KR20180022374A - Lane markings hud for driver and assistant and same method thereof - Google Patents

Abstract

Provided according to an embodiment of the present invention is a lane marking HUD of a driver seat and a passenger seat. The HUD, which displays driving information of a vehicle on a mirror unit with a computer graphic of synthesizing virtual lane information with actual lane information in road environment by using augmented reality technology, includes: a camera unit which includes at least one photographic device to photograph the lane of a road and outputs the lane image to a control unit; a GNSS inertial navigation unit which confirms the location of the vehicle based on GPS signal and measures the location of the vehicle by correcting the position of the vehicle confirmed in the GPS; a memory unit which stores a control program for controlling the overall operation of the HUD and data generated during the execution of the control program; the HUD which displays the lane image inputted from the control unit on a front window; and the control unit which determines the location of the vehicle and the location of the lane by analyzing the photographed image, determines the deviation degree of the vehicle in the lane, and controls the HUD so that the lane image is displayed on the position of the mirror unit corresponding to the deviation degree. The present invention provides an effect capable of preventing an accident caused by the lane deviation of a vehicle in advance since a passenger on a passenger seat can recognize the situation even when a driver does not recognize the situation by displaying the driving state of the vehicle by using the HUD even not only in a driver seat but also in the passenger seat by using augmented reality technology. In addition, the present invention provides an effect of differentiating images seen at the driver seat and the passenger seat according to angles seen by viewers in the driver seat and the passenger seat.

Description

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a loud-

The present invention relates to a head-up display (HUD), and more particularly, to a lane-display HUD in which a lane marking HUD is separately provided for a driver's seat and an assistant seat, will be.

With the development of automobile technology and electronic technology, various vehicle safety systems for the safety of passengers have been developed and applied to automobiles. One of these vehicle safety systems, the Line Definition Warning System, recognizes the currently running lane by detecting the image ahead of the camera attached to the vehicle, and recognizes that the vehicle is lane due to driver's sleepiness and carelessness. If you try to escape, it is a safety device that warns the driver by generating an alarm through seat vibration and alarm sound.

The lane departure warning system is needed in the situation where drivers who are to drive for a long time such as truck driver and long distance commuter are exposed to risk of lane deviation due to fatigue and careless drowsiness caused by long driving.

The lane departure warning system is evolving into a technology that visually provides information to the driver about the extent to which the vehicle deviates from the lane referee according to the driving route using a head up display (HUD).

Augmented Reality (HUD) technology can be used in the HUD of the lane departure warning system. Augmented reality is a technology that shows the real world and the virtual world as a single image using computer graphics. Augmented reality is a computer graphics technique that combines virtual objects or information into a real environment and makes them look like objects that exist in the original environment. It is a technology that shows a virtual object overlaid on the real world that the user sees. If the virtual reality is to replace the real world with a computer, the augmented reality is another type of virtual reality because it combines additional virtual information with reality information and displays it as one image, The reality differs from the fact that all information is based on real world information, unlike virtual reality, which is virtual.

Augmented reality can be applied to various fields by adding and providing additional information to real world information. For example, MRI or CT images can be displayed on the body of a patient, or a complex structure such as an airplane or an automobile , And drawing information at the time of production. In addition, the contents in the book can be utilized in education such as realizing stereoscopic moving images, and can be utilized as a game or navigation that combines reality information. In addition, a smart device including a camera, various sensors, and a video display device As the spread of wearable devices increases, usage is increasing.

Generally, the lane departure warning system is composed of an image device for photographing the road ahead of the vehicle, a sensor for sensing the lateral velocity of the vehicle, a lane and a vehicle position from the photographed image, And displays the information on the travel amount and the positional deviation of the traveling vehicle from the center of the lane of the vehicle by using a Head Up Display (HUD).

Since the conventional lane marking through the HUD is provided mainly by the driver, it may happen that the driver is not aware of the lane due to carelessness. Therefore, it is necessary to provide the lane marking information of the vehicle to the passenger on the passenger seat.

It is an object of the present invention to provide a lane marking HUD by separately providing a lane marking HUD on a driver's seat and an assistant seat so that the rider can recognize the driving state of the vehicle at the same time as the driver.

The lane marking HUD of the driver's seat and the supporting seat according to the embodiment of the present invention is a computer graphics that synthesizes actual lane and virtual lane information in a road environment by using Augmented Reality technology, 1. A HUD for displaying an image, comprising: a camera unit having at least one photographing device for photographing a lane of a road and outputting it to a control unit; A GNSS inertial navigation unit for confirming a position of the vehicle based on a GPS signal and correcting a position of the vehicle identified by the GPS to measure the position of the vehicle; A memory unit for storing a control program for controlling an overall operation of the HUD and data generated during execution of the control program; A HUD for displaying a lane image input from the control unit on a front windshield; And controlling the HUD such that the lane image is displayed at the position of the mirror unit corresponding to the degree of biasing, And a control unit.

Preferably, the control unit includes: a lane detecting unit for analyzing an image input from the camera unit to recognize a lane; Determining the position of the vehicle from the image if there is the recognized lane, determining the position of the vehicle in the GNSS inertial navigation unit based on the GPS signal when there is no recognized lane, ; A lane display position determining unit for determining a display position of a mirror unit to display the lane image by the lane position and the vehicle position; And an image unit for generating a lane image including a lane to be displayed at the determined location and outputting the lane image to the HUD.

Preferably, the image portion uses the augmented reality to provide another image to the at least one projector according to an observer's viewing angle, and outputs another image to the mirror portion.

Preferably, the control unit selects a projector corresponding to a position of a lane of at least one projector, adjusts an irradiation angle of a selected projector so that a lane image is displayed at a position of the mirror unit, And displays it at the corresponding position of the mirror unit.

Preferably, the HUD includes at least one projector, a mirror portion, and a projector controller.

Preferably, the at least one mirror portion has a surface whose reflection angle is different from that of each mirror portion so that only one virtual lane image in which an actual lane and a virtual lane coincide with each other is viewed by an observer according to an angle viewed by at least one observer.

Preferably, the at least one mirror portion is provided in a front window of a vehicle or is provided in a wearable glasses or a helmet of a driver or a passenger, and images are transmitted by wireless communication.

Preferably, the at least one mirror unit analyzes the forward information of the vehicle, such as the horizon position of the road, the intersection situation information, and the position information of the front car, and displays the HUD information at the location where the HUD information is best recognized.

 According to another aspect of the present invention, there is provided a method for displaying a lane between a driver's seat and an assistant seat, the method comprising: controlling a camera unit to photograph an image; When the image of the road is input from the camera unit, the control unit performs an operation of recognizing the lane included in the image through the lane detecting unit; Determining whether there is a lane in the image photographed by the lane recognition operation; Receiving the lane information and the image information recognized from the lane detecting unit when the lane is present, and calculating the position of the lane between the lane through the lane calculating unit; If there is no lane, receiving the signal from the GNSS inertial navigation unit and calculating the position of the vehicle in the lane calculation unit; Determining a positional deviation of the vehicle when the position of the vehicle is calculated; Displaying a left lane and a right lane on the driver's seat and sending an alarm to the driver when the vehicle is busy; And displaying the left lane and the right lane on the assistant seat and sending an alarm to the passenger when the vehicle is busy.

Preferably, the step of displaying the left lane and the right lane on the driver's seat and sending an alarm to the driver when the vehicle is busy may be performed by using the augmented reality technology in the projector of the HUD so that the actual lane and the virtual lane are coincident with the road environment And the induction signal is lit and displayed.

Preferably, the step of displaying the left lane and the right lane on the supporter and sending an alarm to the passenger when the vehicle is busy is performed by using the augmented reality technology in the projector of the HUD so that the actual lane and the virtual lane coincide with each other in the road environment And the induction signal is lit and displayed.

The present invention can display the traveling state of the vehicle by using the HUD in the assisting seat separately from the driver's seat so that the companion who is aboard the assistant seat can recognize such a situation even if the driver does not recognize the accident, And the like.

Further, the present invention provides an effect of making the images displayed on the driver's seat and the assistant seat different depending on the angle of the observer viewing the driver's seat and the assistant seat using the augmented reality.

1 is a schematic view showing an example of lane marking of a lane marking HUD of a driver's seat and an assistant seat in an embodiment of the present invention.
2 is a schematic view for explaining a lane marking display HUD of a driver's seat and an assistant seat according to an embodiment of the present invention.
3 is a schematic view for explaining a lane marking display HUD of a driver's seat and an assistant seat in an embodiment of the present invention.
4 is a block diagram showing the configuration of a lane marking HUD of a driver's seat and an assistant seat according to an embodiment of the present invention.
FIG. 5 is a flowchart illustrating a method of a lane marking HUD of a driver's seat and an assistant seat 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 be apparent from and elucidated with reference to the embodiments described hereinafter in conjunction with the accompanying drawings. The present invention may, however, be embodied in many different forms and should not be construed as being 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. Is provided to fully convey the scope of the invention to those skilled in the art, and the invention is only defined by the scope of the claims. It is to be understood that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. In the present specification, the singular form includes plural forms unless otherwise specified in the specification.

The term " module ", as used herein, should be interpreted to include software, hardware, or a combination thereof, depending on the context in which the term is used. For example, the software may be machine language, firmware, embedded code, and application software. In another example, the hardware can be a circuit, a processor, a computer, an integrated circuit, a circuit core, a sensor, a micro-electro-mechanical system (MEMS), a passive device, or a combination thereof.

Hereinafter, the operation of each component will be described in detail with reference to the drawings showing embodiments.

Referring to FIGS. 1 to 3, when the lane marking HUD 140 of the present invention is used, the front information of the vehicle is generated through the camera unit 130. Here, the front information of the vehicle means information shown in the front view during driving. For example, it includes information about the horizon of the front road, the intersection, and the vehicle ahead.

The position of various objects located in front of the vehicle can be known through the forward information of the vehicle thus obtained. That is, the position of the horizon of the road, the situation information of the intersection, and the position of the front car can be known.

2, the area A is an area for displaying navigation information, and the area B is an area for displaying the lane position deviation information of the vehicle obtained through the camera unit 130. [

If the navigation displayed in the A area or the existing HUD is to replace the image similar to the real world by the computer in the virtual reality, the lane marking HUD 140 using the augmented reality of the embodiment of the present invention, Is a different type of virtual reality because it combines additional virtual information with reality information and displays it as one image. However, augmented reality is based on real world information, unlike virtual reality, in which all information is virtual There is a difference.

The lane image of the vehicle displayed in the B area is obtained by analyzing the photographed image to judge the position of the lane and the position of the vehicle, determine the biased degree of the vehicle in the lane, And controls the HUD 140 to be displayed on the display units 142a and 142b.

The lane image of the vehicle displayed in the area B displays the left lane and the right lane in the driver's seat. When an alarm is sent to the driver when the vehicle is busy, the projector of the HUD displays the actual lane The induction signal is lighted to indicate that the virtual lane is coincident.

The lane image of the vehicle displayed in the area B indicates the left lane and the right lane in the passenger compartment. When an alarm is sent to the passenger when the vehicle is busy, the projector of the HUD uses the augmented reality technology to calculate the actual lane The induction signal is lighted to indicate that the virtual lane is coincident.

In the present invention, the A area and the B area are not fixed, and the driver is able to see the front of the vehicle in front of the driver, For example, the positions of the area A and the area B in which the HUD information is displayed may be changed up and down according to the height of the horizon of the road. The display brightness of the HUD 140 can be changed so that the HUD 140 can be best recognized according to the ambient brightness state.

When the vehicle information is displayed on the front window of the vehicle using the HUD 140, the HUD 140 information may not be correctly recognized due to the above-mentioned horizon position of the road, the situation information of the intersection, do. In this case, it is possible to analyze the forward information of the vehicle and to display the HUD 140 information at a position where the HUD 140 information is best recognized. Since the driver can best recognize the driver's eye position (1) and the driver's view of the front and the HUD (140) information, he can see all the information necessary for driving, Can be lowered.

In the present invention, the lane markings 11a and 11b through the HUD 140 are provided for the driver and the lane markings 12a and 12b are provided for the passenger. Since the display information displayed on the HUD 140 is displayed on the front windshield 10 of the vehicle, the display position of the HUD 140 or the display information displayed on the HUD 140 is changed, The HUD 140 information may be displayed.

Referring to FIG. 4, the lane marking HUD 140 of the driver's seat and assistant's seat of the present invention combines actual lane and virtual lane information in a road environment using Augmented Reality technology, A HUD 140 for displaying driving information of an automobile on the roads 142a and 142b, the camera unit 130 having at least one photographing device and photographing a lane on the road and outputting the taken lane to the control unit 110; A GNSS inertial navigation unit 135 for confirming the position of the vehicle based on the GPS signal and correcting the position of the vehicle identified by the GPS to measure the position of the vehicle; A memory unit 120 for storing a control program for controlling the overall operation of the HUD 140 and data generated during the execution of the control program; A HUD 140 for displaying the lane image inputted from the control unit 110 on the front windshield 10; And determines the position of the lane and the position of the vehicle, determines the degree of bias of the vehicle in the lane, and determines whether the lane image at the position of the mirror portions 142a, 142b corresponding to the degree of bi- And a control unit for controlling the HUD 140 to be displayed.

The control unit 110 analyzes the photographed image to determine the position of the lane and the position of the vehicle, determines the biased degree of the vehicle in the lane, and determines the position of the mirror unit 142 corresponding to the biased degree And controls the HUD 140 so that an image is displayed.

The control unit 110 selects the projectors 141a and 141b corresponding to the positions of the lanes among the two projectors 141a and 141b and selects the projectors 141a and 141b selected to display the lane images at the positions of the mirror units 142a and 142b And 141b to compensate for the distortion of the lane image according to the angle of illumination and display the corresponding position of the mirror units 142a and 142b.

The memory unit 120 stores a control program for controlling the overall operation of the HUD 140 and data generated during the execution of the control program.

The camera unit 130 includes at least one camera on the front, rear, or side of the automobile, captures the lane of the road, and outputs the captured image to the control unit 110.

The HUD 140 displays the lane image input from the control unit 110 on the front windshield and includes at least one projector 141a and 141b, mirror units 142a and 142b, and projector controllers 143a and 143b do.

The mirror portions 142a and 142b of the HUD 140 are formed at the lower end of the front windshield so as to correspond to the entire longitudinal length of the inner lower end of the front windshield of the automobile.

The mirror portions 142a and 142b may be formed on the inside or outside of the front windshield integrally with the reflecting plate form and the front window. If there are a plurality of mirror portions 142a and 142b, each of the mirror portions 142a and 142b may be configured such that only one virtual lane image in which the actual lane and the virtual lane coincide with each other is viewed by the observer, The reflection angle of the negative portion may be different. In addition, the augmented reality may be used to provide different images to the mirror parts 142a and 142b according to the angle that the observer views. In this way, different images can be seen depending on the angle the observer sees in the driver and assistant seat.

The projectors 141a and 141b display the lane images input from the control unit 110 at corresponding positions under the control of the control unit 110. [

When the projector 141a is configured as one, the lane image needs to display an image over the entire mirror portion 142a, so that the portion irradiating the image from the projector 141a is formed to correspond to the mirror portion 142a. The HUD 140 may be configured to include two or more projectors 141a and 141b, one configured to display the left lane and the other one configured to display the right lane.

The projectors 141a and 141b may be configured on the inside of the dashboard corresponding to the center of the driver's seat 210 and the central portion of the assistant seat 220. [ The image projecting directions of the projectors 141a and 141b are set to be within a predetermined angle (for example, 120 degrees) in the case where the projectors 141a and 141b are configured to be small and the lane images are displayed on the long mirror parts 142a and 142b, The projector controller 143a and the projector controller 143b may be provided.

The control unit 110 controls the overall operation of the HUD 140.

The control unit 110 includes a lane detecting unit 111 for analyzing an image input from the camera unit 130 and recognizing a lane, a lane calculating unit 112 for determining a position of the vehicle based on the recognized lane position and image analysis information, A lane calculating unit 113 for determining a position in the mirror units 142a and 142b for displaying the lane by the lane and the position of the vehicle; And an image part 114 for generating a lane image according to the determined lane marking position and outputting the lane image to the projectors 141a and 141b.

The image portion 114 may provide different images to the mirror portions 142a and 142b and output different images from the plurality of projectors 141a and 141b according to the angle of the observer using the augmented reality. In this way, different images can be provided depending on the viewing angle of the observer in the driver and passenger.

When two or more projectors 141a and 141b are configured, the control unit 110 selects the projectors 141a and 141b corresponding to the lane display position and outputs the lane image generated by the selected projectors 141a and 141b do.

The video unit 114 of the control unit 110 generates two lane images and outputs one lane image to the first projector 141a and the other lane image to the second projector 141b.

The video unit 114 generates one lane image for displaying the left lane and outputs it to the first projector 141a.

The video part 114 generates one lane image for displaying the right lane and outputs it to the second projector 141b.

When the HUD 140 includes the projector controllers 143a and 143b, the control unit 110 controls the projector controller 143 according to the position information determined by the lane calculation unit 113 to control the projectors 141a and 141b And then outputs the lane image to the projectors 141a and 141b through the image part 114. [

The controller 110 corrects the lane of the lane image according to the image output direction and then controls the projectors 141a and 141b to adjust the image output directions of the projectors 141a and 141b by operating the projector controllers 143a and 143b. Lt; / RTI >

Referring to FIG. 5, a method of displaying a lane between a driver's seat and an assistant's seat includes the steps of (S310) photographing an image by controlling the camera unit 130 by the control unit 110; When the image of the road is input from the camera unit 130, the control unit 110 performs an operation of recognizing the lane included in the image through the lane detecting unit 111 (S320); A step S330 of the control unit 110 judging whether there is a lane in the image photographed by the lane recognition operation; If the lane is present, receiving the lane information and the image information recognized from the lane detecting unit 111 and calculating the position of the vehicle between the lanes through the lane calculating unit 112 (S340); If there is no lane, receiving a signal from the GNSS inertial navigation unit 135 and calculating the position of the vehicle in the lane calculation unit 112 (S345); A step S350 of the control unit 110 to determine a positional deviation of the vehicle when the position of the vehicle is calculated; Displaying the left lane and the right lane on the driver's seat and sending an alarm to the driver when the vehicle is busy (S360); And a step S370 of displaying the left lane and the right lane in the assistant seat and sending an alarm to the passenger when the vehicle is busy.

In step 310, when power is supplied to the vehicle or power is supplied to the vehicle, the controller 110 controls the camera unit 130 to start shooting an image.

When the image of the road is input from the camera unit 130 in step 320, the control unit 110 recognizes the lane included in the image through the lane detecting unit 111. [

In step 330, the control unit 110 determines whether there is a lane in the image photographed by the lane recognition operation.

If there is a lane in step 340, the lane calculation unit 112 calculates the position of the lane between the lanes based on the lane recognized through the lane detecting unit 111. [

If there is no lane in step 345, the GPS 135 receives the signal and calculates the position of the vehicle in the lane calculation unit 112.

When the position of the vehicle is calculated in step 350, the controller 110 determines the positional deviation of the vehicle.

In step 360, the actual lane and the virtual lane information are combined with the road environment using the augmented reality technology, and the projectors 141a and 141b of the HUD 140 are displayed on the driver's seat using computer graphics so as to appear as lanes existing in the original environment The left lane and the right lane are displayed, and an alarm is given to the driver when the vehicle is busy.

In step 370, the actual lane and virtual lane information are combined with the road environment using the augmented reality technology, and the projectors 141a and 141b of the HUD 140 are displayed on the assisting seat using computer graphics so as to appear as lanes existing in the original environment The left lane and the right lane are displayed, and an alarm is sent to the passenger when the vehicle is busy.

According to an embodiment of the present invention, the augmented reality technique may be used in the lane marking HUD 140 of the driver's seat and the assistant seat in steps 370 and 380. In step 370 and step 380, the HUD 140 using the augmented reality technology can synthesize the actual lane and the virtual lane information in the road environment and display it using a computer graphic so as to look like a lane existing in the original environment. That is, the virtual lane is overlaid on the actual lane seen by the user.

If there are a plurality of mirror portions 142a and 142b, each of the mirror portions 142a and 142b may be configured such that only one virtual lane image in which the actual lane and the virtual lane coincide with each other is viewed by the observer, The reflection angle of the negative portion may be different. The mirror units 142a and 142b may be provided on the front windshield 10 of the vehicle or may be mounted on wearable spectacles or helmets of a driver or a passenger so that images may be transmitted by wireless communication.

If the plurality of projectors 141a and 141b transmit different images, the observers of the driver's seat and the assistant seat can see different images according to the viewing angle. By the structure of the mirror parts 142a and 142b, it is possible to see the road environment for driving in the driver's seat and to watch the TV image, movie watching, mirroring screen of the smart phone, and the like in the assisting seat. In this way, different images can be seen depending on the angle the observer sees in the driver and assistant seat.

Meanwhile, the lane marking HUD method of the driver's seat and assistant's seat of the present invention can be implemented in a computer system or recorded on a recording medium. The computer system may include at least one processor, a memory, a user input device, a data communication bus, a user output device, and a storage. Each of the above-described components performs data communication via a data communication bus.

The computer system may further comprise a network interface coupled to the network. The processor may be a central processing unit (CPU), or a semiconductor device that processes instructions stored in memory and / or storage.

The memory and the storage may include various forms of volatile or non-volatile storage media. For example, the memory may include ROM and RAM.

Meanwhile, the lane marking HUD method of the driver's seat and the assistant seat according to the embodiment of the present invention described above can be implemented as a computer-readable code on a computer-readable recording medium. The computer-readable recording medium includes all kinds of recording media storing data that can be decoded by a computer system. For example, there may be a ROM (Read Only Memory), a RAM (Random Access Memory), a magnetic tape, a magnetic disk, a flash memory, an optical data storage device and the like. The computer-readable recording medium may also be distributed and executed in a computer system connected to a computer network and stored and executed as a code that can be read in a distributed manner.

It will be understood by those skilled in the art that the present invention may be embodied in other specific forms without departing from the spirit or essential characteristics thereof. It is therefore to be understood that the above-described embodiments are illustrative in all aspects and not restrictive. The scope of the present invention is defined by the appended claims rather than the detailed description, and all changes or modifications derived from the scope of the claims and their equivalents should be construed as being included within the scope of the present invention.

10: Front windshield
11a, 11b, 12a, 12b: lane
110:
111: lane detection unit
112:
113: lane calculation section
114:
120: memory unit
130:
135: GNSS Inertial Navigation Department
140: HUD
141a, 141b:
142a, 142b:
143a, 143b: projector controller

Claims (11)

1. A HUD for displaying driving information of a vehicle in a mirror part using a computer graphics obtained by combining an actual lane and virtual lane information in a road environment using Augmented Reality technology,
A camera unit having at least one photographing device for photographing a lane of a road and outputting the photograph to a control unit;
A GNSS inertial navigation unit for confirming the position of the vehicle based on the GPS signal and for correcting the position of the vehicle identified by the GPS to measure the position of the vehicle;
A memory unit for storing a control program for controlling an overall operation of the HUD and data generated during execution of the control program;
A HUD for displaying a lane image input from the control unit on the mirror unit; And
A control unit for controlling the HUD so as to display the lane image at the position of the mirror unit corresponding to the degree of biasing, Lane marking of the driver's seat and assistant seat including the HUD. The method according to claim 1,
Wherein,
A lane detecting unit for detecting a lane by analyzing an image input from the camera unit;
Determining the position of the vehicle from the image if there is the recognized lane, determining the position of the vehicle in the GNSS inertial navigation unit based on the GPS signal when there is no recognized lane, ;
A lane display position determining unit for determining a display position of a mirror unit to display the lane image by the lane position and the vehicle position; And
And generating an image of the lane including the lane to be displayed at the determined position and outputting the lane image to the HUD. 3. The method of claim 2,
Wherein the image portion provides the other image to the at least one projector and outputs another image to the mirror portion according to the angle of view by the observer using the augmented reality. The method according to claim 1,
The control unit selects a projector corresponding to a position of a lane of at least one projector, adjusts an irradiation angle of the selected projector so that the lane image is displayed at the position of the mirror unit, corrects the lane image according to the angle of illumination, And displays the lane mark on the driver's seat and the auxiliary stool. The method according to claim 1,
Wherein the HUD comprises at least one projector, a mirror unit, and a projector controller. 6. The method of claim 5,
Wherein the at least one mirror portion has surfaces different in reflection angle from each other so that only one virtual lane image in which an actual lane and a virtual lane coincide with each other is viewed by an observer according to an angle viewed by at least one observer, Lane marking on the passenger compartment HUD. 6. The method of claim 5,
Wherein the at least one mirror part is mounted on a front windshield of a vehicle, wearable glasses of a driver or a passenger, and a helmet so that an image is transmitted by wireless communication. 8. The method according to any one of claims 5 to 7,
Wherein the at least one mirror unit analyzes the forward information of the vehicle such as the position of the horizon of the road, the situation of the intersection, and the position of the front car, and displays the HUD information at a position where the HUD information is best recognized. And lane marking of the compass HUD. Controlling the camera unit to capture an image;
When the image of the road is input from the camera unit, the control unit performs an operation of recognizing the lane included in the image through the lane detecting unit;
Determining whether there is a lane in the image photographed by the lane recognition operation;
Receiving the lane information and the image information recognized from the lane detecting unit when the lane is present, and calculating the position of the lane between the lane through the lane calculating unit;
If there is no lane, receiving the signal from the GNSS inertial navigation unit and calculating the position of the vehicle in the lane calculation unit;
Determining a positional deviation of the vehicle when the position of the vehicle is calculated;
Displaying a left lane and a right lane on the driver's seat and sending an alarm to the driver when the vehicle is busy; And
And displaying the left lane and the right lane on an assistant seat and sending an alarm to the passenger when the vehicle is overloaded. 10. The method of claim 9,
The step of displaying the left lane and the right lane on the driver's seat and sending an alarm to the driver when the vehicle is busy may include turning on the induction signal so that the actual lane and the virtual lane are coincident with the road environment using the augmented reality technique in the projector of the HUD Wherein the step of displaying the lane of the driver's seat and the assistant stool further comprises the step of displaying the lane of the driver's seat and the assistant stool. 10. The method of claim 9,
The step of displaying the left lane and the right lane in the assistant seat and sending an alarm to the passenger when the vehicle is busy includes using the augmented reality technique in the projector of the HUD to turn on the induction signal so that the actual lane and the virtual lane are coincident with the road environment Wherein the step of displaying the lane of the driver's seat and the assistant stool further comprises the step of displaying the lane of the driver's seat and the assistant stool.

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