KR20180042638A - Vehicle And Control Method Thereof - Google Patents

Abstract

The present invention relates to a vehicle and a control method thereof. According to the present invention, the vehicle can comprise: a navigator; a filming unit to film an image of pedestrians around the vehicle; a detection unit to acquire information on a position and driving speed of the vehicle from the navigator; and a control unit to control a speaker based on the filmed image and the acquired information to output a warning signal towards pedestrians. According to the present invention, the vehicle is able to output a warning signal to pedestrians in consideration of the surrounding environment of the pedestrians, to allow the pedestrians to more effectively recognize the vehicle, and to prevent an accident. The vehicle is able to estimate in advance and output a warning signal through the navigator of the vehicle. In addition, since the vehicle is able to output a warning signal to only those pedestrians who need a warning signal, the vehicle is able to reduce noise generated by unnecessarily generated warning signals.

Description

VEHICLE AND CONTROL METHOD THEREOF

The present invention relates to a vehicle and a control method therefor, and more particularly, to a vehicle and a control method therefor, and more particularly, to a vehicle and a method of controlling the same which are suitable for pedestrians on the basis of information about the position and speed of a vehicle obtained using navigation, The present invention is directed to a technique for outputting a signal.

In modern society, automobiles are the most common means of transportation and the number of people using them is increasing. Although development of automobile technology has advantages such as easy transportation of long distance and ease of living, there are frequent problems that traffic congestion becomes serious due to deterioration of road traffic in high density areas like Korea.

As a system for preventing a traffic accident between a vehicle and a pedestrian when driving on the road, a technique is used in which a driver can recognize the pedestrian when a pedestrian is within a certain distance from the vehicle by using a sensor installed in the vehicle, have. However, this technique has a problem that the driver of the vehicle must directly output a warning signal to the pedestrian, so that there is a problem that the warning signal can not be output to the pedestrian more quickly and appropriately.

In addition, as electric vehicles are developed rapidly, many vehicles without noise sources are being developed. In such a case, when the engine is not installed in the vehicle, the noise output from the vehicle itself is very small, There is a difficult problem.

Therefore, in such a case, there is a high possibility that the pedestrian and the vehicle will collide with each other. Accordingly, techniques for notifying the pedestrian with warning signals using technologies other than engine noise are being developed.

However, in the conventional technique, only the warning signal is recognized by only recognizing the pedestrian walking around the vehicle, and there are various problems because the warning signal is not outputted considering the current position of the vehicle, the traveling speed and the surrounding environment of the pedestrian.

Therefore, the present invention is an invention devised to solve the problems of the prior art as described above, and it is an object of the present invention to provide a navigation system for a vehicle, comprising: The pedestrians can recognize the vehicle more easily, thereby preventing the accident from occurring.

A vehicle according to an embodiment of the present invention includes a photographing unit for photographing an image relating to navigation and a pedestrian around the vehicle, a sensing unit for acquiring information on the position and running speed of the vehicle from the navigation, And a controller for controlling the speaker of the vehicle based on the photographed image and the acquired information.

The control unit may control the plurality of speakers to output the warning signal.

The control unit may calculate a collision time (TTC) between the vehicle and the pedestrian, and may control the size of the speaker sound according to the calculated collision predicted time.

The control unit may reduce the sound of the speaker in proportion to the expected time of the dispatch.

The photographing unit further photographs an image of a signboard, a building, and a road width around the vehicle, and the control unit recognizes at least one of a direction, a size, and a pattern of the speaker sound based on the signboard, You can control one.

The controller may adjust at least one of a direction, a size, and a pattern of the speaker sound based on the length of the photographed road width.

The sensing unit may further acquire information on the moving path of the vehicle, and the control unit may adjust at least one of a direction, a size, and a pattern of the sound of the speaker based on the information on the moving path.

The controller may increase the size of the speaker sound and widen the output direction when the vehicle passes the child protection zone or the school according to the movement route.

When the vehicle enters the alleyway along the movement route, the control unit may navigate the alleyway and output the warning signal before the vehicle enters the alleyway.

The control unit may output the warning signal toward the crosswalk before the vehicle passes the crosswalk when the crosswalk exists in the movement path.

When the number of the pedestrians is plural, different warning signals may be outputted according to the positions of the plurality of pedestrians.

A method of controlling a vehicle according to an embodiment of the present invention includes the steps of photographing an image of a pedestrian around a vehicle, acquiring information on the position and running speed of the vehicle from navigation installed in the vehicle, And controlling the speaker of the vehicle based on the photographed image and the acquired information to output a warning signal.

The step of controlling the speaker may include controlling a plurality of speakers.

The step of outputting the warning signal may include calculating a time to collision (TTC) between the vehicle and the pedestrian, and controlling the size of the speaker sound of the vehicle according to the calculated collision predicted time .

The step of outputting the warning signal may include reducing the speaker sound in proportion to the expected time of the dispatch.

The step of photographing includes photographing an image of a signboard, a building, and a road width around the vehicle, and the step of outputting the warning signal includes the steps of: And adjusting at least one of a direction, a size, and a pattern of the sound of the speaker.

The outputting of the warning signal may include adjusting at least one of a direction, a size and a pattern of the sound of the speaker based on the length of the photographed road width.

Wherein the step of acquiring the information includes a step of acquiring information on the moving route of the vehicle, and the step of outputting the warning signal includes a step of acquiring the direction of the speaker sound , Size and / or pattern of the at least one of the plurality of pixels.

The step of outputting the warning signal may include increasing the size of the speaker sound and widening the output direction when the vehicle passes the child protection zone or the school according to the movement route.

The step of outputting the warning signal may include the step of, when the vehicle enters the alleyway according to the movement route, navigating the alleyway before the vehicle enters the alleyway and outputting the warning signal.

The step of outputting the warning signal may include outputting the warning signal toward the crosswalk before the vehicle passes the crosswalk when the crosswalk is present in the movement path.

The step of outputting the warning signal may include the step of outputting different warning signals according to the positions of the plurality of pedestrians when the number of the pedestrians is plural.

 According to the present invention, since the warning signal is outputted to the pedestrians in consideration of the surrounding environment of the pedestrians, the pedestrian can more effectively recognize the vehicle, thereby preventing an accident. The warning signal can be predicted and output in advance through navigation of the vehicle There is an effect.

In addition, since the warning signal is outputted only to the pedestrian who needs the warning signal, the noise problem caused by the unchanging warning signal is also reduced.

1 is an external view showing an outer appearance of a vehicle according to an embodiment of the present invention.
2 is an interior view showing an internal view of a vehicle according to an embodiment of the present invention.
3 is a block diagram showing the configuration of a warning device installed in a vehicle in a vehicle according to an embodiment of the present invention.
4 is a flowchart showing an operational flow relating to a vehicle control method according to an embodiment of the present invention.
FIG. 5 is a diagram illustrating a warning signal output in consideration of a road width according to another embodiment of the present invention. FIG.
FIG. 6 is a diagram illustrating a warning signal output in consideration of a road width according to another embodiment of the present invention.
7 is a view showing a state in which a warning signal is outputted in consideration of a distance between buildings according to another embodiment of the present invention.
FIG. 8 is a diagram illustrating a warning signal output in consideration of a road width according to another embodiment of the present invention.
9 is a diagram illustrating a warning signal output in consideration of a running route of a vehicle according to another embodiment of the present invention.
10 is a view illustrating a warning signal output in consideration of a running route of a vehicle according to another embodiment of the present invention.
11 is a view showing a state in which warning signals are outputted to a plurality of pedestrians according to another embodiment of the present invention.
FIG. 12 is a diagram illustrating a warning signal output in consideration of a distance between a vehicle and a pedestrian according to another embodiment of the present invention. FIG.

The embodiments described in the present specification and the configurations shown in the drawings are preferred examples of the disclosed invention, and various modifications may be made at the time of filing of the present application to replace the embodiments and drawings of the present specification.

Also, the terms used herein are used to illustrate the embodiments and are not intended to limit and / or limit the disclosed invention. The singular expressions include plural expressions unless the context clearly dictates otherwise.

In this specification, terms such as " comprise ", " comprise ", or "have ", when used in this specification, designate the presence of stated features, integers, Steps, operations, components, parts, or combinations thereof, whether or not explicitly described herein, whether in the art,

It is also to be understood that terms including ordinals such as " first ", "second ", and the like used herein may be used to describe various elements, but the elements are not limited by the terms, It is used only for the purpose of distinguishing one component from another. For example, without departing from the scope of the present invention, the first component may be referred to as a second component, and similarly, the second component may also be referred to as a first component. The term "and / or" includes any combination of a plurality of related listed items or any of a plurality of related listed items.

Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings so that those skilled in the art can easily carry out the present invention. In order to clearly explain the present invention in the drawings, parts not related to the description will be omitted.

A vehicle equipped with the present invention will be described with reference to FIGS. 1 and 2. FIG.

1 is an external view of a vehicle according to an embodiment of the present invention.

1, a vehicle 1 according to an embodiment of the present invention includes a main body 80 that forms an outer appearance of a vehicle 1, wheels 93 and 94 that move the vehicle 1, wheels 93 A door 84 for shielding the inside from the outside, a windshield 87 for providing the driver inside the vehicle 1 with a field of view ahead of the vehicle 1, Side mirrors 91 and 92 for providing the rear view of the vehicle 1 and a rear window 90 provided on the rear side of the vehicle body 80 for providing a view of the rear of the vehicle 1, A hood 81, a front fender 82, a door 84, a luggage compartment lid 85, a quarter panel 86, and the like.

The wheels 93 and 94 include a front wheel 93 provided on the front side of the vehicle and a rear wheel 94 provided on the rear side of the vehicle and the driving device 95 is provided to move the main body 80 forward or rearward And provides a rotational force to the front wheel 93 or the rear wheel 94. [ Such a drive system 95 may employ an engine that generates combustion power by burning fossil fuel or a motor that generates power by receiving power from a capacitor (not shown).

The door 84 is rotatably provided on the left and right sides of the main body 80 so that the driver can ride on the inside of the vehicle 1 at the time of opening, .

The windscreen 87 is provided on the front upper side of the main body 80 so that a driver inside the vehicle 1 can obtain time information in front of the vehicle 1. [ The side mirrors 91 and 92 include a left side mirror 91 provided on the left side of the main body 80 and a right side mirror 92 provided on the right side. 1) The side information and the rear side time information can be obtained.

In addition, the vehicle 1 may include a proximity sensor for detecting obstacles or other vehicles behind the vehicle, and a rain sensor for detecting rainfall and precipitation.

As one example of the proximity sensor, a sensing signal is transmitted to a side or rear surface of a vehicle, and a reflection signal reflected from an obstacle such as another vehicle is received. Also, it is possible to detect the presence of an obstacle behind the vehicle 1 based on the waveform of the received reflection signal, and to detect the position of the obstacle. Such a proximity sensor may employ a method of detecting ultrasonic waves and detecting a distance to an obstacle by using ultrasonic waves reflected from obstacles.

2 is an internal configuration diagram of a vehicle according to an embodiment of the present invention.

The configuration of the vehicle interior 10 will be described in detail with reference to FIG.

The vehicle interior 10 may be provided with a telematics terminal (not shown) for communicating with the outside. Telematics is a combination of Telecommunication and Informatics. It is a system that can send and receive e-mails in the car or retrieve various information through the Internet.

The telematics terminal may be configured as a device having all the functions of a computer wireless communication satellite navigation function. Therefore, the driver can use the telematics terminal to access the telematics server existing in the outside, and can use various functions such as exchanging data and images through the telematics server.

Since the telematics terminal is installed in the inside of the vehicle 10, the user can use the telematics function using the display 80 of the inside of the vehicle 10, though it is not an external device visible to the driver.

An air conditioner (16) may be installed in the vehicle interior (10). The air conditioner 16 is a device that automatically controls the air conditioning environment including the environmental conditions of the indoor and the outdoor of the vehicle 1, the air intake / exhaust, circulation, the cooling / heating state, or the like, . For example, both the heating and the cooling can be performed, and the temperature of the inside of the vehicle 10 can be controlled by discharging the heated or cooled air through the ventilation holes.

A dashboard 14 in which various devices for the driver to operate the vehicle 1 are installed in the vehicle interior 10, a driver's seat 15 for the driver of the vehicle 1 to sit on, And cluster display units 51 and 52 for displaying operation information of the display unit 51 and the like.

 The dashboard 14 protrudes from the lower portion of the windscreen 11 toward the driver so that the driver can operate various devices installed on the dashboard 14 while looking forward.

The driver's seat 15 is provided behind the dashboard 14 so that the driver can look ahead to the front of the vehicle 1 and various devices of the dashboard 14 in a stable posture so that the driver can operate the vehicle 1. [

The cluster display units 51 and 52 are provided on the driver's seat 15 side of the dashboard 14 and are provided with a running speed gauge 51 for indicating the running speed of the vehicle 1 and a rotational speed of the power unit (not shown) (Not shown).

In addition, the vehicle interior 10 may include a separate jog dial 60 for operating various devices of the vehicle. The jog dial 60 is provided with a touch pad having a touch recognition function as well as a method of performing a driving operation by rotating or applying pressure, The handwriting recognition can be performed.

The steering apparatus for operating the vehicle includes a steering wheel 42 for receiving a driving direction from a driver, a steering gear (not shown) for converting the rotational motion of the steering wheel 42 into a reciprocating motion, And a steering link (not shown) that transmits the reciprocating motion to the front wheel 93. Such a steering apparatus can change the running direction of the vehicle 1 by changing the direction of the rotation axis of the wheel.

The braking device includes a braking pedal (not shown) for receiving a braking operation from the driver, a brake drum (not shown) coupled to the wheel, a brake shoe (not shown) for braking the rotation of the brake drum . ≪ / RTI > Such a braking device can brake the running of the vehicle by stopping the rotation of the wheels.

1 and 2, the outer and inner configurations of the vehicle have been described. Hereinafter, a warning notification device 100 installed in a vehicle will be described with reference to the drawings.

3 is a block diagram illustrating an internal configuration of a pedestrian warning device 100 according to an embodiment of the present invention.

Referring to FIG. 3, the present invention includes a camera 110 for photographing the surroundings of a vehicle, a navigation unit 120 for guiding a vehicle's position and a traveling route, information on the position and running speed of the vehicle from the navigation unit 120 A controller 130 for controlling the speaker 160 of the vehicle on the basis of the image captured by the camera 110 and information obtained by the sensing unit 130 in order to output a warning signal to the pedestrian, (10).

The camera 110 may be installed at various places including the front and rear sides of the vehicle to photograph the surrounding environment of the vehicle while driving, and may transmit the photographed image to the sensing unit 130.

Accordingly, at least one camera may be installed in the vehicle 1, and a three-dimensional space recognition sensor, a radar sensor, an ultrasonic sensor, and the like may be included in order to photograph a more accurate image.

As the three-dimensional spatial recognition sensor, KINECT (RGB-D sensor), TOF (Structured Light Sensor), stereo camera (Stereo Camera) and the like can be used. Lt; / RTI >

The navigation 120 serves to guide the current position, speed, and travel route of the vehicle while it is traveling, and this information can be transmitted to the sensing unit 130.

The navigation 120 generally receives a signal from a plurality of Global Positioning System (GPS) satellites located above the earth, determines the present position, grasps the current traffic situation, It is aimed at informing.

 In addition to the above objects, the present invention may also provide the user with various service information necessary for navigation, such as the current position and speed of the moving object, the distance and route to the destination, detailed information about the destination, .

The sensing unit 130 may acquire comprehensive driving information on the current vehicle such as the current position of the vehicle, the traveling speed, the traveling path and the destination of the vehicle from the navigation unit 120, and transmit the acquired driving information to the control unit 140.

The control unit 140 determines warning signals to be output to the pedestrians around the vehicle based on the images photographed from the camera 110 and information received from the sensing unit 130 and controls one or a plurality of speakers 160, And outputs a warning signal to the user.

Specifically, the control unit 140 analyzes images photographed by the camera 110 and acquires information about the surroundings of the vehicle, such as various signs and signs, information about the road floor, etc., along with pedestrians around the vehicle, Based on the information, a warning signal to the pedestrian and generate a warning signal.

However, in the case of the present invention, as described above, the comprehensive image around the walker photographed by the camera 110 or the image of the vehicle 1 acquired by the navigation 110, The warning signal can be appropriately outputted in accordance with the surrounding environment on the basis of the running information of the pedestrian, so that the pedestrian can recognize the existence of the vehicle more easily, and the accident can be prevented in advance.

In addition, the outputted warning signal can be output simultaneously using a plurality of speakers 160 in consideration of the position of a pedestrian and surrounding environment, rather than a simple notification sound, and can output an alarm signal only at a specific point, And may output a warning signal. In this case, there is an effect of reducing the noise problem caused by an unvoiced warning signal. Various embodiments of the present invention will be described in detail with reference to FIG. 5 to FIG.

The speaker 160 may serve to output a warning signal determined by the controller 140.

Accordingly, the vehicle may be equipped with at least one speaker 160, and may be installed at a plurality of locations on the vehicle as well as on the front surface of the vehicle. Also, the speaker 160 can be controlled at the same time or at a time according to the size and pattern of the warning signal generated by the controller 150.

The configuration of the present invention has been described with reference to FIG. Hereinafter, the operational flow of the present invention will be described with reference to FIG.

4 is a flowchart showing a control method of the vehicle 1 according to an embodiment of the present invention.

4, in the present invention, an image of the surroundings of the vehicle 1 is acquired through the camera 110, and peripheral information of the vehicle 1 is acquired based on the obtained image. (S100, S200)

The peripheral information of the vehicle 1 may include the position of the pedestrian around the vehicle for outputting the warning signal and the distribution chart of the pedestrians, and may also include a building, a road mark, and a signboard around the pedestrian.

Also, while passing through steps S100 and S200, information on the current vehicle position, traveling speed, and traveling route can be acquired simultaneously through navigation (S300, 400)

When the information about the photographed image and the driving information for the vehicle 1 are acquired from the navigation device 120, the relative position and speed of the vehicle 1 and the pedestrian are determined based on the information and the direction of the warning signal to be output to the pedestrian , Size, and pattern, and output an alarm signal to the outside (S500 to S700).

In addition, the warning signal to be outputted to the pedestrian can be relatively changed. In the case of the present invention, the time to collision (TTC) between the vehicle and the pedestrian during running is calculated and a warning signal is outputted to the pedestrian .

The estimated collision time is a value obtained by measuring the distance between the vehicle 1 in operation and the pedestrian and then dividing the distance by the relative speed between the vehicle 1 and the pedestrian. If the speed of the vehicle 1 is not changed, Which means that the vehicle 1 will collide after the estimated collision time.

Therefore, if the estimated collision time is large, it means that the possibility of collision between the vehicle 1 and the pedestrian is small. In this case, the warning signal to be outputted to the pedestrian can be outputted relatively weakly.

That is, the size of the speaker 160 to be irradiated to the pedestrian can be reduced, the output range of the sound of the speaker 160 can be narrowly outputted, and the pattern can also be relatively easily configured and output.

However, if the estimated collision time is small, it means that there is a high possibility of collision between the vehicle 1 and the pedestrian. In this case, the warning signal to be outputted to the pedestrian can be outputted relatively strongly.

That is, the size of the speaker 160 to be irradiated to the pedestrian can be increased, the output range of the sound of the speaker 160 can also be widely outputted, and the pattern can be output with a relatively complicated configuration.

In addition, when there are a plurality of pedestrians to output the warning signal, a warning signal can be outputted to each pedestrian. In this case, the brightness and pattern of the warning signal can be determined in accordance with each pedestrian, and the size and pattern of the signal to be output can be determined by detecting the width of the vehicle or the traveling path of the vehicle while driving. These characteristics will be described with reference to FIGS. 5 to 13.

5 and 6 are diagrams showing patterns and ranges of warning signals outputted based on the signboard and signboard information of the photographed image.

The control unit 140 can detect the current position of the vehicle 1 based on the image taken by the camera 110 or the information about the travel route obtained from the navigation 120, When passing through areas with high risk of accidents, warning signals can be output in all directions to prevent accidents in advance.

For example, if the user passes the front of the school or passes through the child protection zone, the risk of an accident is higher than that of the other areas, so that a warning signal can be outputted in a wide range in front of the vehicle, as shown in FIG. 5 and FIG. Although FIGS. 5 and 6 illustrate that the warning signal is outputted only in the front direction, the present invention is not limited thereto. The warning signal may be output to all the front, side, and rear ranges of the vehicle 1.

In this case, since the warning signal can be continuously outputted before the entrance to the school or the child protection area, the warning signal can be outputted to the vehicle 1 more easily than the pedestrian shop around the vehicle 1.

When a warning signal is output, a warning signal can be output in consideration of the road width.

Referring to FIGS. 5 and 6, it can be seen that the range of the road to be driven relatively slowly, that is, the range of the safe zone is larger than that of FIG. 6 in FIG.

Therefore, in such a case, as shown in FIG. 5, a warning signal A can be generated and output in a wider range so as to illuminate the entire safety zone.

However, in the case of FIG. 6, since the range of the illustrated safe zone is narrower than the range of the safety zone shown in FIG. 5, in this case, it is possible to output a warning signal B in a range narrower than the range shown in FIG.

 In this case, it is possible to output a warning signal only in a safe area, and there is an advantage that a warning signal can be effectively outputted only to a pedestrian who is likely to have an accident collision.

FIGS. 7 and 8 are views showing another embodiment of the present invention, in which a warning signal is output based on information about a building and a road width. FIG.

As shown in FIGS. 7 and 8, when there is a road between buildings, the driver who drives the vehicle 1 can not easily recognize the pedestrian by hiding it in the building, and the pedestrian is also blocked by the building, It is hard to recognize.

However, in the case of the present invention, when there is an alley between the buildings based on the information about the movement route acquired by the navigation system 120 or the image taken by the camera 110, or when the vehicle 1 is going to enter the alley, It is possible to prevent collision with a pedestrian by outputting a warning signal.

Accordingly, the control unit 140 recognizes that there is an alley between the buildings, that is, the width between the buildings, based on the image photographed by the camera 110, and outputs a warning signal between the buildings in consideration of this, ) Can be easily recognized.

In addition, it is possible to output a warning signal in consideration of a road width as well as a warning signal simply by recognizing an alley.

 That is, as shown in FIG. 7, when the road width is relatively wide, the warning signal A having a wide irradiation range can be generated and output. When the road width is relatively narrow as shown in FIG. 8, The warning signal B can be generated and output.

In this case, since the warning signal can be outputted in accordance with the road width, it is possible to reduce the problem that can be caused by outputting the warning signal indiscriminately, and there is an advantage that the warning signal can be outputted effectively only to the pedestrians, do.

Also, since the road width is narrow, there is a high probability that the buildings are densely populated residential areas. Therefore, the output range and size of the warning signal may be adjusted in view of such circumstances.

9 and 10 are views showing another embodiment of the present invention, in which a warning signal is output based on information on a traveling route of the vehicle 1. In FIG.

The control unit 140 can acquire the current driving information of the vehicle from the navigation unit 120. [ Accordingly, as shown in FIG. 9, the control unit 140 can know that the vehicle will soon turn right.

Accordingly, in this case, the controller 140 recognizes this and outputs a warning signal to the right transverse board to prevent collision with the pedestrian in advance.

On the other hand, when the future traveling path of the vehicle obtained from the navigation device 120 is the left turn, the warning signal can be output toward the left transverse board as shown in FIG.

In the case of the pedestrian crossing, the possibility of the pedestrian passing is high. Therefore, when the warning signal is outputted in advance on the pedestrian crossing as shown in Figs. 9 and 10 in consideration of the future traveling route of the vehicle 1, There is an effect that the impulse with the pedestrian can be prevented.

11 and 12 illustrate another embodiment of the present invention, in which warning signals are output to a plurality of pedestrians.

In the case of FIG. 11, since there are several pedestrians located at the intersection, it is necessary to output a warning signal to each pedestrian to prevent collision with pedestrians. Therefore, in this case, the present invention can output a warning signal in accordance with the position and the situation of each pedestrian.

For example, since A is located closer to the vehicle 1 than other pedestrians, the output range of the sound of the speaker 160 can be broadly and largely adjusted.

However, in the case of B, since it is relatively far from the vehicle 1, it is possible to output the sound of the speaker 160 by adjusting the size of the sound of the speaker 160 to a smaller value.

As shown in FIG. 11, when output is performed in accordance with each pedestrian, it is possible to reduce the noise problem that may occur due to the indiscriminate output of the warning signal, and to output different warning signals to the pedestrian depending on the degree of danger, Can be output.

FIG. 12 is a diagram illustrating a warning signal output in consideration of impulse budget time (TTC) according to another embodiment of the present invention.

Referring to FIG. 12, when the pedestrian is relatively far away from the vehicle 1, the expected collision time can be calculated to a large extent.

Therefore, in this case, since it is not necessary to generate a large and wide warning signal, it is possible to output the warning signal A by controlling the sound output from the speaker 160 to be relatively small as shown in FIG.

However, when the pedestrian can not recognize the warning signal A and is close to the vehicle, the collision predicted time is calculated to be small, so that the possibility of an accident is relatively high.

Therefore, as shown in FIG. 12, the sound output from the speaker 160 can also be largely adjusted to output the warning signal A. FIG. In this case, the user can recognize the warning signal A more quickly, thereby preventing an accident.

12, when the warning sound and the irradiation range are output differently according to the estimated collision time, the problem caused by the output of the unchanged warning signal can be reduced, and the warning signal can be appropriately outputted in accordance with the danger level, There is an effect of allowing the pedestrian to recognize the warning signal.

The features of the present invention have been described in detail with reference to the drawings.

In the conventional art, there is a problem that only the warning signal is detected by only recognizing the pedestrian around the vehicle, the current position and the speed of the vehicle, and the surrounding environment of the pedestrian are taken into account and the warning signal corresponding to the situation is not output.

 However, according to the present invention, since the warning signal is outputted to the pedestrians in consideration of the surrounding environment of the pedestrians, the pedestrian can more effectively recognize the vehicle, thereby preventing an accident. There is an effect that can be.

In addition, since the warning signal is outputted only to the pedestrian who needs the warning signal, the noise problem caused by the unchanging warning signal is also reduced.

Although the embodiments have been described with reference to specific embodiments and drawings, those skilled in the art will appreciate that various modifications and changes may be made thereto without departing from the scope of the present invention. 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 within the scope of the following claims.

1: vehicle
100: Warning device
110: camera
120: Navigation
130:
140:
150:
160: Speaker

Claims (22)

Navigation;
A photographing unit for photographing a video image of a pedestrian around the vehicle;
A sensing unit for acquiring information on the position and the traveling speed of the vehicle from the navigation;
And a control unit for controlling a speaker of the vehicle on the basis of the photographed image and the obtained information so as to output an alarm signal toward the pedestrian. The method according to claim 1,
Wherein,
And controls the plurality of speakers to output the warning signal. The method according to claim 1,
Wherein,
Calculates a time to collision (TTC) between the vehicle and the pedestrian, and controls a size of the speaker sound according to the estimated collision time. The method of claim 3,
Wherein,
Wherein the sound of the speaker is reduced in proportion to the expected time of dispatch. The method according to claim 1,
The photographing unit further photographs images of signs, buildings, and road widths around the vehicle
Wherein the control unit adjusts at least one of a direction, a size, and a pattern of the speaker sound based on the signboard, the building, or the road width photographed. 6. The method of claim 5,
Wherein,
And adjusts at least one of a direction, a size, and a pattern of the speaker sound based on the length of the taken road width. The method according to claim 1,
The sensing unit may further acquire information on a moving route of the vehicle,
Wherein the control unit adjusts at least one of a direction, a size, and a pattern of the sound of the speaker based on the information about the movement route. 8. The method of claim 7,
Wherein,
And increases the size of the speaker sound and widens the output direction when the vehicle passes through the child protection zone or the school in accordance with the movement route. 8. The method of claim 7,
Wherein,
And when the vehicle enters the alleyway along the movement route, navigates the alleyway before the vehicle enters the alleyway and outputs the warning signal. 8. The method of claim 7,
Wherein,
And when the crosswalk exists in the movement path, outputs the warning signal toward the crosswalk before the vehicle passes the crosswalk. 3. The method of claim 2,
And when the number of the pedestrians is plural, output different warning signals according to the positions of the plurality of pedestrians. A step of photographing an image of a pedestrian around the vehicle;
Acquiring information on a position and a traveling speed of the vehicle from navigation installed in the vehicle;
And controlling a speaker of the vehicle based on the photographed image and the obtained information so as to output an alarm signal to the pedestrian. 13. The method of claim 12,
The step of controlling the speaker comprises:
A method of controlling a vehicle, comprising: controlling a plurality of speakers. 13. The method of claim 12,
The step of outputting the warning signal includes:
Calculating a time to collision (TTC) between the vehicle and the pedestrian, and controlling a magnitude of a speaker sound of the vehicle according to the calculated collision predicted time; . 15. The method of claim 14,
The step of outputting the warning signal includes:
And decreasing the speaker sound in proportion to the estimated time of dispatching. 13. The method of claim 12,
The step of photographing the image includes the step of photographing a signboard, a building and a road width around the vehicle
Wherein the outputting of the warning signal comprises adjusting at least one of a direction, a size and a pattern of a sound of the speaker based on the signboard, the building or the road width photographed. 17. The method of claim 16,
The step of outputting the warning signal includes:
And adjusting at least one of a direction, a size, and a pattern of the sound of the speaker based on the length of the taken road width. 13. The method of claim 12,
Wherein the step of acquiring the information includes a step of acquiring information on a moving route of the vehicle,
Wherein the step of outputting the warning signal comprises the step of adjusting at least one of a direction, a size and a pattern of the speaker sound based on the information about the movement route. 19. The method of claim 18,
The step of outputting the warning signal includes:
And increasing the size of the speaker sound and widening the output direction when the vehicle passes through the child protection zone or the school in accordance with the movement route. 14. The method of claim 13,
The step of outputting the warning signal includes:
And outputting the warning signal when the vehicle enters the alley in accordance with the movement route, navigating the alleyway before the vehicle enters the alleyway. 21. The method of claim 20,
The step of outputting the warning signal includes:
And outputting the warning signal toward the crosswalk before the vehicle passes the crosswalk when the crosswalk is present in the movement path. 13. The method of claim 12,
The step of outputting the warning signal includes:
And outputting different warning signals according to the plurality of pedestrian positions when the plurality of pedestrians are present.

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