART [0002] The background art of the present invention is disclosed in Korean Registered Patent No. 10-1312420 (Registered Target Radar Detection Apparatus and Method).

According to an aspect of the present invention, there is provided an information processing apparatus, which is created to solve the above-described problems, is provided with information on an obstacle approaching within a specified distance by monitoring a side, a rear and a dead zone region of a running vehicle, And an object of the present invention is to provide a vehicle obstacle monitoring apparatus and a control method thereof that enable intuitive display through a device.

According to an aspect of the present invention, there is provided an obstacle monitoring device for a vehicle, comprising: an obstacle detection sensor for sensing information relating to an obstacle while the vehicle is running; Calculating a relative speed and a distance between the vehicle and the obstacle according to a predetermined method based on the information received from the obstacle detection sensor, calculating a collision risk based on the calculated relative speed and the distance, A control unit for generating notification information based on the risk; And a communication unit for outputting the notification information generated by the control unit to an interface device connected by wired or wireless connection.

In the present invention, the obstacle detecting sensor detects the direction of the obstacle, the distance to the obstacle, and the speed of the obstacle.

In the present invention, the obstacle detection sensor may include at least one of a radar sensor, a camera sensor, a laser sensor, an ultrasonic sensor, and an infrared sensor.

In the present invention, the control unit generates alert information according to a first reference rule, and the first reference rule is a reference rule for generating alert information when an event related to generation of alert information is not generated in the driver .

In the present invention, the control unit generates or changes the notification information according to the second reference rule, and the second reference rule is a reference rule for generating or changing the notification information when the event information generated in the vehicle is included .

In the present invention, the notification information is generated by combining the image, text, sound, and vibration information, including relative information between the vehicle information, the obstacle information, the vehicle and the obstacle, The detailed information includes at least one of a car icon, an obstacle icon, an absolute speed information, a distance information, a vehicle type information, a relative speed information, and a risk information for each detailed information included in the detailed information Is included.

In the present invention, the communication unit may be detachably detachable and transmits the notification information to an external interface device by connecting to a vehicle diagnostic module (OBD: On-Board Diagnostic Terminal) of the vehicle do.

In the present invention, the control unit may synthesize the notification information with previously calculated or detected lane information, and the lane information may be detected in advance through a sensor or an ECU (Electronic Control Unit) Based on map information received via a GPS or navigation.

In the present invention, in synthesizing the notification information with the lane information, all of the lanes at the present position are displayed, and the lane with the lane of the lane of all the lanes is displayed by composing the lane information, The obstacle information is synthesized and displayed on the lane where the vehicle is located, and the risk information between the vehicle and the obstacle is displayed for each obstacle.

According to another aspect of the present invention, there is provided a method of controlling an obstacle-monitoring apparatus for a vehicle, the method comprising: receiving obstacle detection information from an obstacle-detecting sensor; The control unit calculates a relative speed and a distance between the vehicle and the obstacle according to a predetermined method based on information received from the obstacle detection sensor, calculates a collision risk based on the calculated relative speed and the distance, Generating notification information based on the distance and the risk; And outputting the notification information to the interface device connected through the communication unit through a wire / wireless method.

In the present invention, the step of generating the notification information may further include synthesizing the notification information with the lane information that is calculated or detected in advance, wherein the lane information is information for detecting lane detection And is calculated based on map information previously detected by a sensor or an ECU (Electronic Control Unit) or received via a GPS or navigation.

In the present invention, in synthesizing the notification information with the lane information, the control unit displays all the lanes at the current position, composites and displays the lane information on the lane with the lane of the lane, The obstacle information is synthesized and displayed on the lane where the vehicle is located, and the risk information between the vehicle and the obstacle is displayed for each obstacle.

In the present invention, in outputting the notification information to the interface device, the control unit may determine whether a self-event occurs; When the self-car event occurs, the control unit changes the notification information according to the second reference rule; And restoring or modifying the notification information according to the first reference rule when the self-event is terminated.

The present invention is characterized in that the child car event includes at least one of a driver turning a lane of a vehicle, entering a turn signal switch for cornering, or steering the steering wheel for more than a predetermined angle.

In the present invention, the first reference rule is a reference rule for generating notification information when an event related to generation of the notification information is not generated in the car, and the second reference rule includes, when the event information generated in the car is included And is a reference rule for generating or changing the notification information.

In the present invention, the notification information is generated by combining the image, text, sound, and vibration information, including relative information between the vehicle information, the obstacle information, the vehicle and the obstacle, The detailed information includes at least one of a car icon, an obstacle icon, an absolute speed information, a distance information, a vehicle type information, a relative speed information, and a risk information for each detailed information included in the detailed information Is included.

According to an aspect of the present invention, the present invention monitors intruder, rear, and dead zone areas of a running vehicle and displays information about obstacles approaching within a specified distance intuitively through a designated interface device.

BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a diagram illustrating a schematic configuration of an apparatus for monitoring a vehicle obstacle according to an embodiment of the present invention; FIG.
2 is a flowchart for explaining a method of controlling an obstacle-monitoring apparatus of a vehicle according to an embodiment of the present invention.
3 is an exemplary diagram conceptually illustrating the operation of the obstacle monitoring apparatus of the vehicle according to the present embodiment.
4 is an exemplary view showing a screen for displaying an obstacle according to the risk in the obstacle monitoring device of the vehicle according to the present embodiment.
Fig. 5 is an exemplary diagram showing a screen for displaying an obstacle in more detail in Fig. 4; Fig.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, an embodiment of a vehicle obstacle monitoring apparatus and a control method thereof according to the present invention will be described with reference to the accompanying drawings.

In this process, the thicknesses of the lines and the sizes of the components shown in the drawings may be exaggerated for clarity and convenience of explanation. In addition, the terms described below are defined in consideration of the functions of the present invention, which may vary depending on the intention or custom of the user, the operator. Therefore, definitions of these terms should be made based on the contents throughout this specification.

1 is an exemplary diagram showing a schematic configuration of an obstacle monitoring apparatus for a vehicle according to an embodiment of the present invention.

1, the vehicle obstacle monitoring apparatus according to the present embodiment includes an obstacle detecting sensor 110, a control unit 120, a storage unit 130, a communication unit 140, and an output unit 150 .

1, the interface device 200 is a means for outputting notification information to the driver when an obstacle is detected while driving the vehicle, and is interfaced with the obstacle monitoring device of the vehicle according to the present embodiment in a wired or wireless manner.

For example, the interface device 200 may include a speaker (not shown), a display unit (not shown), a vibration motor (not shown) such as a steering wheel vibration, a lamp , And a Head Up Display (HUD). In addition, the interface device 200 may include at least one of a smart phone (not shown) and a navigation (not shown), which can be connected by wired / wireless communication.

The obstacle detection sensor 110 senses information related to an obstacle while driving the vehicle. For example, the obstacle detection sensor 110 detects a direction in which an obstacle exists, a distance to the obstacle, and a speed of the obstacle.

The obstacle detection sensor 110 may include a radar sensor, and may include at least one of a camera sensor, a laser sensor, an ultrasonic sensor, and an infrared sensor.

Based on the information input from the obstacle detection sensor 110, the control unit 120 calculates a relative speed and a distance between the vehicle and an obstacle (e.g., an opponent vehicle), calculates a risk based on the calculated relative speed and the distance Likelihood), and generates alert information based on the relative speed and distance and the risk.

In this case, the notification information includes a first rule Rule (e.g., a rule for generating notification information when an event related to generation of notification information is not generated in the vehicle, for example, A rule that can be applied when holding the value of a variable).

Therefore, the notification information may include information about the car, information about the obstacle (e.g., relative vehicle) (e.g., car number, vehicle type (car, truck, bus), speed and distance), relative information between the car and the obstacle ).

The notification information may be generated by combining image and text information. In order to effectively transmit the notification information to the driver, the notification information may include detailed information (e.g., a car icon, an obstacle icon, absolute speed information, Size, color, and effect (e.g., special effects such as flicker) may be applied to each of the information items, vehicle type information, relative speed information, etc.).

Also, the control unit 120 may receive information (e.g., information) received through a sensor (not shown), an electronic control unit (ECU) (not shown), a GPS (not shown) or a navigation : Map), and the notification information can be synthesized with the lane information (see Fig. 4).

For example, the control unit 120 may display not only which lane the current position is, but the lane information of the lane on which the lane is present among all the lanes at the present position, and the obstacle information is synthesized (See FIG. 4), the user can intuitively understand the present driving state of the vehicle and the obstacles around the vehicle (for example, when the user consciously grasps the vehicle without seeing an object such as judgment or estimation) .

The storage unit 130 stores rules for generating the alert information, synthesizing the alert information with the lane information, and changing and restoring the alert information (e.g., first and second criteria) .

The first criterion is a criterion rule for generating notification information when an event related to generation of notification information is not generated in the car. For example, the first criterion may be a rule that can be applied when the car maintains its current state without an event such as a lane change, .

The second criterion is a criterion rule for generating (or changing) the notification information when the event information generated in the car is included. For example, the second criterion may be a rule that can be applied when an event such as a lane change or a cornering occurs .

Also, the storage unit 130 stores data related to images, texts, sounds, colors, and effects necessary for generating the notification information.

The communication unit 140 outputs the combined information of the notification information to the lane information to the interface device 200 in a wired / wireless manner.

In this case, the communication unit 140 may be formed as a separate type, and may be connected to an external interface device (e.g., a smart phone, a navigation device, or the like) by connecting to a vehicle diagnostic module (e.g., OBD, An external HUD or the like) to which the notification information is combined to the lane information.

The output unit 150 outputs the combined information of the notification information to the lane information to the interface device 200 in a wired manner.

For example, the output unit 150 may include a speaker (not shown), a display unit (not shown), a vibration motor (not shown) such as a steering wheel vibration, a lamp And a Head Up Display (HUD), and outputs the synthesized information to the lane information.

FIG. 2 is a flowchart for explaining a method of controlling an obstacle monitoring apparatus for a vehicle according to an embodiment of the present invention, FIG. 3 is an exemplary view for conceptually illustrating an operation of an obstacle monitoring apparatus for a vehicle according to the present embodiment FIG. 4 is a diagram illustrating a screen for displaying an obstacle according to the degree of risk in the obstacle monitor of the vehicle according to the present embodiment, FIG. 5 is an exemplary diagram showing a screen for displaying the obstacle in more detail in FIG. to be. Hereinafter, a method of controlling the obstacle-monitoring apparatus of the vehicle according to the present embodiment will be described with reference to FIGS. 2 to 5. FIG.

Referring to FIG. 2, the control unit 120 receives information (e.g., direction, distance, speed, and the like) of an obstacle (e.g., relative vehicle) from the obstacle detection sensor 110 (S101).

The control unit 120 calculates a relative speed between the vehicle and the obstacle based on the received sensing information (S102), and calculates a risk (for example, a collision) based on the relative speed and the distance between the vehicle and the obstacle (S103).

Also, the controller 120 generates alert information according to a predetermined first reference rule based on the relative speed, distance, and risk between the vehicle and the obstacle (S104).

Here, the first reference rule Rule is a reference rule for generating notification information when an event related to generation of notification information is not generated in the vehicle. For example, the first reference rule Rule is applied when the vehicle maintains its current state without an event such as a lane change It is a rule that can be done.

The notification information may be generated by combining the image and the text information. The notification information may be generated by combining the image and the text information, and may be generated by combining detailed information (e.g., a car icon, an obstacle icon, absolute speed information, distance information, vehicle type information, Different sizes, colors, and effects (such as special effects such as blinking) can be applied.

In addition, the control unit 120 allows the user to intuitively understand the current driving state of the vehicle and the obstacles in the vicinity of the vehicle by means of the notification information (i.e., the user immediately grasps the object without consciously judging or estimating the object , The notification information is synthesized with the lane information calculated or detected in advance (S105).

For example, the lane information may be detected in advance through a sensor (not shown) or an ECU (Electronic Control Unit) (not shown) for lane detection mounted on the vehicle, or detected through a GPS (not shown) or a navigation The lane information can be calculated based on the information (e.g., map).

The control unit 120 outputs the combined information of the notification information to the lane information to the interface device 200 (S106).

In a state where the alert information is being output as described above, the controller 120 determines whether a self-event occurs (S107).

For example, the above-mentioned child car event means that the driver inputs a turn signal lamp switch (a blinking switch) for changing lanes or cornering, or the steering wheel is operated over a certain angle.

Therefore, although the notification information is intended only to allow the driver to recognize the surrounding situation before the self-event occurs, the possibility of an accident is not high even if the driver does not recognize the surrounding situation accurately. However, when such a car event occurs, the possibility of an accident is very high when the driver operates the steering wheel (handle) in a state in which the driver is not precisely aware of the surrounding situation.

Accordingly, the control unit 120 may output the notification information including only the display information without outputting the sound information in consideration of the convenience of the user before the self-event occurs. However, after the self-event occurs, It is necessary to output the alarm information including the sound information for the warning and the vibration information (for example, information for vibration of the handle) in addition to the display information.

Accordingly, when the self-event occurs (YES in S107), the controller 120 changes the notification information according to the second criterion (S108).

Here, the second criterion is a reference rule for generating (or changing) the notification information when the event information generated in the car is included. For example, the second criterion is a rule that can be applied when an event such as a lane change or cornering occurs .

The changed notification information is synthesized with the previously calculated or detected lane information (S105) and outputted to the interface device 200 (S106).

When the next car event is terminated (NO in S107), the controller 120 restores the alert information generated according to the first reference (S109), and synthesizes the restored alert information into the previously calculated or detected lane information (S105) and outputs it to the interface device 200 (S106).

However, since the above embodiment is for conceptually explaining an operation according to whether or not a self-event has occurred, when it is applied in accordance with various practical embodiments, consideration must be given to satisfy the condition (for example, infinite loop escape condition) .

Referring to FIG. 3, when an obstacle (e.g., a relative vehicle) is detected through the obstacle detection sensor 110 mounted on the vehicle side or the rear side, (For example, obstacle information and accident risk information at the time of vehicle operation), or notification information (for example, obstacle information and accident at the time of vehicle operation) through a smart phone connected to the outside by wired / wireless communication method (for example, Bluetooth, WiFi, NFC, Risk information) can be displayed.

4, the present embodiment displays all the lanes at the present position, displays the lane information of the lane having the lane of the lane (for example, a car icon) (Eg, a detected vehicle, a relative vehicle) in a lane with an obstacle, and additionally includes risk information (eg, a risk level, distance, relative speed, etc.) between the vehicle and the obstacle Display.

For example, FIG. 4A intuitively shows a situation in which there is no obstacle in the surrounding lane, FIG. 4B shows a situation in which there is an obstacle of the danger level 1 indicated by the color (for example, yellow) (C) of FIG. 4 intuitively recognizes a situation in which there is a danger level 2 obstacle indicated by the color (for example, orange) designated in the left lane, and FIG. 4 (d) Intuitively identify situations where there is a hazardous level 3 obstacle marked in the color assigned to the right lane (eg red).

Here, the above-mentioned risk level 1 is the distance (for example, 80 to 60 m, 60 to 30 m, 30 to 0 m) and relative speed (less than +10 to 20 km / h, less than +5 to 10 km / (For example, 80 to 60 m, 60 to 30 m, 30 to 0 m) and a relative speed (less than + 20 to 30 km / h and less than +10 to 20 km / h) (For example, 80 to 60 m, 60 to 30 m, 30 to 0 m) and relative speeds (+ 30 km / h to + 20 km / h) / h or more, + 10 km / h or more).

In addition, it is possible to output a warning sound and a blinking effect at the risk level 1, a slow warning sound at the risk level 2, and a quick warning sound at the risk level 3.

It should be noted that the criteria for setting the risk level and the criteria for outputting the warning sound are described by way of example, and therefore, the standards may be changed in other embodiments.

FIG. 5 is an exemplary view showing a screen displaying the obstacle (that is, a notification information display screen) in more detail. The relative speed and distance of an obstacle closest to the left lane (for example, an opponent vehicle) (Eg red, orange, yellow) depending on the position of the obstacle (eg Zone1, Zone2, Zone3) based on the distance. In the same way, the relative speed and distance of the obstacle nearest to the right lane are displayed centering on the car. Depending on the distance, the position of the obstacle (Zone4, Zone5, Zone6) Yellow).

As described above, according to the present embodiment, information on an obstacle approaching within a specified distance is displayed intuitively through a designated interface device by monitoring the side, rear, and dead zone regions of a vehicle under running, It is effective.

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 embodiments, but, on the contrary, I will understand the point. Accordingly, the technical scope of the present invention should be defined by the following claims.

110: an obstacle detection sensor 120:
130: storage unit 140: communication unit
150: output unit 200: interface device

Claims (16)

An obstacle detection sensor for sensing information related to an obstacle while the vehicle is running;
Calculating a relative speed and a distance between the vehicle and the obstacle according to a predetermined method based on the information received from the obstacle detection sensor, calculating a collision risk based on the calculated relative speed and the distance, A control unit for generating notification information based on the risk; And
And a communication unit for outputting the alert information generated by the control unit to an interface device connected by wired or wireless means.
The obstacle detection apparatus according to claim 1,
Wherein the obstacle detecting device detects the direction of the obstacle, the distance to the obstacle, and the speed of the obstacle.
The obstacle detection apparatus according to claim 1,
An infrared sensor, a radar sensor, a camera sensor, a laser sensor, an ultrasonic sensor, and an infrared sensor.
The apparatus of claim 1,
Generates notification information according to a first reference rule,
Wherein the first reference rule is a reference rule for generating alert information when an event related to alert information generation in the driver is not generated.
The apparatus of claim 1,
Generates or changes the notification information according to the second reference rule,
Wherein the second reference rule is a reference rule for generating or changing notification information when event information generated in the vehicle is included.
The information processing apparatus according to claim 1,
It includes relative information between the car information, the obstacle information, the car and the obstacle,
Different sizes, colors, and special effects are applied to the detailed information included in the notification information for effective delivery to the driver, which are generated by combining image, text, sound, and vibration information,
Wherein the detailed information includes at least one of a car icon, an obstacle icon, absolute speed information, distance information, vehicle type information, relative speed information, and risk information.
The communication apparatus according to claim 1,
It may be formed in a detachable detachable form,
And the notification information is transmitted to an external interface device by connecting to a vehicle diagnostic module (OBD: On-Board Diagnostic terminal) of the vehicle.
The apparatus of claim 1,
The notification information is synthesized with the lane information calculated or detected in advance,
Wherein the lane information is calculated based on map information previously detected through a sensor or an ECU (Electronic Control Unit) for lane detection mounted on the vehicle or received via a GPS or navigation.
9. The apparatus according to claim 8,
In synthesizing the announcement information with the lane information,
Displays all the lanes at the current position, composes and displays the lane information on the lane with the lane of the lane in all the lanes, combines and displays the obstacle information in the lane where the obstacle is present, Wherein the obstacle monitoring device displays the obstacle in the vehicle.
The control unit receiving the obstacle detection information from the obstacle detection sensor;
The control unit calculates a relative speed and a distance between the vehicle and the obstacle according to a predetermined method based on information received from the obstacle detection sensor, calculates a collision risk based on the calculated relative speed and the distance, Generating notification information based on the distance and the risk; And
And outputting the notification information to an interface device connected via a communication unit in a wired / wireless manner to the control unit.
11. The method of claim 10, wherein after generating the notification information,
The control unit may further include a step of synthesizing the notification information with the lane information calculated or detected in advance,
Characterized in that the lane information is calculated based on map information previously detected through a sensor or an ECU (Electronic Control Unit) for lane detection mounted on the vehicle or received via a GPS or navigation system Control method.
12. The method according to claim 11, wherein, in synthesizing the notification information with the lane information,
Wherein the control unit displays all lanes at the current position, combines and displays the lane information on the lane having the lane of the lane of all the lanes, displays the combination of the obstacle information in the lane with the obstacle, And displays information for each obstacle.
11. The method according to claim 10, wherein, in outputting the notification information to the interface device,
Determining whether a self-event occurs;
When the self-car event occurs, the control unit changes the notification information according to the second reference rule; And
Further comprising restoring or modifying the notification information according to a first reference rule when the self-event is terminated. ≪ Desc / Clms Page number 19 >
14. The method of claim 13,
Wherein the driver includes at least one of a driver of a lane of a vehicle, a turn signal switch for cornering, and a steering wheel being operated at a predetermined angle or more.
14. The method of claim 13,
The first reference rule is a reference rule for generating notification information when an event related to generation of notification information is not generated in the car,
Wherein the second reference rule is a reference rule for generating or changing notification information when event information generated in the vehicle is included.
11. The method according to claim 10,
It includes relative information between the car information, the obstacle information, the car and the obstacle,
Different sizes, colors, and special effects are applied to the detailed information included in the notification information for effective delivery to the driver, which are generated by combining image, text, sound, and vibration information,
Wherein the detailed information includes at least one of a car icon, an obstacle icon, absolute speed information, distance information, vehicle type information, relative speed information, and risk information.

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