KR20180071228A - Driver Assistance Apparatus and Vehicle Having The Same - Google Patents

Abstract

According to an embodiment, a driver assistance apparatus comprises: a sensor unit detecting an object around a vehicle; an indicator output unit displaying an indicator in the outside of the vehicle; and a processor controlling the indicator output unit to display the indicator to a notification target of the object when a notification situation is detected. The processor controls a display method of the indicator in accordance with the notification situation or a position with the notification situation.

Description

BACKGROUND OF THE INVENTION 1. Field of the Invention [0001] The present invention relates to a vehicle driving assist apparatus,

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a vehicle driving assistant provided in a vehicle and a vehicle including the same.

A vehicle is a device that moves a user in a desired direction by a boarding user. Typically, automobiles are examples.

The automobiles are internal combustion engine cars, external combustion engine cars, gas turbine cars or electric vehicles according to the prime mover used.

Electric vehicles are electric vehicles that use electric energy to drive electric motors. They include pure electric vehicles, hybrid electric vehicles (HEV), plug-in hybrid electric vehicles (PHEV), and hydrogen fuel cell vehicles (FCEV).

Meanwhile, in recent years, the development of an intelligent vehicle (Smart Vehicle) has been actively developed for safety and convenience of drivers, pedestrians, and the like.

Intelligent automobiles are also called smart automobiles, cutting-edge vehicles that combine information technology (IT) technology. Intelligent automobiles provide optimum transportation efficiency through interworking with intelligent transportation system (ITS) as well as introducing advanced system of automobile itself.

In particular, intelligent automobiles have the technical advantage of maximizing the safety of pedestrians as well as the driver, passengers by developing safety-related core technologies such as obstacle detection, collision detection or mitigation.

However, currently developed technologies are limited to the technology of the vehicle itself, such as notifying the driver of the perceived surroundings and the vehicle control reflecting the surrounding situation, so that an accident to an outside pedestrian or other vehicle can not be prevented .

The embodiments of the present invention provide a vehicle driving assistant apparatus and a vehicle including the same, which display the indicator appropriately on the inside and the outside of the vehicle according to the detected circumstance in order to solve the above-described problems.

The controller controls the indicator output unit to display the indicator to the notification target among the objects when the notification unit detects the notification status, And the processor controls the display method of the indicator according to the notification status or the position of the notification target.

An embodiment provides a vehicle including the vehicle driving assist device described above.

The vehicle driving assist system according to the embodiment precisely detects an object around the vehicle and determines an indicator and an indicator display method according to the positional relationship between the notification state and the notification target when the notification state is detected and displays the indicator on the determined display method It is also possible to ask for help to prevent the accident from occurring by informing the outside of the dangerous situation to the driver so that the driver can run smoothly.

Further, the vehicle driving assist system according to the embodiment may change the indicator display method in accordance with the change of the positional relationship between the vehicle and the notification target by moving the notification target or moving the present vehicle, thereby improving the discrimination power to the indicator The notification information can be accurately transmitted to the opponent.

In addition, the vehicle driving assist system according to the embodiment may also display notification information in the interior of the vehicle to improve the safety and convenience of the occupant.

BRIEF DESCRIPTION OF THE DRAWINGS Fig. 1 shows an appearance of a vehicle equipped with a vehicle driving assist system according to an embodiment of the present invention.
2 shows a block diagram of a vehicle driving assist system according to an embodiment of the present invention.
FIG. 3 shows an example of a method for detecting a vehicle internal situation according to an embodiment of the present invention.
4 is a plan view of a vehicle equipped with a sensor unit according to an embodiment of the present invention.
5 shows an example of a camera according to an embodiment of the present invention.
6 and 7 are views for explaining an example of a method of generating image information from a camera image according to an embodiment of the present invention.
8 is a view for explaining an indicator output unit according to an embodiment of the present invention.
9 is a view for explaining a display unit according to an embodiment of the present invention.
10 is a flowchart illustrating an indicator display method according to an embodiment of the present invention.
11 shows an example of a notification situation according to the embodiment of the present invention.
FIG. 12 shows methods of displaying indicators in various getting off situations according to an embodiment of the present invention.
Fig. 13 shows the internal state of the vehicle in Fig.
14 shows methods for outputting a notification within a vehicle according to an embodiment of the present invention.
FIG. 15 shows another example of the notification situation according to the embodiment of the present invention.
16 illustrates methods for displaying indicators in various backward situations according to an embodiment of the present invention.
17 illustrates methods of displaying an indicator in various notification situations where a plurality of objects are located around a vehicle according to an embodiment of the present invention.
18 shows a method of displaying an indicator in an intersection entry situation according to an embodiment of the present invention.
19 illustrates methods of displaying an indicator using communication according to an embodiment of the present invention.
20 shows a method of displaying an indicator through another vehicle according to an embodiment of the present invention.
FIG. 21 shows methods of displaying an indicator when an obstacle is detected on a road surface during getting off according to an embodiment of the present invention.
FIG. 22 shows a method of outputting a notification when an adjacent obstacle is detected when getting off according to an embodiment of the present invention.
Fig. 23 is an example of an internal block diagram of the vehicle of Fig. 1 including the above-described vehicle driving assist system.

Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings, wherein like reference numerals are used to designate identical or similar elements, and redundant description thereof will be omitted. The suffix "module" and " part "for the components used in the following description are given or mixed in consideration of ease of specification, and do not have their own meaning or role. In the following description of the embodiments of the present invention, a detailed description of related arts will be omitted when it is determined that the gist of the embodiments disclosed herein may be blurred. It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory and are intended to provide further explanation of the invention as claimed. , ≪ / RTI > equivalents, and alternatives.

Terms including ordinals, such as first, second, etc., may be used to describe various elements, but the elements are not limited to these terms. The terms are used only for the purpose of distinguishing one component from another.

It is to be understood that when an element is referred to as being "connected" or "connected" to another element, it may be directly connected or connected to the other element, . On the other hand, when an element is referred to as being "directly connected" or "directly connected" to another element, it should be understood that there are no other elements in between.

The singular expressions include plural expressions unless the context clearly dictates otherwise.

In the present application, the terms "comprises", "having", and the like are used to specify that a feature, a number, a step, an operation, an element, a component, But do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, or combinations thereof.

The vehicle described herein may be a concept including a car, a motorcycle. Hereinafter, the vehicle will be described mainly with respect to the vehicle.

The vehicle described in the present specification may be a concept including both an internal combustion engine vehicle having an engine as a power source, a hybrid vehicle having an engine and an electric motor as a power source, and an electric vehicle having an electric motor as a power source.

In the following description, the left side of the vehicle means the left side in the running direction of the vehicle, and the right side of the vehicle means the right side in the running direction of the vehicle.

Unless otherwise mentioned in the following description, the LHD (Left Hand Drive) vehicle will be mainly described.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, a vehicle driving assistance device according to an embodiment will be described in detail with reference to the drawings.

Referring to Fig. 1, a vehicle 700 according to an embodiment may include wheels 13FL and 13RL rotated by a power source and a vehicle driving assist device.

In the embodiment, the vehicle driving assistant device 100 is a separate device that can exchange necessary information with the vehicle 700 via data communication and execute the indicator display function. A set of some of the units of the vehicle 700 may also be defined as the vehicle driving assistant device 100. [

2) of the vehicle driving assistant device 100 is not included in the vehicle driving assistant device 100, and the vehicle driving assistant device 100 is not included in the vehicle driving assistant device 100 700, or another unit mounted on the vehicle 700. The external units can be understood as being included in the vehicle driving assistant device 100 by transmitting and receiving data through the interface of the vehicle driving assistant device 100. [

For convenience of explanation, it is assumed that the vehicle driving assistant apparatus 100 according to the embodiment directly includes the respective units shown in FIG.

The vehicle driving assistant device 100 detects an object around the vehicle and determines an indicator I and an indicator display method according to the positional relationship between the notification condition and the notification target when the notification condition is detected, To the outside to inform the outside of the dangerous situation, etc., to prevent accidents, and to seek cooperation so that the driver can perform smooth running.

Particularly, the vehicle driving assistant apparatus 100 changes the indicator display method in accordance with the change in the positional relationship between the present vehicle 700 and the notification target when the notification target moves or the present vehicle 700 moves , The discrimination of the indicator I can be improved and the notification can be accurately transmitted to the opponent.

Here, the notification object may include at least one of the detected objects, such as another vehicle, a pedestrian, a two-wheeled vehicle such as a bicycle or a motorcycle, or the like.

In addition, the notification state may include a state of getting off, a situation of backward, a state of stopping, a state of entering an intersection, and a situation in which a risk of collision is detected.

In addition, the positional relationship with the notification target may include information related to the position such as the distance between the present vehicle 700 and the notification target, the separation direction, the movement direction of the object, and the movement direction of the vehicle.

In addition, the indicator display method refers to various methods of determining an indicator display position, size, brightness, saturation, color, phase, and indicator image and displaying the indicator outside the vehicle.

Hereinafter, each unit constituting the vehicle driving assistant apparatus 100 for executing such indicator display function will be described in detail with reference to FIG. 2 to FIG.

2, the vehicle driving assistance apparatus 100 includes an input unit 110, a communication unit 120, an interface unit 130, a memory 140, a monitoring unit 150, a sensor unit 190, a processor 170, a display unit 180, an audio output unit 185, and a power supply unit 190. However, the units of the vehicle driving assistance device 100 shown in FIG. 2 are not essential for implementing the vehicle driving assistance device 100, so that the vehicle driving assistant device 100 described in this specification can be applied to the configuration It can have more or fewer components than components.

Returning to the description of the configuration, first, the vehicle driving assistance apparatus 100 may include an input unit 110 for sensing a user's input.

For example, the user can input settings for the indicator display function of the driving assistant through the input unit 110 or input an execution input for turning on / off the vehicle driving assistant 100 can do.

The input unit 110 may include a gesture input unit (e.g., an optical sensor) for sensing a user gesture, a touch input unit (e.g., a touch sensor, a touch key, A microphone, a mechanical key, and the like, and a microphone for sensing a voice input.

Next, the vehicle driving assistant apparatus 100 may include a communication unit 120 that communicates with the other vehicle 510, the terminal 600, and the server 500 and the like.

The vehicle driving assistant apparatus 100 may receive at least one of navigation information, other vehicle driving information, and traffic information through the communication unit 120. [ The information received by the communication unit 120 may be used as additional information for detecting a notification situation or a positional relationship with the notification target.

In addition, the vehicle driving assistant apparatus 100 may use the big data of the server 500 to extract an indicator according to the notification status through the communication unit 120. [

More specifically, the vehicle driving assistant apparatus 100 transmits information on the detected notification situation to the server 500 and receives an indicator image retrieved in accordance with the notification condition from the server 500, thereby displaying an image of an indicator to be displayed outside the vehicle Can be determined.

In addition, the vehicle driving assistant apparatus 100 receives the indicator display request transmitted by the other vehicle 510 from the communication unit 120, and can thereby display the indicator.

On the other hand, the vehicle driving assistant apparatus 100 transmits an indicator display request to the other vehicle 510 or the traffic system (for example, a traffic light) through the communication unit 120 so that the other vehicle 510 or the traffic system displays the indicator Control.

The communication unit 120 receives at least one of the location information, the weather information, and the traffic situation information of the road (for example, TPEG (Transport Protocol Expert Group)) from the mobile terminal 600 and / or the server 500 Lt; / RTI >

In addition, the communication unit 120 can receive traffic information from the server 500 equipped with the intelligent traffic system (ITS). Here, the traffic information may include traffic light information, lane information, and the like.

In addition, the communication unit 120 may receive navigation information from the server 500 and / or the mobile terminal 600. [ Here, the navigation information may include at least one of map information related to a vehicle running, lane information, vehicle location information, set destination information, and route information according to a destination.

In particular, the communication unit 120 can receive the real-time position of the vehicle 700 with the navigation information. For example, the communication unit 120 may include a GPS (Global Positioning System) module or a WiFi (Wireless Fidelity) module to acquire the position of the vehicle.

The communication unit 120 may also receive the running information of the other vehicle 510 from the other vehicle 510 and transmit the running information of the vehicle 700 to share the running information of the vehicle.

Here, the common vehicle running information may include at least one of direction information, position information, vehicle speed information, acceleration information, movement route information, forward / backward information, adjacent vehicle information, and turn signal information.

In addition, when the user is boarding the vehicle 700, the user's mobile terminal 600 and the vehicle driving assistant 100 may perform pairing with each other automatically or by execution of the user's application.

The communication unit 120 may exchange data with another vehicle 510, the mobile terminal 600, or the server 500 in a wireless manner.

More specifically, the communication unit can wirelessly communicate using a wireless data communication system. Wireless data communication schemes include, but are not limited to, technical standards or communication schemes for mobile communication (e.g., Global System for Mobile communications (GSM), Code Division Multi Access (CDMA), Code Division Multi Access 2000 (Enhanced Voice-Data Optimized or Enhanced Voice-Data Only), WCDMA (Wideband CDMA), HSDPA (High Speed Downlink Packet Access), HSUPA (Long Term Evolution), LTE Term Evolution-Advanced) or the like can be used.

In addition, the communication unit 120 may use a wireless Internet technology. For example, the wireless communication unit 120 may be a WLAN (Wireless LAN), a Wi-Fi (Wireless-Fidelity) (HSDPA), Long Term Evolution (LTE), Long Term Evolution (LTE), and Long Term Evolution (LTE). Term Evolution-Advanced).

In addition, the communication unit 120 may use short range communication, and may be a Bluetooth ™, a Radio Frequency Identification (RFID), an Infrared Data Association (IrDA), an Ultra Wideband (UWB) ), ZigBee, Near Field Communication (NFC), Wireless-Fidelity (Wi-Fi), Wi-Fi Direct and Wireless Universal Serial Bus (USB) technologies.

In addition, the vehicle driving assistant device 100 may exchange data with other vehicles and servers wirelessly by using a wireless communication module of the mobile terminal, by pairing with a mobile terminal inside the vehicle using a local communication method .

Next, the vehicle driving assistance apparatus 100 may include an interface unit 130 that receives vehicle-related data or transmits a signal processed or generated by the processor 170 to the outside.

In detail, the vehicle driving assistance apparatus 100 can receive at least one of the navigation information and the sensor information through the interface unit 130. [

The navigation information and the sensor information may be used as additional information for the processor 170 to detect the position of the notification target and the position of the target of the notification.

Further, the vehicle driving assistant device 100 can transmit a control signal for executing the vehicle driving assistant function, information generated in the vehicle driving assistant device 100, and the like through the interface unit 130. [

To this end, the interface unit 130 performs data communication with at least one of a control unit 770, an AVN (Audio Video Navigation) device 400 and a sensing unit 760 in the vehicle by a wired communication or a wireless communication method .

In detail, the interface unit 130 can receive the navigation information by the data communication with the control unit 770, the AVN apparatus 400 and / or the separate navigation apparatus.

The interface unit 130 may receive the sensor information from the control unit 770 or the sensing unit 760.

Here, the sensor information includes direction information of the vehicle 700, position information, vehicle speed information, acceleration information, tilt information, forward / backward information, fuel information, distance information to front and rear vehicles, distance information between the vehicle and the lane, And may include at least one or more of the information.

Also, the sensor information may include a heading sensor, a yaw sensor, a gyro sensor, a position module, a vehicle forward / backward sensor, a wheel sensor, a vehicle speed sensor, A vehicle body inclination sensor, a battery sensor, a fuel sensor, a tire sensor, a steering sensor by steering wheel rotation, a vehicle internal temperature sensor, a vehicle internal humidity sensor, and a door sensor. On the other hand, the position module may include a GPS module for receiving GPS information.

The interface unit 130 may receive a user input received through the user input unit 110 of the vehicle 700. The interface unit 130 may receive the user input from the input unit of the vehicle 700 or the control unit 770. [ That is, when the input unit is arranged in the vehicle itself, user input may be received through the interface unit 130. [

In addition, the interface unit 130 may receive the traffic information obtained from the server 500. The server 500 may be a server located in a traffic control station that controls traffic. For example, when traffic information is received from the server 500 through the communication unit 120 of the vehicle 700, the interface unit 130 may receive the traffic information from the control unit 770. [

Next, the memory 140 may store various data for operation of the vehicle driving assistant 100, such as a program for processing or controlling the processor 170. [

The memory 140 may store a plurality of application programs (application programs or applications), data for operation of the vehicle driving assistant 100, and commands that are driven by the vehicle driving assistant 100 . At least some of these applications may be downloaded from an external server via wireless communication. Also, at least some of these applications may reside on the vehicle driving assistance device 100 from the time of shipment for a basic function (e.g., vehicle driving assistance function) of the vehicle driving assistance device 100.

And this application program is stored in the memory 140 and can be driven by the processor 170 to perform the operation (or function) of the vehicle driving assistant device 100. [

In addition, the memory 140 may store various indicators (see FIG. 8B) to be displayed according to the notification status. For example, the memory 140 may store a virtual door image indicating a getting off situation, a slow-motion image, or an image of a note to match the getting-off situation.

Accordingly, the vehicle driving assistant 100 can search the memory 140 for an indicator image that matches the detected notification situation, and determine the indicator.

Meanwhile, the memory 140 may store data for object identification included in the image. For example, when a predetermined object is detected in the vehicle surroundings image acquired through the camera 160, the memory 140 may store data for confirming what the object corresponds to according to a predetermined algorithm .

 For example, when the image acquired through the camera 160 includes a predetermined object such as a lane, a traffic sign, a two-wheeled vehicle, or a pedestrian, the memory 140 may determine by the predetermined algorithm what the object corresponds to The data can be stored.

The memory 140 may be implemented in hardware, such as a flash memory type, a hard disk type, a solid state disk type, an SDD type (Silicon Disk Drive type) (RAM), a static random access memory (SRAM), a read-only memory (ROM), an EEPROM , electrically erasable programmable read-only memory (PROM), programmable read-only memory (PROM), magnetic memory, magnetic disk, and optical disk.

In addition, the vehicle driving assistance apparatus 100 may be operated in association with a web storage that performs a storage function of the memory 140 on the Internet.

Next, the monitoring unit 150 can acquire biometric information of the user.

In detail, the monitoring unit 150 can detect the operation of the user or the biometric information and obtain the monitoring information. The obtained monitoring information can be used in determining the notification status.

In detail, the monitoring unit 150 may acquire an image for biometrics of the user. That is, the monitoring unit 150 may include an image acquisition module disposed inside the vehicle.

For example, as shown in FIG. 3, the monitoring unit 150 may include a monitoring camera that captures an in-vehicle image, so that the inside of the vehicle can be photographed. The processor 170 processes the image photographed inside the vehicle and judges that the vehicle is in the getting off state when an operation to open the door is detected.

In addition, the monitoring unit 150 can directly detect the getting off situation by directly providing the door sensor DS on the door handle.

The biometric information detected by the monitoring unit 150 may include image information captured by the user, fingerprint information, iris-scan information, retina-scan information, geo-metry information, facial recognition information, and voice recognition information. The monitoring unit 150 may include a sensor for sensing the biometric information.

Next, the vehicle driving assistant device 100 may further include a sensor unit 150 for sensing an object around the vehicle.

As described above, the vehicle driving assistant device 100 may include a separate sensor unit 150 to sense peripheral objects, and may transmit sensor information obtained from the sensing unit 770 of the vehicle 700 itself, (130).

The sensor unit 150 may include a distance sensor 191 that senses the position of the object.

The distance sensor 191 can precisely detect the direction in which the object is separated from the vehicle 700, the distance, and the moving direction of the object. Also, the distance sensor 191 continuously measures the positional relationship with the sensed object, and can accurately detect a change in the positional relationship.

The distance sensor 191 may sense objects located at front, back, right, and left sides of the vehicle 700. To this end, the distance sensor 191 may be located at various positions of the vehicle 700. [

4, the distance sensor 191 may be disposed at a position of at least one of front, rear, left and right (191a, 191b, 191c, and 191d) and ceiling 191e of the body of the vehicle 700.

The distance sensor 191 may include various distance measuring sensors such as a lidar sensor, a laser sensor, an ultrasonic waves sensor, and a stereo camera.

For example, the real-world sensor may be a laser sensor, which uses a time-of-flight (TOF) or / and a phase-shift in accordance with a laser signal modulation method, Can be measured. More specifically, the time delay method can measure the distance between the object and the object by emitting a pulsed laser signal and measuring the time that the reflected pulse signals from the objects within the measurement range arrive at the receiver.

On the other hand, whether or not the object corresponds to the notification target and the attribute of the object for determining the notification status can be obtained by analyzing the image captured by the camera 160 by the processor 170.

To this end, the sensor unit 150 may include a camera 160.

More specifically, the vehicle driving assistance apparatus 100 may include a camera 160 for acquiring a vehicle surroundings image. Then, the acquired vehicle surroundings image can be detected by the processor 170 around the vehicle, and the property of the object can be detected to generate the image information.

Here, the image information may be included in the sensor information as at least one of the type of the object, the traffic signal information displayed by the object, the distance between the object and the vehicle, and the position of the object.

More specifically, the processor 170 generates image information by performing object analysis such as detecting an object in an image photographed through image processing, tracking an object, measuring a distance to the object, and checking an object .

In order for the processor 170 to perform object analysis more easily, the camera 160 may be a stereo camera that takes images and measures distances to objects in the captured images. However, the embodiment is not limited thereto.

The camera 160 may include an internal camera that captures the front of the vehicle and acquires a forward image within the vehicle.

The camera 160 may be provided at various positions outside the vehicle.

4, a plurality of cameras 160 may be disposed on at least one of the left, rear, right, front, and ceiling of the vehicle 700, respectively.

The left camera 160b may be disposed in a case surrounding the left side mirror. Alternatively, the left camera 160b may be disposed outside the case surrounding the left side mirror. Alternatively, the left camera 160b may be disposed in one area outside the left front door, the left rear door, or the left fender.

The right camera 160c may be disposed in a case surrounding the right side mirror. Or the right camera 160c may be disposed outside the case surrounding the right side mirror. Alternatively, the right camera 160c may be disposed in one area outside the right front door, the right rear door, or the right fender.

Further, the rear camera 160d can be disposed in the vicinity of the rear license plate or the trunk switch. The front camera 160a may be disposed in the vicinity of the ambulance or in the vicinity of the radiator grill.

The processor 170 may synthesize images photographed in all directions to provide an overview image of the vehicle 700 viewed from the top view. When the surrounding view image is generated, a boundary portion between each image area occurs. These boundary portions can be naturally displayed by image blending processing.

Further, the ceiling camera 160e may be disposed on the ceiling of the vehicle 700 to photograph all the front, rear, left, and right sides of the vehicle 700. [

Such a camera 160 may directly include an image sensor and an image processing module. The camera 160 may process still images or moving images obtained by an image sensor (e.g., CMOS or CCD). In addition, the image processing module may process the still image or the moving image obtained through the image sensor, extract required image information, and transmit the extracted image information to the processor 170.

In an embodiment, the sensor portion 150 may include a stereo camera including a distance sensor 191 and a camera 160. [ That is, the stereo camera can acquire the image and can sense the position of the object.

Hereinafter, with reference to FIGS. 5 to 7, a method for the processor 170 to detect positional information and image information using a stereo camera will be described in more detail.

5, the stereo camera 160 may include a first camera 160a having a first lens 163a, and a second camera 160b having a second lens 163b .

The stereo camera 160 further includes a first light shield 162a and a second light shield 162b for shielding light incident on the first lens 163a and the second lens 163b, And a part 162b.

This vehicle driving assistance apparatus 100 acquires a stereo image of the surroundings of the vehicle from the first and second cameras 160a and 160b, performs disparity detection based on the stereo image, Based on the information, object detection may be performed on at least one stereo image, and object motion may be continuously tracked after object detection.

6, the processor 170 in the vehicle driving assistance apparatus 100 includes an image preprocessing unit 410, a disparity computing unit 420, an object detecting unit 434 An object tracking unit 440, and an application unit 450. 5 and FIG. 5, an image is processed in the order of an image preprocessing unit 410, a disparity computing unit 420, an object detecting unit 434, an object tracking unit 440, and an application unit 450, But is not limited to.

An image preprocessor 410 may receive an image from the camera 160 and perform preprocessing.

Specifically, the image preprocessing unit 410 may perform a noise reduction, a rectification, a calibration, a color enhancement, a color space conversion (CSC Interpolation, camera 160 gain control, and the like. Accordingly, a clearer image than the stereo image captured by the camera 160 can be obtained.

The disparity calculator 420 receives the image signal processed by the image preprocessing unit 410, performs stereo matching on the received images, and performs disparity calculation based on stereo matching, A disparity map can be obtained. That is, it is possible to obtain the disparity information about the stereo image with respect to the front of the vehicle.

At this time, the stereo matching may be performed on a pixel-by-pixel basis of stereo images or on a predetermined block basis. On the other hand, the disparity map may mean a map in which binaural parallax information of stereo images, i.e., left and right images, is numerically expressed.

The segmentation unit 432 may perform segmenting and clustering on at least one of the images based on the disparity information from the disparity calculating unit 420. [

Specifically, the segmentation unit 432 can separate the background and the foreground for at least one of the stereo images based on the disparity information.

For example, an area having dispaly information within a disparity map of a predetermined value or less can be calculated as a background, and the corresponding part can be excluded. Thereby, the foreground can be relatively separated. As another example, an area in which the dispetity information is equal to or greater than a predetermined value in the disparity map can be calculated with the foreground, and the corresponding part can be extracted. Thereby, the foreground can be separated.

Thus, by separating the foreground and the background based on the disparity information information extracted based on the stereo image, it becomes possible to shorten the signal processing speed, signal processing amount, and the like at the time of object detection thereafter.

Next, the object detector 434 can detect the object based on the image segment from the segmentation unit 432. [

That is, the object detecting unit 434 can detect an object for at least one of the images based on the disparity information.

More specifically, the object detecting unit 434 can detect an object for at least one of the images. For example, an object can be detected from a foreground separated by an image segment.

The object verification unit 436 then classifies and verifies the isolated object.

For this purpose, the object identifying unit 436 identifies the objects using a neural network identification method, a SVM (Support Vector Machine) method, a AdaBoost identification method using a Haar-like feature, or a Histograms of Oriented Gradients (HOG) Technique or the like can be used.

On the other hand, the object checking unit 436 can check the objects by comparing the objects stored in the memory 140 with the detected objects.

For example, the object identifying unit 436 can identify nearby vehicles, lanes, roads, signs, hazardous areas, tunnels, etc., located in the vicinity of the vehicle.

The object tracking unit 440 may perform tracking on the identified object. For example, it sequentially identifies an object in the acquired stereo images, calculates a motion or a motion vector of the identified object, and tracks movement of the object based on the calculated motion or motion vector . Accordingly, it is possible to track nearby vehicles, lanes, roads, signs, dangerous areas, tunnels, etc., located in the vicinity of the vehicle.

Next, the application unit 450 can calculate the risk of the vehicle and the like based on various objects located in the vicinity of the vehicle, for example, other vehicles, lanes, roads, signs and the like. It is also possible to calculate the possibility of a collision with a preceding vehicle, whether the vehicle is slipping or the like.

Then, the application unit 450 can output a message or the like for notifying the user to the user as vehicle driving assistance information, based on the calculated risk, possibility of collision, or slip. Alternatively, a control signal for attitude control or running control of the vehicle may be generated as the vehicle control information.

The object preprocessing unit 440 and the application unit 450 are connected to the processor 440. The image processing unit 410, the dispatcher unit 420, the segmentation unit 432, the object detection unit 434, the object verification unit 436, (See FIG. 31) in the image processing unit 170 shown in FIG.

The processor 170 includes an image preprocessing unit 410, a disparity computing unit 420, a segmentation unit 432, an object detection unit 434, an object verification unit 436, an object tracking unit 440, and an application unit 450. [0040] For example, when the camera 160 is composed of the mono camera 160 or the surround view camera 160, the disparity calculating unit 420 may be omitted. Also, according to the embodiment, the segmentation section 432 may be omitted.

Referring to FIG. 7, during the first frame period, the camera 160 may acquire a stereo image.

The disparity calculating unit 420 in the processor 170 receives the stereo images FR1a and FR1b signal-processed by the image preprocessing unit 410 and performs stereo matching on the received stereo images FR1a and FR1b And obtains a disparity map (520).

The disparity map 520 is obtained by leveling the parallax between the stereo images FR1a and FR1b. The higher the disparity level is, the closer the distance is from the vehicle, and the smaller the disparity level is, It is possible to calculate that the distance is long.

On the other hand, when such a disparity map is displayed, it may be displayed so as to have a higher luminance as the disparity level becomes larger, and a lower luminance as the disparity level becomes smaller.

In the figure, first to fourth lanes 528a, 528b, 528c, and 528d have corresponding disparity levels in the disparity map 520, and the construction area 522, the first front vehicle 524 ) And the second front vehicle 526 have corresponding disparity levels, respectively.

The segmentation unit 432, the object detection unit 434 and the object identification unit 436 determine whether or not the segments, the object detection, and the object detection information for at least one of the stereo images FR1a and FR1b based on the disparity map 520 Perform object verification.

In the figure, using the disparity map 520, object detection and confirmation for the second stereo image FRlb is performed.

That is, the first to fourth lanes 538a, 538b, 538c, and 538d, the construction area 532, the first forward vehicle 534, and the second forward vehicle 536 are included in the image 530, And verification may be performed.

With the image processing as described above, the vehicle driving assistant device 100 can accurately sense what objects are nearby, where they are located, and the like by using the sensor unit 150. Thus, the vehicle driving assistant device 100 can detect whether or not the notification is necessary, and can detect the notification destination, and can detect the notification information to be displayed to the notification destination.

In addition, the vehicle driving assistant device 100 may include an output unit for outputting notification information on the notification status to the inside and outside of the vehicle 700. [

In addition, when the vehicle driving assistant device 100 needs to be notified of the inside or the outside of the vehicle, the vehicle driving assistant device 100 may display an indicator through the display unit or output an audio signal to notify the inside / outside notification target.

To this end, the output unit may include an indicator output unit 181, a display unit 183, and an audio output unit 185.

First, the indicator output unit 181 can display the indicator as a light source outside the vehicle. For example, the indicator output unit 181 can display an indicator by irradiating a laser on the road surface so that an image of the indicator is formed on the road surface.

The indicator output unit 181 may display an indicator on at least one area around the vehicle.

Hereinafter, an indicator display method of the indicator output unit 181 will be described in more detail with reference to FIG.

In detail, the indicator output unit 181 includes a plurality of indicator output units and is arranged to illuminate the vehicle 700 with laser beams at different positions, so that the indicator can be displayed on all the front, rear, left and right regions UA of the vehicle .

8A, a first indicator output 181a is arranged near the left head lamp of the vehicle, a second indicator output 181b is arranged on the left side body of the vehicle, and a third indicator By disposing the output section 181c, an indicator can be outputted in the upper and lower regions on the left side of the vehicle.

A fourth indicator output 181d is disposed near the right head lamp of the vehicle 700. A fifth indicator output 181e is disposed on the right side body of the vehicle and a sixth indicator output 181e is provided near the right tail lamp. By arranging the portion 181f, it is possible to output the indicator to the upper right and lower regions of the vehicle.

The indicator output units can display the indicator around the vehicle by irradiating laser beams to the arranged positions.

In addition, the seventh indicator output section 181g may be disposed on the ceiling of the vehicle to display an indicator in all areas of the vehicle in front, rear, left, and right.

The plurality of indicator output units 181 may display an indicator not only in the front and rear of the vehicle but also in the left and right regions, and display the indicator at an appropriate position according to the positional relationship with the notification target.

For example, when getting off the passenger, an indicator indicating the getting off is displayed in the direction of getting off, thereby informing the outside of the getting off situation, thereby leading to a safe getting off.

That is, the plurality of indicator output units 181 can display the indicator in the visual field of the notification target.

Accordingly, the indicator output unit 181 can improve the indicator discriminating power by displaying the indicator in the area corresponding to the change in the positional relationship with the notification target.

For example, the indicator output unit 181 may output an indicator to the left side area of the vehicle to display the indicator in the view area of the notification target, and the moving direction of the notification target may be If it changes to the right side, the indicator can be displayed in the rear or rear right area of the vehicle.

The arrangement of the above-described indicator output units is an example, and it is possible to arrange various indicator output units capable of displaying indicators on the front, rear, left and right sides of the vehicle as in the other embodiments including only a part of the above indicators.

The indicator output unit 181 may display an indicator including various images. That is, the indicator output unit 181 can display an indicator for displaying different images according to the situation, and can transmit accurate notification information to the notification target.

 The indicator output unit 181 may display an indicator including a symbol image indicating notification information.

For example, referring to FIG. 8B, various indicator images (a to d) indicating the state of attention can be included in the indicator so that the notification partner intuitively recognizes the dangerous situation.

In addition, the indicator output unit 181 may display a text image including a shortened notification status in an indicator.

For example, referring to FIG. 8B, the indicators include a symbol image (e) indicating a recommended speed, an indicator (f) containing a caution symbol image and a text image having a small size, a symbol image An indicator (g, h) including a text image, an indicator (f) including a symbol image and a text image warning the getting-off situation, a symbol image indicating a state of attention and an indicator ), So that the notification party knows exactly what the state of the alert is.

That is, the indicator output unit 181 can display an indicator having an image suitable for each situation on the outside, and can effectively transmit the notification information to the notification partner.

In addition, the indicator output unit 181 can output a plurality of indicators simultaneously.

More specifically, the indicator output unit 181 may display indicators in different areas around the vehicle.

For example, when there are a plurality of notification destinations, an indicator may be displayed in each of them, and different indicators may be displayed depending on the status of the notification target.

For example, referring to FIG. 8C, when the driver detects a driver getting off state and outputs an indicator, the indicator output unit 181 displays a first indicator I1 indicating a departure to the driver's left side, The second indicator I2 is displayed behind the first indicator I1 for the attention of the first notification object approaching the rear and the third indicator I3 is displayed behind the vehicle for the attention of the second notification object approaching the rear. Can be displayed simultaneously.

That is, the indicator output unit 181 may display different indicators at various areas at the same time and display different notification information for each location.

In addition, the indicator output unit 181 may display the same indicator in various sizes.

For example, the indicator output unit 181 can display the indicator large when the object of notification is far away, and display the indicator small when the object of notification is close, thereby improving the discrimination power.

At this time, the single indicator output unit 181 may display indicators at various sizes.

 Alternatively, the plurality of indicator output units 181 may simultaneously display an indicator, thereby displaying a large indicator.

When a large indicator is displayed using a plurality of indicator output units 181, the indicator can be displayed with a high output, respectively, so that the brightness of the indicator can be increased to improve discrimination power.

For example, referring to FIG. 8D, the fourth indicator output section 181d displays a first partial indicator I4 'above the right side of the vehicle, and the fifth indicator output section 181e displays a first partial indicator I4' And the sixth indicator output 181f may indicate a third partial indicator I4 '' 'on the lower right side of the vehicle. The first to third partial indicators I4 ', I4' 'and I4' '' represent a single fourth indicator I4 as a whole, and can output a large indicator I4.

Conversely, when a small indicator is displayed, a small indicator can be displayed by operating only a part of the fourth to sixth indicator output sections 181d, 181e and 181f.

Accordingly, the indicator output unit 181 may display an indicator of a size suitable for the visual field of the notification target by gradually decreasing the indicator size as the notification target approaches from a distance.

In addition, the indicator output unit 181 can display an indicator in a direction away from the notification target. At this time, the indicator output unit 181 can display the indicator after correcting the phase in consideration of the visual field of the notification target.

8E, a fifth indicator I5 may be displayed on the rear side for the first notification object O1 located at the rear, and a second indicator object O5 may be displayed for the second notification object O2 located on the rear right side, The sixth indicator I6 can be displayed together.

And the fifth to sixth indicators I5 and I6 may be displayed in different phases, respectively. For example, the first notification target O1 detects that the first notification target O1 moves forward, detects that the first notification target O1 is ahead of the first notification target O1, and accordingly the fifth indicator O5 May be displayed so as to be the forward direction.

Further, the second notification target O2 senses that the second notification target O2 moves to the left forward direction, detects that the visual area of the second notification target O2 is the left front, and accordingly, the phase of the sixth indicator I6 is shifted leftward .

That is, the indicator output unit 181 can display the indicator by setting the moving direction of the notification target as the phase direction. If the moving direction of the notification target changes, the indicator can also be displayed by changing the phase.

On the other hand, the output unit 190 can output information about an indicator displayed on the outside, setting information and the like to the interior of the vehicle, and can also notify the inside of the notification information.

To this end, the output unit 190 may include a display unit 183 and an audio output unit 185.

First, the display unit 183 can display an indicator indicating the notification status inside the vehicle.

The display unit 183 may include a plurality of display units.

9, the display unit 183 may include a first display unit 183a for projecting and displaying a seventh indicator I7 on a windshield W of the vehicle 700 .

That is, the first display 183a may be a head up display (HUD), and may include a projection module that projects an image on the windshield W. Also, the projection image projected by the projection module has a certain transparency, and the user can simultaneously view the projected image and the projected image.

The projection image displayed on the first display portion 183a overlaps with the projection image projected on the windshield W to form an augmented reality (AR).

The display unit 183 may include at least one second display 183b that displays an eighth indicator I8 in the side glass G. [

The second display 183b displays the image on the left side glass, the image on the right side glass, the image on the rear left side glass, and the image on the rear right side glass, on the basis of the driver's seat .

That is, the second display 183b may display an indicator at the position of the occupant. The second display 183b may display the access of the external moving object to the passenger on the getting off side by an indicator.

In addition, the display unit 183 may include a third display unit 183c separately installed inside the vehicle for displaying an image.

More specifically, the third display unit 183c may be a display of the vehicle navigation apparatus or a cluster on the vehicle interior front side.

The third display portion 183c may be a liquid crystal display (LCD), a thin film transistor-liquid crystal display (TFT LCD), an organic light-emitting diode (OLED) And may include at least one of a flexible display, a 3D display, and an e-ink display.

The third display unit 183c may be combined with a touch input unit to form a touch screen.

In addition, the vehicle driving assistance apparatus 100 may further include an audio output unit 185 and a power supply unit 145.

In detail, the audio output unit 185 can output a message for confirming the function of the vehicle driving assistant device 100, whether or not the function of the vehicle driving assistant device 100 is executable, and notification information through audio. That is, the vehicle driving assistant device 100 can supplement the description of the function of the vehicle driving assistant device 100 through visual output through the display portion 183 and sound output of the audio output portion 185 have.

For example, referring to FIG. 9, the audio output unit 185 may output a beep warning sound together with an indicator I8 indicating the departure warning information in the getting off state, thereby improving the delivery power for the notification information.

In addition, the power supply unit 145 may receive external power and internal power under the control of the processor 170 to supply power necessary for operation of the respective components.

Finally, the vehicle driving assistance apparatus 100 may include a processor 170 that controls the overall operation of each unit in the vehicle driving assistance apparatus 100. [

In addition, processor 170 may control at least some of the components discussed with FIG. 3 to drive the application program. Further, the processor 170 may operate at least two of the components included in the vehicle driving assistant device 100 in combination with each other for driving the application program.

Such a processor 170 may be implemented in hardware as application specific integrated circuits (ASICs), digital signal processors (DSPs), digital signal processing devices (DSPDs), programmable logic devices (PLDs), field programmable gate arrays (FPGAs) 170 may be implemented using at least one of processors, controllers, micro-controllers, microprocessors 170, and electrical units for performing other functions.

The processor 170 may be controlled by the control unit or may control various functions of the vehicle 700 through the control unit.

In addition to the operations associated with the application programs stored in the memory 140, the processor 170 typically controls the overall operation of the vehicle driving assistance system 100. [ Processor 170 may provide or process appropriate information or functionality to a user by processing signals, data, information, etc., input or output through the components discussed above, or by driving application programs stored in memory 170.

Hereinafter, with reference to FIG. 10, a method by which a processor controls each unit to display an indicator will be described in more detail.

First, the processor 170 can sense the object through the sensor unit 190. [ (S101)

For example, the processor 170 may image-process an image acquired by the camera 160 to detect an attribute of an object included in the image. Further, the positional relationship of the object can be detected through the distance sensor 191. [

Further, the processor 170 can acquire more information such as communication information, sensor information, monitoring information, and navigation information from each unit.

Next, the processor 170 may determine whether the detected object is a notification target. (S103)

In detail, the processor 170 can determine whether the detected object is the notification target from the acquired information.

For example, the processor 170 can set a notification target when the object detected in the image information is another vehicle, a pedestrian, or a motorcycle.

The processor 170 may then detect the notification condition.

For example, the processor 170 may determine a notification condition when detecting a down-state, a back-up state, a stop state, an intersection entry state, a situation in which a collision risk is detected, and an indicator display request in the above-described information.

The processor 170 may determine that notification is required when the notification target and the notification condition are detected.

However, the present invention is not limited to this, and in the case where only the notification situation is detected, the unconditional indicator may be displayed.

If a notification condition is detected, the processor 170 may determine notification information. (S105)

Here, the notification information means a content to be transmitted to the notification target.

The processor 170 may determine the indicator according to the notification information. (S107)

In detail, the processor 170 can search the memory 140 or the external server 500 for an indicator matched with the notification status to determine an indicator to be displayed.

For example, if the alert information is information about a situation in which the boarding person is getting off, the processor 170 may extract an indicator including an image indicating the getting off, getting off direction and attention. More specifically, the indicator may be an indicator including a symbol image representing a door shape and a text image " getting off ".

Such an indicator may include a symbol image symbolically indicating the notification status or / and text briefly indicating notification information.

The processor 170 may determine the display method of the indicator according to the positional relationship of the notification target, and thereby control the indicator output unit to display the indicator. (S109)

In detail, the processor 170 may determine at least one of the indicator display position, size, brightness, saturation, color, phase, and indicator image according to the positional relationship with the notification target to improve the indicator discriminating power.

For example, the processor 170 can determine the position of the display area at a position corresponding to the separation direction and the movement direction of the notification target. In addition, the processor 170 can determine the size of the display area according to the distance from the notification target. In addition, the processor 170 may determine the phase of the indicator according to the movement direction of the notification target, and control the indicator to be displayed according to the determined display position, display area, size, and phase.

Next, the processor 170 can detect a change in the positional relationship of the notification target. (S111)

For example, the processor 170 detects the change in at least one of the separation direction, the separation distance, and the movement direction by moving the notification target or the present vehicle 700 via the distance sensor 191, can do.

When the positional relationship with the notification destination changes, the processor 170 can control the indicator output section to change the indicator display method accordingly.

In detail, the processor 170 can change the position of the indicator display area accordingly and display it when the separation direction of the notification target is changed.

For example, as the notification target moves from the left to the right gradually, the processor 170 may move the display area from left to right to control the indicator so that the indicator is displayed in the visual field of the notification target.

In addition, the processor 170 may display at least one of the size, the brightness, and the saturation of the indicator by changing the distance of the notification target.

For example, the processor 170 may reduce or gradually reduce the size of the indicator to keep the indicator corresponding to the visual area of the notification target when the notification target is getting closer.

In addition, the processor 170 may increase the saturation of the indicator gradually when the target of the notification is getting closer, so that the notification target intuitively recognizes the warning meaning.

In addition, the processor 170 may change the image of the indicator itself when the target of the notification is getting closer. If the symbol image is difficult to display as the display area is reduced due to the distance between the indicator and the vehicle, the indicator image corresponding to the reduced area can be displayed.

In addition, when the notification status is changed according to the change in the distance between the indicator and the vehicle, an indicator image corresponding to the changed notification status can be displayed.

Hereinafter, with reference to Figs. 11 to 14, a method for displaying the indicator by the vehicle driving assistant 100 will be described in detail with reference to specific embodiments.

11, there is a risk that the door of the vehicle 700 and the motorcycle O may collide if the motorcycle O is moved in the rear of the vehicle when the passenger gets off and the passenger can not recognize the motorcycle.

Further, when another vehicle is located behind the vehicle 700, there is a problem that the vehicle can not travel smoothly due to unexpected start. When the vehicle driving assistant 100 detects such a getting off situation, it can prevent an accident through a proper indicator output and induce a smooth running environment.

Referring to FIG. 11, the vehicle driving assistant 100 can sense a getting off situation. For example, when the vehicle driving assistant 100 detects an unloading operation in the image acquired by the monitoring unit 150, the vehicle driving assistant 100 may sense the unloading condition.

Further, the vehicle driving assistant device 100 may detect that the passenger touches the door handle through the door sensor DS, and may detect that the vehicle is in the getting off situation.

In addition, the vehicle driving assistant (100) can detect that the vehicle is stopped and arrive at a destination and detect that the vehicle is stopped.

The vehicle driving assistant device 100 can determine the display area to correspond to the visual field of the notification target according to the positional relationship between the notification target and the present vehicle 700. [

12A, the positional relationship d1 with respect to the notification object O may include the separation distance and the separation direction and the movement direction D1 of the notification object O. FIG.

The indicator display area DA1 may be determined so as to correspond to the positional relationship d1 of the notification object O. [

In detail, since the view area of the notification object O having the first distance d1 on the right rear side and moving forward is the right area on the basis of the vehicle, the right area of the vehicle can be determined as the indicator display area DA1 .

This display area can be changed according to the change of the positional relationship d1 with the notification object O. [ For example, when the notification object O moves from the rear left side to the right side of the vehicle, the indicator display area DA1 may move from the left side area to the right side area through the rear area as the vehicle moves.

In addition, the vehicle driving assistant apparatus 100 can determine the indicator size according to the separation distance from the notification target, and can control the indicator size to change as the separation distance changes.

For example, referring to FIG. 12B, when the distance between the vehicle and the notification object O is the first distance d1, the vehicle driving assistant 100 determines the size of the indicator according to the first distance d1 . The vehicle driving assistant 100 controls the fourth to sixth indicator output sections 181d, 181e and 181f in order to allow the notification object O to identify the indicator as the first distance d1 is too long The first indicator i1 having the first size can be displayed.

12D, when the vehicle approaches the notification destination O and changes to a second separation distance d2 that is smaller than the first separation distance d1, the vehicle driving assistant 100 changes the second separation distance d2 ), The size of the indicator can be determined. That is, the indicator size can be reduced so that the notification destination O that is close to the vehicle can identify the entire indicator.

For example, the vehicle driving assistance apparatus 100 may control the fifth to sixth indicator output units 181e and 181f to display a third indicator i3 having a second size smaller than the first size

12E, when the distance between the vehicle and the notification object O becomes closer to the third distance d3, which is smaller than the second distance d2, the vehicle driving assistant 100 may shift the second distance d3). < / RTI > That is, since the notification object O is close to the vehicle, the indicator size can be reduced to allow the notification object O to identify the entire indicator.

For example, the vehicle driving assistance apparatus 100 may control the sixth indicator output 181f to display a fourth indicator i4 having a third size smaller than the second size.

At this time, it may be difficult to display the existing first and third indicators i1 and i2. I3 according to decreasing the indicator size. In order to prevent this, the vehicle driving assistant apparatus 100 may control to display and change the fourth indicator i4 that can display the indicator to a predetermined size or less.

In addition, the vehicle driving assistant apparatus 100 may detect the notification information differently as the separation distance changes, and change the indicator to match the notification information.

For example, referring to FIG. 12F, the vehicle driving assistant device 100 may be configured such that the notification destination O is quickly moved to the vehicle 100 when the stopping operation of the vehicle occupant is detected, I5 < / RTI > indicating the recommended route so as to pass through the side of the vehicle. At this time, the vehicle driving assistant apparatus 100 controls the fifth indicator i5 to change to green and display the fourth indicator i4 in a different color in red so that the notification destination O changes the notification information Can be intuitively recognized.

On the other hand, the vehicle driving assistant device 100 may display a plurality of indicators for one notification object O to control to display more notification information.

For example, referring to FIG. 12C, the vehicle driving assistant device 100 displays a first indicator i1 indicating a departure warning in the left area of the vehicle, and a second indicator i1 indicating a backward route in the rear area of the vehicle i2 to indicate that the notification destination O can smoothly run through the detour route.

Then, the vehicle driving assistant device 100 can change the display area as the separation direction or the moving direction of the notification target changes. At this time, since the positional relationship between the vehicle driving assistant device 100 and the notification target has changed, if it is determined that the notification condition has changed, the indicator image can also be changed.

12G, the vehicle driving assistant device 100 can determine the right area of the vehicle as the fourth display area DA4 since the notification object O has moved to the right rear of the vehicle. Then, it is determined that the notification destination O has been transferred to the right rear side, and the vehicle driving assistant device 100 can control to display the sixth indicator i6 indicating the audit by changing it.

On the other hand, the vehicle driving assistant device 100 can also output notification information to the inside of the vehicle, and can transmit the notification information to the passenger.

Referring to FIG. 13, the monitoring unit 150 may detect that a passenger located on the right rear side is located on the driver's side and the passenger intends to get off. Since the notification object O approaches the right rear of the vehicle, it is preferable to output the notification information to the passenger.

Accordingly, the vehicle driving assistant device 100 can output notification information to the inside of the vehicle through the display unit and the audio output unit 190. [

More specifically, referring to FIG. 14A, the vehicle driving assist system 100 can control the first display unit 181a to display a seventh indicator i7 indicating that there is a moving object approaching from the right rear side.

14B, the vehicle driving assistant device 100 displays an eighth indicator i8 indicating that there is a moving object approaching from the rear to the right rear side glass of the vehicle, and the audio output unit 185 Can output beep alarms and audio messages.

In summary, the vehicle driving assistant device 100 displays an indicator to indicate proper notification information in and out of the vehicle according to the positional relationship with the notification target in the getting off state, thereby reducing the risk of collision with the notification target, , The notification destination can assist the smooth running.

Hereinafter, another specific embodiment will be described with reference to Figs. 15 to 16. Fig.

15, there is a risk of collision when the object O moves to the side of the vehicle 700 when the vehicle 700 is reversed.

Accordingly, the vehicle driving assistant device 100 displays an appropriate indicator according to the positional relationship with the notification target when the vehicle is backward, thereby assisting safe and smooth travel.

When the vehicle driving assistant (100) detects the reverse gear signal from the sensor information, the vehicle driving assistant (100) can determine that the vehicle is in the backward state and can search for the indicator accordingly. For example, the vehicle driving assistant 100 can extract an indicator indicating a backward direction and a backward direction, or an indicator indicating a recommended route.

Then, the vehicle driving assistant device 100 can determine the indicator display method according to the positional relationship with the notification target after detecting the notification target.

More specifically, the vehicle driving assistant 100 can determine the indicator display area and the phase according to the backward direction of the vehicle, the position of the notification target, and the moving direction. For example, an area where the vehicle backward direction intersects with the notification object can be determined as the indicator tenth display area DA10.

The indicator phase can be corrected in consideration of the viewing direction of the notification target.

Referring to FIG. 16A, when the vehicle driving assistant device 100 detects that the notification object O is moving in the leftward direction, the vehicle driving assistant device 100 displays the moving direction in the viewing direction, Can be determined.

When the vehicle driving assistant (100) senses that the positional relationship changes according to the movement of the vehicle, the phase can also be corrected accordingly.

16B, the vehicle driving assist system 100 can fix the phase of the previous tenth indicator i10 even if the backward direction of the vehicle 700 is changed. That is, the vehicle driving assist system 100 can control the phase so that the notification object O sees the tenth indicator i10 of the same phase irrespective of the vehicle movement.

In addition, when the vehicle driving assistant device 100 detects that the positional relationship is changed in accordance with the movement of the notification object O, the vehicle driving assistant device 100 can correct the phase accordingly.

Referring to FIG. 16C, the vehicle driving assistant device 100 can control the phase of the eleventh indicator i11 to be displayed in the left rear direction as the moving direction of the notification target O is changed to the left rear direction have.

Further, when the vehicle driving assistant device 100 detects that the positional relationship is changed in accordance with the movement of the notification object O, the indicator information may be changed accordingly to change the indicator image.

Referring to FIG. 16D, when the vehicle driving assistant device 100 decreases the distance from the notification target and detects that the vehicle is stopped, the vehicle driving assistant device 100 can control to display the twelfth indicator i12 indicating the recommended route have.

16E, if the vehicle driving assistance device 100 detects that the vehicle does not stop the backward movement despite the decrease in the separation distance d14 from the notification destination O, the 13th indicator (i13) to be displayed.

That is, when the vehicle driving assistant device 100 is in the backward state, the indicator is appropriately changed and displayed according to the positional relationship with the notification destination, thereby reducing the risk of collision and assisting smooth running between the notification destination O and the vehicle have.

Hereinafter, another specific embodiment will be described with reference to Fig.

The vehicle driving assistant device 100 can determine and display an indicator display method so that all of the plurality of notification objects O are recognized when the plurality of notification objects O are detected.

More specifically, the vehicle driving assistant apparatus 100 can display one indicator that can be identified by a plurality of notification targets when the positional relationships of the plurality of notification targets are similar.

For example, referring to FIG. 17A, the vehicle driving assistant device 100 detects that the first notification target O1 and the second notification target O2 are located at the rear of the vehicle 700 and the moving direction is forward , The rear area of the vehicle 700 can be designated as the display area by viewing the same area of view of the first notification object O1 and the second notification object O2. Then, the vehicle driving assistant device 100 may display a twentieth indicator i20 in the designated display area to deliver the attention message to the notification objects O1 and O2.

Further, when the vehicle driving assistant device 100 detects that the positional relationship of the plurality of notification objects is different, it is possible to display an indicator on each of the plurality of notification objects.

17B, the vehicle driving assist system 100 includes a first notification object O1 that moves forward from the rear of the vehicle 700 and a second notification object O1 that moves forward from the left side of the vehicle 700 When the second notification object O2 is detected, the twenty-first indicator i21 is displayed according to the positional relationship with the first notification object O1 and the twenty-second indicator i21 is displayed according to the positional relationship with the second notification object O i22 can be displayed.

In addition, the vehicle driving assistant device 100 may control to display a plurality of different indicators by different display methods in order to control the plurality of notification objects to display different notification information according to the notification status.

For example, referring to FIG. 17C, the vehicle driving assistant device 100 may include a twenty-third and a twenty-fourth indicators i23 and i24 indicating the descent attention information for the first notification object O1 moving behind the vehicle lane, Can be controlled to be displayed on the left side of the vehicle. Further, the vehicle driving assistant device 100 can control the second notification object O2 moving from the rear of the same lane to display the twenty-fifth indicator i25 indicating the stopping attention information on the rear of the vehicle.

In addition, when the vehicle driving assistant device 100 detects a risk of collision of a plurality of objects, it may indicate an indicator indicating a risk of collision for at least one notification object O.

For example, referring to FIG. 17D, the vehicle driving assistant device 100 includes a first notification target O1 that moves from the upper left of the vehicle to the right, a second notification target O1 that moves forward from the right rear of the vehicle, It is possible to control to display the 26th indicator i26 indicating the overtaking prohibition to the second notification target O2.

In addition, the vehicle driving assistant device 100 can display an indicator indicating change of lane on the change lane side at the time of entering the intersection, thereby alerting the vehicle traveling in the change lane.

18, when the vehicle driving assistance apparatus 100 detects that the vehicle has entered the highway, it can control to display the 27th indicator i27 indicating the vehicle entry attention on the highway side before entering the vehicle.

In addition, the vehicle driving assistant apparatus 100 can control the indicator to be displayed through various means through the communication unit 120. [

19A, the vehicle driving assistant device 100 transmits a signal to the notification destination O entering the intersection through the communication unit 120 to inform the traffic system 500 located at the intersection of the intersection, Information can be transmitted through the communication unit 120 so that the traffic system 500 can control to display the thirtieth indicator i30 in the visual area of the notification object O. [

When the vehicle driving assistant device 100 receives the indicator display request signal through the communication unit 120, the vehicle driving assistant device 100 may control to display the indicator according to the display request.

For example, referring to FIG. 19B, when the first vehicle 510_1, the second vehicle 510_2, and the vehicle are traveling in this order, a state of caution is detected on the first vehicle 510_1, And may request the second vehicle 510_2 to display a caution indicator. Then, the second rider 510_2 may display a caution indicator and request the vehicle to request a caution indicator display. The vehicle driving assistant 100 can receive the indicator display request through the communication unit 120 and control the display unit 40 to display the 40th indicator i40 according to the display request.

At this time, the vehicle driving assistant device 100 may display the indicator display request information in the vehicle. 19C, the vehicle driving assist system 100 can control the display unit 183a to display the 41st indicator i41 indicating the attention information, the bypass information, and the recommended speed information.

On the other hand, the vehicle driving assistant device 100 may control the other vehicle to display the indicator. That is, the vehicle driving assistant device 100 may transmit an indicator display request to the other vehicle through the communication unit 120 to control the other vehicle to display the indicator.

For example, referring to FIG. 20, the vehicle driving assistant device 100 transmits a display request of the forty-second indicator (i42) indicating the attention information to another vehicle near the notification target O through the communication unit 120 , So that the other vehicle 510 can display the 42nd indicator i42 in accordance with the display request.

On the other hand, the vehicle driving assistant device 100 can output the notification information to assist in getting off the vehicle even when the notification object O is not present.

21A, when the vehicle driving assistance device 100 detects an obstacle H around the vehicle in the vehicle getting off state, it can display the fifty indicator i50 indicating the attention of the obstacle H position have. This can lead to safe getting off of the getting off passengers.

21B, the vehicle driving assist system 100 may display the fifty-first indicator i51 indicating that there is an obstacle in the first display portion 183a, and the second display portion 183b And an audio output unit 190 to output an obstacle warning beep alarm and a message.

On the other hand, the vehicle driving assistant device 100 can output predetermined notification information when the obstacle is another vehicle.

22A, when the driver's driving assistance apparatus 100 detects that the getting-off interval d30 is equal to or shorter than the predetermined interval, the vehicle driving assistant 100 notifies the audio output unit 190 or the display unit 183 ). ≪ / RTI >

Also, referring to FIG. 22B, the vehicle driving assistant device 100 can control the door of the vehicle not to be opened beyond the getting off interval d30. For example, the vehicle driving assistant apparatus 100 may transmit a vehicle door locking signal through the interface unit 130, and may transmit a signal to lock the door so that the vehicle does not open the door at an unloading interval d30.

Further, referring to Fig. 22C, the vehicle driving assistant device 100 can detect that the vehicle door hits an obstacle such as a curb as the vehicle tilts. At this time, referring to FIG. 22D, the vehicle driving assistant 100 may display a fifty indicator i50 indicating that there is an obstacle H on the first display, thereby inducing the driver to stop another area. Further, it is possible to output a warning to the passenger who is going to get off via the second display or the audio output unit 190, warning that there is an obstacle.

Referring to Fig. 23, the above-described vehicle driving assistant device 100 may be included in the vehicle.

The vehicle 700 includes a communication unit 710, an input unit 720, a sensing unit 760, an output unit 740, a vehicle driving unit 750, a memory 730, an interface unit 780, a control unit 770, A power source unit 790, a vehicle driving assistant apparatus 100, and an AVN apparatus 400. [ Here, the unit of the vehicle driving assistant device 100 and the unit of the vehicle 700 are described as being provided in the vehicle, but the present invention is not limited thereto.

The communication unit 710 may include one or more modules that enable wireless communication between the vehicle and the mobile terminal 600, between the vehicle and the external server 510, or between the vehicle and the other vehicle 520. [ In addition, the communication unit 710 may include one or more modules that connect the vehicle to one or more networks.

The communication unit 710 may include a broadcast receiving module 711, a wireless Internet module 712, a local area communication module 713, a location information module 714, and an optical communication module 715.

The broadcast receiving module 711 receives broadcast signals or broadcast-related information from an external broadcast management server through a broadcast channel. Here, the broadcast includes a radio broadcast or a TV broadcast.

The wireless Internet module 712 is a module for wireless Internet access, and can be built in or externally mounted in a vehicle. The wireless Internet module 712 is configured to transmit and receive wireless signals in a communication network according to wireless Internet technologies.

Wireless Internet technologies include, for example, WLAN (Wireless LAN), Wi-Fi (Wireless Fidelity), Wi-Fi (Wireless Fidelity) Direct, DLNA, WiBro World Wide Interoperability for Microwave Access (HSDPA), High Speed Uplink Packet Access (HSUPA), Long Term Evolution (LTE), and Long Term Evolution-Advanced (LTE-A) (712) transmits and receives data according to at least one wireless Internet technology in a range including internet technologies not listed above. For example, the wireless Internet module 712 can exchange data with the external server 510 wirelessly. The wireless Internet module 712 can receive weather information and road traffic situation information (for example, TPEG (Transport Protocol Expert Group)) information from the external server 510. [

The short-range communication module 713 is for short-range communication and may be a Bluetooth ™, a Radio Frequency Identification (RFID), an Infrared Data Association (IrDA), an Ultra Wideband (UWB) It is possible to support near-field communication using at least one of Near Field Communication (NFC), Wireless-Fidelity (Wi-Fi), Wi-Fi Direct and Wireless USB (Universal Serial Bus)

The short range communication module 713 may form short range wireless communication networks (Wireless Area Networks) to perform short range communication between the vehicle and at least one external device. For example, the short-range communication module 713 can exchange data with the mobile terminal 600 wirelessly. The short distance communication module 713 can receive weather information and traffic situation information of the road (for example, TPEG (Transport Protocol Expert Group)) from the mobile terminal 600. For example, when the user has boarded the vehicle, the user's mobile terminal 600 and the vehicle can perform pairing with each other automatically or by execution of the user's application.

The position information module 714 is a module for acquiring the position of the vehicle, and a representative example thereof is a Global Positioning System (GPS) module. For example, when the vehicle utilizes a GPS module, it can acquire the position of the vehicle using a signal sent from the GPS satellite.

The optical communication module 715 may include a light emitting portion and a light receiving portion.

The light receiving section can convert the light signal into an electric signal and receive the information. The light receiving unit may include a photodiode (PD) for receiving light. Photodiodes can convert light into electrical signals. For example, the light receiving section can receive information of the front vehicle through light emitted from the light source included in the front vehicle.

The light emitting unit may include at least one light emitting element for converting an electric signal into an optical signal. Here, the light emitting element is preferably an LED (Light Emitting Diode). The optical transmitter converts the electrical signal into an optical signal and transmits it to the outside. For example, the optical transmitter can emit the optical signal to the outside through the blinking of the light emitting element corresponding to the predetermined frequency. According to an embodiment, the light emitting portion may include a plurality of light emitting element arrays. According to the embodiment, the light emitting portion can be integrated with the lamp provided in the vehicle. For example, the light emitting portion may be at least one of a headlight, a tail light, a brake light, a turn signal lamp, and a car light. For example, the optical communication module 715 can exchange data with another vehicle 520 via optical communication.

The input unit 720 may include a driving operation unit 721, a camera 195, a microphone 723, and a user input unit 724.

The driving operation means 721 receives a user input for driving the vehicle. The driving operation means 721 may include a steering input means 721A, a shift input means 721D, an acceleration input means 721C, and a brake input means 721B.

The steering input means 721A receives the input of the traveling direction of the vehicle from the user. The steering input means 721A is preferably formed in a wheel shape so that steering input is possible by rotation. According to the embodiment, the steering input means 721A may be formed of a touch screen, a touch pad, or a button.

The shift input means 721D receives inputs of parking (P), forward (D), neutral (N), and reverse (R) of the vehicle from the user. The shift input means 721D is preferably formed in a lever shape. According to an embodiment, the shift input means 721D may be formed of a touch screen, a touch pad, or a button.

The acceleration input means 721C receives an input for acceleration of the vehicle from the user. The brake inputting means 721B receives an input for decelerating the vehicle from the user. The acceleration input means 721C and the brake input means 721B are preferably formed in the form of a pedal. According to the embodiment, the acceleration input means 721C or the brake input means 721B may be formed of a touch screen, a touch pad, or a button.

The camera 722 may include an image sensor and an image processing module. The camera 722 may process still images or moving images obtained by an image sensor (e.g., CMOS or CCD). The image processing module processes the still image or moving image obtained through the image sensor, extracts necessary information, and transmits the extracted information to the control unit 770. Meanwhile, the vehicle may include a camera 722 for photographing the vehicle front image or the vehicle periphery image, and a monitoring unit 150 for photographing the in-vehicle image.

The monitoring unit 150 may acquire an image of the passenger. The monitoring unit 150 may obtain an image for biometrics of the passenger.

31, the monitoring unit 150 and the camera 722 are included in the input unit 720. However, the camera 722 may be described as being included in the vehicle driving assist device as described above .

The microphone 723 can process an external sound signal as electrical data. The processed data can be used variously depending on the function being performed in the vehicle. The microphone 723 can convert the voice command of the user into electrical data. The converted electrical data can be transmitted to the control unit 770.

The camera 722 or the microphone 723 may be a component included in the sensing unit 760 rather than a component included in the input unit 720. [

The user input unit 724 is for receiving information from a user. When information is input through the user input unit 724, the control unit 770 can control the operation of the vehicle to correspond to the input information. The user input unit 724 may include touch input means or mechanical input means. According to an embodiment, the user input 724 may be located in one area of the steering wheel. In this case, the driver can operate the user input portion 724 with his / her finger while holding the steering wheel.

The sensing unit 760 senses a signal related to the running or the like of the vehicle. To this end, the sensing unit 760 may include a sensor, a wheel sensor, a velocity sensor, a tilt sensor, a weight sensor, a heading sensor, a yaw sensor, a gyro sensor, , A position module, a vehicle forward / reverse sensor, a battery sensor, a fuel sensor, a tire sensor, a steering sensor by steering wheel rotation, a vehicle internal temperature sensor, an internal humidity sensor, an ultrasonic sensor, a radar, .

Thereby, the sensing unit 760 can acquire the vehicle collision information, vehicle direction information, vehicle position information (GPS information), vehicle angle information, vehicle speed information, vehicle acceleration information, vehicle tilt information, , Fuel information, tire information, vehicle lamp information, vehicle interior temperature information, vehicle interior humidity information, steering wheel rotation angle, and the like.

In addition, the sensing unit 760 may include an acceleration pedal sensor, a pressure sensor, an engine speed sensor, an air flow sensor AFS, an intake air temperature sensor ATS, a water temperature sensor WTS, A position sensor (TPS), a TDC sensor, a crank angle sensor (CAS), and the like.

The sensing unit 760 may include a biometric information sensing unit. The biometric information sensing unit senses and acquires the biometric information of the passenger. The biometric information may include fingerprint information, iris-scan information, retina-scan information, hand geo-metry information, facial recognition information, Voice recognition information. The biometric information sensing unit may include a sensor that senses the passenger's biometric information. Here, the monitoring unit 150 and the microphones 723 may operate as sensors. The biometric information sensing unit can acquire the hand shape information and the face recognition information through the monitoring unit 150.

The output unit 740 is for outputting information processed by the control unit 770 and may include a display unit 741, an acoustic output unit 742, and a haptic output unit 743. [

The display unit 741 can display information processed in the control unit 770. For example, the display unit 741 can display the vehicle-related information. Here, the vehicle-related information may include vehicle control information for direct control of the vehicle, or vehicle driving assistance information for a driving guide to the vehicle driver. Further, the vehicle-related information may include vehicle state information indicating the current state of the vehicle or vehicle driving information related to the driving of the vehicle.

The display unit 741 may be a liquid crystal display (LCD), a thin film transistor-liquid crystal display (TFT LCD), an organic light-emitting diode (OLED) display, a 3D display, and an e-ink display.

The display unit 741 may have a mutual layer structure with the touch sensor or may be integrally formed to realize a touch screen. This touch screen may function as a user input 724 that provides an input interface between the vehicle and the user, while providing an output interface between the vehicle and the user. In this case, the display unit 741 may include a touch sensor that senses a touch with respect to the display unit 741 so that a control command can be received by a touch method. When a touch is made to the display unit 741, the touch sensor senses the touch, and the control unit 770 generates a control command corresponding to the touch based on the touch. The content input by the touch method may be a letter or a number, an instruction in various modes, a menu item which can be designated, and the like.

Meanwhile, the display unit 741 may include a cluster so that the driver can check the vehicle state information or the vehicle driving information while driving. Clusters can be located on the dashboard. In this case, the driver can confirm the information displayed in the cluster while keeping the line of sight ahead of the vehicle.

Meanwhile, according to the embodiment, the display unit 741 may be implemented as a Head Up Display (HUD). When the display unit 741 is implemented as a HUD, information can be output through a transparent display provided in the windshield. Alternatively, the display unit 741 may include a projection module to output information through an image projected on the windshield.

The sound output unit 742 converts an electric signal from the control unit 770 into an audio signal and outputs the audio signal. For this purpose, the sound output unit 742 may include a speaker or the like. It is also possible for the sound output section 742 to output a sound corresponding to the operation of the user input section 724. [

The haptic output unit 743 generates a tactile output. For example, the haptic output section 743 may operate to vibrate the steering wheel, the seat belt, and the seat so that the user can recognize the output.

The vehicle drive unit 750 can control the operation of various devices of the vehicle. The vehicle driving unit 750 includes a power source driving unit 751, a steering driving unit 752, a brake driving unit 753, a lamp driving unit 754, an air conditioning driving unit 755, a window driving unit 756, an airbag driving unit 757, A driving unit 758 and a suspension driving unit 759.

The power source drive section 751 can perform electronic control of the power source in the vehicle.

For example, when the fossil fuel-based engine (not shown) is a power source, the power source drive unit 751 can perform electronic control on the engine. Thus, the output torque of the engine and the like can be controlled. When the power source drive unit 751 is an engine, the speed of the vehicle can be limited by limiting the engine output torque under the control of the control unit 770. [

As another example, when the electric motor (not shown) is a power source, the power source driving unit 751 can perform control on the motor. Thus, the rotation speed, torque, etc. of the motor can be controlled.

The steering driver 752 may perform electronic control of a steering apparatus in the vehicle. Thus, the traveling direction of the vehicle can be changed.

The brake driver 753 can perform electronic control of a brake apparatus (not shown) in the vehicle. For example, it is possible to reduce the speed of the vehicle by controlling the operation of the brakes disposed on the wheels. As another example, it is possible to adjust the traveling direction of the vehicle to the left or right by differently operating the brakes respectively disposed on the left wheel and the right wheel.

The lamp driver 754 can control the turn-on / turn-off of the lamps disposed inside and outside the vehicle. Also, the intensity, direction, etc. of the light of the lamp can be controlled. For example, it is possible to perform control on a direction indicating lamp, a brake lamp, and the like.

The air conditioning driving unit 755 can perform electronic control on an air conditioner (not shown) in the vehicle. For example, when the temperature inside the vehicle is high, the air conditioner can be operated to control the cool air to be supplied to the inside of the vehicle.

The window driving unit 756 may perform electronic control of a window apparatus in the vehicle. For example, it is possible to control the opening or closing of the side of the vehicle with respect to the left and right windows.

The airbag driving unit 757 can perform electronic control of the airbag apparatus in the vehicle. For example, in case of danger, the airbag can be controlled to fire.

The sunroof driving unit 758 may perform electronic control of a sunroof apparatus (not shown) in the vehicle. For example, the opening or closing of the sunroof can be controlled.

The suspension driving unit 759 can perform electronic control of a suspension apparatus (not shown) in the vehicle. For example, when there is a curvature on the road surface, it is possible to control the suspension device so as to reduce the vibration of the vehicle.

The memory 730 is electrically connected to the control unit 770. The memory 770 may store basic data for the unit, control data for controlling the operation of the unit, and input / output data. The memory 790 can be, in hardware, various storage devices such as a ROM, a RAM, an EPROM, a flash drive, a hard drive, and the like. The memory 730 may store various data for operation of the entire vehicle, such as a program for processing or controlling the control unit 770.

The interface unit 780 can serve as a pathway to various kinds of external devices connected to the vehicle. For example, the interface unit 780 may include a port that can be connected to the mobile terminal 600, and may be connected to the mobile terminal 600 through the port. In this case, the interface unit 780 can exchange data with the mobile terminal 600.

Meanwhile, the interface unit 780 may serve as a channel for supplying electrical energy to the connected mobile terminal 600. The interface unit 780 provides electric energy supplied from the power supply unit 790 to the mobile terminal 600 under the control of the control unit 770 when the mobile terminal 600 is electrically connected to the interface unit 780 do.

The control unit 770 can control the overall operation of each unit in the vehicle. The control unit 770 may be referred to as an ECU (Electronic Control Unit).

The control unit 770 can perform a function corresponding to the transmitted signal in accordance with the execution signal transmission of the vehicle driving assist system.

The controller 770 may be implemented in hardware as application specific integrated circuits (ASICs), digital signal processors (DSPs), digital signal processing devices (DSPDs), programmable logic devices (PLDs), field programmable gate arrays (FPGAs) processors, controllers, micro-controllers, microprocessors, and other electronic units for performing other functions.

The control unit 770 can delegate the role of the processor 170 described above. That is, the processor 170 of the vehicle driving assist apparatus can be set directly to the control unit 770 of the vehicle. In this embodiment, it is understood that the vehicle driving assist device refers to a combination of some components of the vehicle.

Alternatively, the control unit 770 may control the configurations so as to transmit the information requested by the processor 170. [

The power supply unit 790 can supply power necessary for the operation of each component under the control of the control unit 770. [ Particularly, the power supply unit 770 can receive power from a battery (not shown) in the vehicle.

The AVN (Audio Video Navigation) device 400 can exchange data with the control unit 770. The control unit 770 can receive navigation information from the AVN apparatus 400 or a separate navigation device (not shown). Here, the navigation information may include set destination information, route information according to the destination, map information about the vehicle driving, or vehicle location information.

The features, structures, effects and the like described in the foregoing embodiments are included in at least one embodiment of the present invention and are not necessarily limited to one embodiment. Further, the features, structures, effects, and the like illustrated in the embodiments may be combined or modified in other embodiments by those skilled in the art to which the embodiments belong. Therefore, it should be understood that the present invention is not limited to these combinations and modifications.

While the present invention has been particularly shown and described with reference to exemplary embodiments thereof, it is clearly understood that the same is by way of illustration and example only and is not to be construed as limiting the scope of the present invention. It can be seen that various modifications and applications are possible. For example, each component specifically shown in the embodiments may be modified and implemented. It is to be understood that the present invention may be embodied in many other specific forms without departing from the spirit or essential characteristics thereof.

Claims (5)

A sensor unit for sensing an object around the vehicle;
An indicator output unit for displaying an indicator on the outside of the vehicle based on the sensed object;
And a processor for controlling the indicator output unit to display the indicator to the notification target among the objects when the notification status is detected,
The processor comprising:
Controls the display method of the indicator according to the notification status or the position of the notification target,
Corrects the phase and the display position of the indicator based on the moving direction of the notification target, and controls the indicator output unit to display the corrected indicator
Vehicle driving assistance device. The method according to claim 1,
The indicator output unit includes:
And displaying the indicator on the left or right area of the vehicle
Vehicle driving assistance device. 3. The method of claim 2,
The indicator output unit includes:
And a plurality of indicator outputs arranged at different positions,
The plurality of indicator output units may respectively display a partial indicator in different areas
Vehicle driving assistance device. The method according to claim 1,
The indicator output unit includes:
Displaying a plurality of indicators in different areas
Vehicle driving assistance device. A vehicle including the vehicle driving assist device according to claim 1.

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