KR20180076529A - Driving assistance apparatus and vehicle having the same - Google Patents

Abstract

The present invention relates to an automobile driving assistance apparatus and an automobile having the same. The automobile driving assistance apparatus according to an embodiment of the present invention comprises: a display unit displaying a screen guiding parking of the automobile; a water level sensor for measuring a fluid level based on a time when ultrasonic waves are reflected and received on the surface of fluid; and a processor displaying the screen to drive the automobile in response to the fluid level so that the automobile can get out of a parking target area currently parked, or to guide the automobile to be parked on the parking target area.

Description

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

BACKGROUND OF THE INVENTION Field of the Invention The present invention relates to a vehicle driving assist apparatus and a vehicle including the same, more particularly, to a vehicle driving assist apparatus capable of controlling a vehicle parking in response to a variation amount of fluid level or fluid level in a parking space, will be.

A vehicle is any device that drives a wheel for the purpose of transporting people or cargo. A typical example of a vehicle is a car.

An automobile can be classified into an internal combustion engine automobile, an external combustion engine automobile, a gas turbine automobile or an electric vehicle depending on the type of prime mover used.

An electric vehicle is an automobile that uses electric power as an energy source to drive an electric motor. The hybrid electric vehicle, a hybrid electric vehicle (HEV), a plug-in hybrid electric vehicle (PHEV) (Fuel Cell Electric Vehicle: FCEV).

In recent years, the development and commercialization of an intelligent vehicle (Smart Vehicle) has been actively conducted for the safety and convenience of drivers and pedestrians. Intelligent automobile is a cutting-edge automobile that integrates information technology (IT). It provides optimal transportation efficiency through interworking with intelligent transportation system as well as introduction of advanced system of automobile itself. Specifically, the intelligent vehicle performs automatic cruise control, adaptive cruise control (ACC), obstacle detection, collision detection, precise guidance, route to destination, and location of key locations , Maximizing the safety and comfort of the driver, passengers and pedestrians.

In addition, researches on sensors mounted on such an intelligent automobile are being actively conducted. Such sensors include a camera, an infrared sensor, a radar, a lidar, a GPS, and a gyroscope, and play an important role in replacing the naked eye of a driver.

[0003] As various sensors and electronic equipment for driving the vehicle have been developed, a vehicle having a vehicle driving assistance function that assists a driver in driving the vehicle and improves driving safety and convenience has been receiving attention.

One of the vehicle driving assist functions is the parking assist function. According to the parking assist function, when the vehicle is parked, images such as the rear and side of the vehicle are provided to secure the view to the driver, and a virtual parking line is displayed on the screen so that the vehicle can be parked in the target parking space.

When the parking is completed, the vehicle stops for a long time in the parking space. Therefore, when the level of the fluid staying in the parking area becomes high or suddenly high, the accessory parts or components of the vehicle may be in contact with the fluid or be inundated. In this case, not only are the accessory parts or components of the vehicle susceptible to moisture or moisture, but also water that has flowed in through it may be transferred to other parts of the vehicle, thereby causing defects in the vehicle or malfunctioning of the vehicle . However, in presently providing parking assist functions, the amount of fluid flowing or flowing in the parking area is not considered.

SUMMARY OF THE INVENTION It is an object of the present invention to provide a vehicle driving assistant apparatus for controlling parking of a vehicle in response to whether or not a fluid level of a target parking space exceeds a threshold value when the vehicle is parked, and a vehicle including the same.

It is another object of the present invention to provide a vehicle driving assist apparatus that controls parking of a vehicle in response to whether or not a change amount of a fluid level in a target parking space exceeds a threshold value, and a vehicle including the same.

Further, it is an object of the present invention to provide a vehicle driving assistant apparatus for controlling parking of a vehicle in response to whether or not an inclination of a region including a target parking space exceeds a threshold, and a vehicle including the same.

According to an aspect of the present invention, there is provided an information display apparatus including: a display unit displaying a screen guiding parking of a vehicle; And a water level sensor for measuring the fluid level based on a time when the ultrasonic waves are reflected and received on the surface of the fluid; And a processor for displaying the screen so as to drive the vehicle such that the vehicle is out of the currently parked parking target area or to guide parking to the parking target area of the vehicle, corresponding to the fluid level Is provided.

According to another aspect of the present invention, there is provided a display device comprising: a display unit displaying a screen for guiding parking of a vehicle; And a water level sensor for measuring the fluid level based on a time when the ultrasonic waves are reflected and received on the surface of the fluid; And a vehicle driving assist system that displays the screen so as to drive the vehicle such that the vehicle is out of the parking target area currently parked or to guide parking to the parking target area of the vehicle in response to the fluid level A vehicle including an apparatus is provided.

According to the vehicle driving assist system of the embodiment, by controlling the parking of the vehicle in consideration of the amount of change of the fluid level or the fluid level of the target parking space, when the vehicle comes into contact with the fluid or when the predetermined time passes after the parking, Defects or malfunctions that may occur can be prevented in advance.

In addition, according to the vehicle driving assistant apparatus according to the embodiment, when the area including the target parking space has an inclination, efficient parking is performed by controlling the vehicle to be parked in an area other than the target parking space having a high fluid level And the risk of the vehicle which may be caused by the fluid can be prevented.

1 is a block diagram showing the configuration of a vehicle driving assist system according to an embodiment of the present invention.
2A is a diagram showing the appearance of a vehicle including a vehicle driving assistant device according to an embodiment of the present invention.
2B shows a case where a sensor part included in a vehicle driving assist device according to an embodiment of the present invention is disposed in a vehicle.
3 is a diagram showing a configuration of a camera included in a vehicle driving assist device according to an embodiment of the present invention.
4 is a block diagram showing a configuration of a processor included in a vehicle driving assist system according to an embodiment of the present invention.
5 is a view for explaining an example of a method of detecting image information in an image taken by a camera by a vehicle driving assistant device according to an embodiment of the present invention.
6 is a view showing an embodiment of a display unit included in a vehicle driving assist apparatus according to an embodiment of the present invention.
7 is a block diagram showing the configuration of a vehicle including a vehicle driving assist system according to an embodiment of the present invention.
8 is a block diagram showing a configuration of a water level sensor included in a vehicle driving assist system according to an embodiment of the present invention.
9 is a view for explaining the operation of the water level sensor included in the vehicle driving assist system according to the embodiment of the present invention.
10 is a view showing an example in which a water level sensor included in a vehicle driving assist device according to an embodiment of the present invention is disposed in a vehicle.
11 is a view illustrating a process of controlling a vehicle parking in response to a water level in a vehicle driving assist device according to an embodiment of the present invention.
12A and 12B are views for explaining a method of controlling a vehicle parking assist system in accordance with a level of a vehicle, according to an embodiment of the present invention.
13 is a view illustrating a process of controlling a vehicle parking assist system in response to a change in a level of a level of a vehicle, according to an embodiment of the present invention.
FIGS. 14A and 14B are views for explaining a method of controlling a vehicle parking assist system in response to a change in a level of a level of a vehicle, according to an embodiment of the present invention. FIG.
FIG. 15 is a diagram illustrating a process in which a vehicle driving assist apparatus according to an embodiment of the present invention controls vehicle parking in response to a predicted level change amount.
FIGS. 16A and 16B are views for explaining a method of controlling a vehicle parking assist system in accordance with a variation in a predicted water level, according to an embodiment of the present invention.
17 is a view illustrating a process of controlling a vehicle parking assist system in accordance with a level and an inclination of a vehicle driving assistance apparatus according to an embodiment of the present invention.
FIGS. 18A and 18B are views for explaining a method of controlling a vehicle parking assist system according to an embodiment of the present invention in response to a water level and an inclination. FIG.

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 in this specification may include all kinds of vehicles such as automobiles and motorcycles. Hereinafter, the case of an automobile will be described as an example.

Further, the vehicle 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.

Hereinafter, the left side of the vehicle means the left side with respect to the running direction of the vehicle, and the right side of the vehicle means the right side with respect to the running direction of the vehicle. In the following description, unless otherwise stated, the vehicle means a Left Hand Drive (LHD) vehicle with the handle on the left side.

The vehicle driving assist device described in the present specification is a separate device provided in the vehicle, and is defined as a device that transmits and receives necessary information through data communication with the vehicle and executes a vehicle driving assistance function. However, according to the embodiment, the vehicle driving assist apparatus may be a set of a part of the components of the vehicle, and may constitute a part of the vehicle.

When the vehicle driving assist device is a separate device, at least a part of each component (see Fig. 1) of the vehicle driving assist device is not included in the vehicle driving assist device, and is not included in the vehicle or other device Lt; / RTI > These external components can be understood to constitute a vehicle driving assist device by transmitting and receiving data through the interface of the vehicle driving assist device.

For convenience of explanation, it is assumed that the vehicle driving assistance device includes the components shown in FIG. 1 directly.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, a vehicle driving assist system according to an embodiment of the present invention will be described in detail with reference to the accompanying drawings.

1 is a block diagram showing the configuration of a vehicle driving assist system according to an embodiment of the present invention.

The vehicle driving assistant apparatus 100 according to an embodiment of the present invention includes an input unit 110, a communication unit 120, an interface unit 130, a memory 140, a sensor unit 155, a monitoring unit 165, A processor 170, a display unit 180, an audio output unit 185, and a power supply unit 190. However, the components shown in FIG. 1 are not essential for implementing the vehicle driving assistant device 100, so that the vehicle driving assistant device 100 according to an embodiment of the present invention includes more components than those listed above Or may have fewer components.

To describe each configuration in detail, the input unit 110 can sense a user's input. For example, the user inputs the setting for the vehicle driving assistant function provided by the vehicle driving assistant 100 through the input unit 110, or turns on / off the vehicle driving assistant 100 (turning off) the operation of the vehicle.

The input unit 110 may include a gesture input unit (e.g., an optical sensor) for sensing a gesture of a user, 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.

The communication unit 120 may perform communication with the other vehicle 510, the mobile terminal 600, and the server 500.

In this case, the vehicle driving assistant apparatus 100 can receive at least one of navigation information, other vehicle driving information, and traffic information through the communication unit 120. [ In addition, the vehicle driving assistant apparatus 100 can transmit information about the subject vehicle equipped with the vehicle driving assistant device 100 through the communication unit 120. [

Specifically, the communication unit 120 receives at least one of the location information, weather information, and road traffic situation information (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 signal information, lane information, vehicle periphery information, or location information.

The communication unit 120 may transmit the navigation information to the mobile terminal 600 and / or the server 500. [ Here, the navigation information may include at least one of map information related to driving the vehicle, lane information, position information of the vehicle, set destination information, and route information according to the destination.

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

The communication unit 120 can receive the running information of the other vehicle 510 from the other vehicle 510 and transmit the information of the vehicle to the other vehicle 510 to share the running information between the vehicles. Here, the traveling information shared by the two vehicles may include at least one or more information of the traveling direction information, position information, vehicle speed information, acceleration information, traveling route information, forward / backward information, adjacent vehicle information, and turn signal information of the vehicle .

In addition, when the user is boarding the vehicle, the user's mobile terminal 600 and the vehicle driving assistant 100 can 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.

In detail, the communication unit 120 can perform wireless communication using a wireless data communication scheme. 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.

The vehicle driving assistant apparatus 100 may also be connected to the other vehicle 510 by using the long distance wireless communication module of the mobile terminal 600, It is also possible to wirelessly exchange data with the server 500 or the like.

The interface unit 130 can perform an interface between the inside and the outside of the vehicle driving assistant 100, such as receiving data from the vehicle or transmitting processed or generated signals from the processor 170 to the outside.

Specifically, the vehicle driving assistant apparatus 100 can receive at least one of the other vehicle running information, the navigation information, and the sensor information through the interface unit 130.

Further, the vehicle driving assistant apparatus 100 transmits a control signal for executing the vehicle driving assistance function, information generated in the vehicle driving assistant apparatus 100, etc. to the control unit 770 of the vehicle through the interface unit 130 can do.

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 .

Specifically, the interface unit 130 can receive navigation information by data communication with the control unit 770, the AVN apparatus 400, and / or a separate navigation device (not shown).

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

Here, the sensor information includes at least one of direction information, position information, vehicle speed information, acceleration information, tilt information, forward / backward information, fuel information, distance information between the front and rear vehicles, And may include one or more pieces of 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 724 of the vehicle. In this case, the interface unit 130 may receive the user input directly from the input unit 724 of the vehicle or via the control unit 770 of the vehicle.

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 710 of the vehicle, the interface unit 130 may receive the traffic information from the control unit 770 of the vehicle.

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

The memory 140 may also 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. At least some of these application programs may also be present on the vehicle driving assistance device 100 from the time of shipment for the basic functions (e.g., driving assistance information guidance function) of the driving assistance device 100.

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

Meanwhile, the memory 140 may store data for identifying objects 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 checking what the object corresponds to by various algorithms.

For example, the memory 140 may store comparison images and comparison data for determining whether the object included in the image obtained through the camera 160 corresponds to an object such as a lane, a traffic sign, a two-wheeled vehicle, or a pedestrian.

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.

The monitoring unit 165 can acquire information on the internal state of the vehicle.

The information sensed by the monitoring unit 165 may include facial recognition information, fingerprint information, iris-scan information, retina-scan information, hand geo-metry information, And at least one of voice recognition information. And the monitoring unit 165 may include other sensors that sense such biometric information.

The vehicle driving assistance apparatus 100 may further include a sensor unit 155 for sensing an object around the vehicle. According to the embodiment, the vehicle driving assistant device 100 may receive sensor information obtained from the sensing unit 760 of the vehicle through the interface unit 130. [ The sensor information thus obtained may be included in the vehicle periphery information.

The sensor unit 155 may include at least one of a distance sensor 150 for sensing the position of an object located in the vicinity of the vehicle and a camera 160 for capturing an image of the surroundings of the vehicle.

The distance sensor 150 can precisely detect the position of the object adjacent to the subject vehicle, the direction in which the object is spaced, the separation distance, or the moving direction of the object. The distance sensor 150 continuously measures the position of the detected object and can accurately detect a change in the positional relationship with the subject vehicle.

The distance sensor 150 may sense an object located in at least one of the front, rear, left and right sides of the vehicle. To this end, the distance sensor 150 may be located at various locations in the vehicle.

The distance sensor 150 may include at least one of a variety of sensors capable of distance measurement such as a Lidar sensor, a laser sensor, an ultrasonic waves sensor, and a stereo camera .

For example, the distance sensor 150 may be a laser sensor, and may be a laser sensor that uses a time-of-flight (TOF) or / and a phase- And the positional relationship between the object and the object can be accurately measured.

On the other hand, the information about the object can be obtained by analyzing the image captured by the camera 160 by the processor 170. Specifically, the vehicle driving assistant apparatus 100 photographs the surroundings of the vehicle with the camera 160, the processor 170 analyzes the obtained surroundings of the vehicle, detects the object around the vehicle, determines the property of the object, Lt; / RTI >

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.

Specifically, the processor 170 generates image information by performing object analysis such as detecting an object through image processing on the photographed image, tracking the object, measuring the distance to the object, and confirming the object can do.

Meanwhile, the processor 170 may synthesize images photographed from all directions, and provide an overview image of the vehicle 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.

In order to allow the processor 170 to perform object analysis more easily, the camera 160 in the embodiment may be a stereo camera that measures the distance from the object while shooting the image.

The camera 160 may directly include an image sensor and an image processing module. In this case, the camera 160 may process still images or moving images obtained by an image sensor (for example, CMOS or CCD). In addition, the image processing module can process the still image or moving image obtained through the image sensor, extract necessary image information, and transmit the extracted image information to the processor 170.

The sensor unit 155 may be a stereo camera in which the distance sensor 150 and the camera 160 are combined. That is, the stereo camera can detect the positional relationship with the object while acquiring the image.

The display unit 180 may display a graphic image relating to the vehicle driving assistant function. The display unit 180 may include a plurality of displays.

The audio output unit 185 can output a message to audio to confirm the description of the vehicle driving assistant function, whether or not the vehicle driving assistant function is executed, and the like. Thereby, the vehicle driving assistant device 100 can complement the description of the function of the vehicle driving assistant device 100 through the sound output of the audio output portion 185 together with the visual indication through the display portion 180 .

According to the embodiment, the vehicle driving assistant 100 may further include a haptic output unit (not shown) for outputting a haptic signal. The haptic output unit (not shown) can output an alarm for the vehicle driving assistance function as a haptic. For example, when the vehicle driving assistance apparatus 100 includes a warning about the driver in at least one of the navigation information, the traffic information, the communication information, the vehicle condition information, the driving assistance function (ADAS) information, , It can be notified to the user by vibration.

Such a haptic output unit (not shown) can provide a directional vibration. For example, the haptic output unit (not shown) may be disposed in the steering for controlling the steering to output the vibration. When the vibration is provided, the haptic output unit may divide the left and right of the steering to output the vibration, .

The power supply unit 190 may receive external power and internal power under the control of the processor 170 to supply power required for operation of the respective components.

The processor 170 may control the overall operation of each component within the vehicle driving assistance apparatus 100. [

In addition, the processor 170 may control at least some of the components included in the vehicle driving assistant 100, or may operate at least two of them in combination with each other, in order to drive an application program.

The processor 170 may be implemented in hardware in the form of application specific integrated circuits (ASICs), digital signal processors (DSPs), digital signal processing devices (DSPDs), programmable logic devices (PLDs), field programmable gate arrays controllers, micro-controllers, microprocessors 170, and electrical units for performing other functions.

According to an embodiment, the processor 170 may be controlled by the control unit 770 of the vehicle.

The processor 170 typically controls the overall operation of the vehicle driving assistance device 100, in addition to operations associated with application programs stored in the memory 140. [ 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.

2A is a diagram showing the appearance of a vehicle including a vehicle driving assistant device according to an embodiment of the present invention.

Referring to FIG. 2A, a vehicle 700 according to an embodiment includes wheels 13FL and 13RL that are rotated by a power source, and a vehicle driving assistance device 100 that provides a driving assistance function to a user.

The vehicle driving assistant device 100 may be installed inside the vehicle 700. Fig. In this case, the installation position of the vehicle driving assistant device 100 can be variously set according to the embodiment. Referring to FIG. 2A, the vehicle driving assistant device 100 is disposed at the lower end of the front window 100 of the vehicle 700.

2B shows a case where a sensor part included in a vehicle driving assist device according to an embodiment of the present invention is disposed in a vehicle.

The distance sensor 150 included in the sensor unit 155 may be disposed at a position of at least one of front, back, right, left, and ceiling of the vehicle body. Referring to FIG. 2B, distance sensors 150b and 150c are disposed on the left side surface and the right side surface of the vehicle, respectively.

The camera 160 included in the sensor unit 155 may be provided at various positions to monitor the front, rear, left, right, and up and down of the traveling direction. Referring to FIG. 2B, cameras 160a, 160d, 160b, 160c, 160f, and 160g are disposed at at least one of the front, rear, left, right, and ceiling of the vehicle.

Specifically, the camera 160 may include an inner camera 160f that captures an image of the front of the vehicle within the vehicle to acquire an image.

The left camera 160b that acquires the left side image of the vehicle may be disposed in a case surrounding the left side mirror. According to the embodiment, the left camera 160b may be disposed outside the case surrounding the left side mirror, or may be disposed in one area outside the left front door, the left rear door, or the left fender.

The right camera 160c for acquiring the right side image of the vehicle can be disposed in the case surrounding the right side mirror. According to the embodiment, the right camera 160c may be disposed outside the case surrounding the right side mirror, or may be disposed in one area outside the right front door, the right rear door, or the right fender.

The front camera 160a can capture the forward image by photographing the forward direction in the traveling direction. To this end, the front camera 160a may be disposed in the vicinity of the ambulance or in the vicinity of the radiator grill.

The rear camera 160d can photograph the rear side in the traveling direction to acquire a rear image. As such, the rear camera 160d may be disposed in the vicinity of a rear license plate or a trunk switch.

Further, the ceiling camera 160e can be disposed on the ceiling of the vehicle and can photograph all the front, back, and left and right directions of the vehicle.

3 is a diagram showing a configuration of a camera included in a vehicle driving assist device according to an embodiment of the present invention.

The camera 160 included in the vehicle driving assistant 100 may be a stereo camera. 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 is provided with 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, May be provided.

In this case, the vehicle driving assistant device 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, Performs object detection on at least one stereo image based on the information, and can continuously track the movement of the object after object detection.

4 is a block diagram showing a configuration of a processor included in a vehicle driving assist system according to an embodiment of the present invention.

In order to generate image information from the photographed image, the processor 170 may include a plurality of operation blocks for performing image processing and analysis. 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, (450). According to the embodiment, the arrangement of the calculation blocks arranged in FIG. 4 may be changed, whereby the order of operations between the plurality of calculation blocks may be changed.

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

In particular, the image preprocessing unit 410 may perform various processes such as noise reduction, rectification, calibration, color enhancement, color space conversion (CSC), interpolation interpolation, camera 160 gain control, and the like. As a result, a clearer image can be obtained than the stereo image captured by the camera 160.

The disparity calculator 420 receives an image signal processed by the image preprocessing unit 410, performs stereo matching on the received images, and outputs a disparity map according to stereo matching. Can be obtained. For example, the disparity calculating unit 420 may obtain disparity information about a stereo image in front of the vehicle.

In this case, the stereo matching may be performed on a pixel-by-pixel basis or a predetermined block basis of the stereo image. The disparity map may refer to a map in which the binocular parallax information of the stereo image, i.e., left and right images, is numerically expressed.

The segmentation unit 432 may perform segmentation and clustering on at least one of the plurality of images based on the disparity information input from the disparity operation unit 420.

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

For example, a segmentation unit 432 can calculate an area having disparity information less than a predetermined value in the disparity map as a background, and exclude the part. Thereby, the foreground can be relatively separated. As another example, an area in which the disparity information is equal to or larger 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.

In this manner, by separating the foreground and the background based on the disparity information extracted based on the stereo image, it becomes possible to shorten the signal processing speed and the signal processing amount in the subsequent object detection.

The object detector 434 can detect the object based on the image segment processed by the segmentation unit 432. [

That is, the object detecting unit 434 can detect an object for at least one of the plurality of images based on the disparity information. For example, an object can be detected from a foreground separated by an image segment.

The object verification unit 436 may classify and identify the separated objects. For this purpose, the object identification unit 436 identifies the object using a neural network identification method, a SVM (Support Vector Machine) method, an AdaBoost identification method using a Haar-like feature, or a Histograms of Oriented Gradients Etc. may be used.

On the other hand, the object checking unit 436 can check the object by comparing the detected object with the objects stored in the memory 140. For example, the object checking unit 436 can identify nearby vehicles, lanes, roads, signs, hazardous areas, and tunnels located around the vehicle.

An object tracking unit 440 may perform tracking on the identified object. For example, the object tracking unit 440 identifies objects in sequentially acquired stereo images, calculates a motion or a motion vector of the identified object, and moves the corresponding object based on the calculated motion or motion vector Can be tracked and monitored. As a result, it is possible to track nearby vehicles, lanes, roads, signs, hazardous areas, tunnels, etc. located in the vicinity of the vehicle.

The application unit 450 can calculate the risk of the vehicle based on various objects located in the vicinity of the vehicle, for example, another vehicle, a lane, a road surface, a sign, 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.

The application unit 450 may output a message or the like for informing the user of the information on the basis of the computed risk, possibility of collision, sleep or the like as vehicle driving assistance information. Alternatively, a control signal for attitude control or running control of the vehicle may be generated as vehicle control information.

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 the application unit 450. [0064] FIG. The processor 170 may not include the disparity calculating unit 420 or the segmenting unit 432 when the camera 160 is composed of the mono camera 160 or the surrounding view camera 160. For example,

5 is a view for explaining an example of a method of detecting image information in an image taken by a camera by a vehicle driving assistant device according to an embodiment of the present invention.

As shown in Fig. 5, the camera 160 acquires the stereo images FR1a and FR1b during the first frame period.

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

The disparity map 520 is obtained by leveling the parallax between the stereo images FR1a and FR1b. The disparity map 520 is calculated such that the distance from the vehicle is shorter as the disparity level is larger and the distance from the vehicle is greater as the disparity level is smaller .

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.

5, the first to fourth lanes 528a, 528b, 528c, and 528d and the like 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.

The segmentation unit 432, the object detection unit 434 and the object identification unit 436 are configured to segment the at least one of the stereo images FR1a and FR1b based on the disparity map 520, .

Referring to FIG. 5, an object detection and confirmation operation for the second stereo image FR1b is performed based on the disparity map 520. FIG.

Object detection for the first to fourth lanes 538a, 538b, 538c and 538d in the image 530, the construction area 532, the first front vehicle 534 and the second front vehicle 536, A confirmation operation is performed.

With the image processing as described above, the vehicle driving assistant 100 can acquire various peripheral information of the vehicle, such as what the peripheral object is, and where it is located, through the sensor unit 155 as sensor information.

6 is a view showing an embodiment of a display unit included in a vehicle driving assist apparatus according to an embodiment of the present invention.

The display unit 180 included in the vehicle driving assistance apparatus 100 may include a plurality of display units 180a and 180b. In this case, the plurality of display units 180a and 180b may be disposed in at least one area of the vehicle equipped with the vehicle driving assistant device 100, respectively.

Specifically, the display unit 180 may include a first display unit 180a for projecting and displaying a graphic image on a windshield W of the vehicle. That is, the first display unit 180a may include a projection module for projecting a graphic image on the windshield W as a head up display (HUD). In this case, the projected graphic image projected by the projection module may have a predetermined transparency. Therefore, the user can simultaneously view the image behind the graphic image and the graphic image.

Such a graphic image may overlap with a projection image projected on the windshield W to form an augmented reality (AR).

Meanwhile, the display unit 180 may include a second display unit 180b installed inside the vehicle for displaying an image of the vehicle driving assistance function.

In detail, the second display unit 180b may be a display of the vehicle navigation apparatus or a cluster on the inside of the vehicle interior.

The second display unit 180b may be a liquid crystal display (LCD), a thin film transistor-liquid crystal display (TFT) LCD, an organic light-emitting diode (OLED) A flexible display, a three-dimensional display (3D display), and an electronic ink display (e-ink display).

The second display unit 180b may be combined with a gesture input unit to configure a touch screen.

7 is a block diagram showing the configuration of a vehicle including a vehicle driving assist system according to an embodiment of the present invention.

The vehicle driving assistant device 100 according to an embodiment of the present invention may be installed in the vehicle 700. [

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 vehicle driving assistant device 100, and an AVN device 400. [0033]

The communication unit 710 is connected to the communication unit 710 to communicate with the vehicle 700 and the mobile terminal 600, Modules. In addition, the communication unit 710 may include one or more modules that connect the vehicle 700 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 refers to a module for wireless Internet access, and may be embedded in the vehicle 700 or externally. 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 500 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 500. [

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 (e.g., 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, the vehicle 700 can use the GPS module to obtain the position of the vehicle 700 based on the 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.

According to one embodiment, the optical communication module 715 can exchange data with another vehicle 510 via optical communication.

The input unit 720 may include a driving operation unit 721, a camera 722, a microphone 723, a user input unit 724, and a monitoring unit 725.

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

The steering input means receives an input for the traveling direction of the vehicle 700. It is preferable that the steering input means is formed in a wheel shape so that steering input can be performed by rotation. According to an embodiment, the steering input means may be formed of a touch screen, a touch pad or a button.

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

The acceleration input means receives an input for acceleration of the vehicle. The brake input means receives an input for deceleration of the vehicle. In this case, the acceleration input means and the brake input means are preferably formed in a pedal shape. According to an embodiment, the acceleration input means or the brake input means 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 may process the still image or moving image obtained through the image sensor to extract necessary information, and may transmit the extracted information to the control unit 770. Meanwhile, the vehicle 700 may include a camera 722 for photographing a vehicle front image or a vehicle periphery image, and a monitoring unit 725 for photographing an in-vehicle image.

The monitoring unit 725 may acquire an image of the occupant. The monitoring unit 725 may obtain an image for biometrics of the occupant.

7, the monitoring unit 725 and the camera 722 are included in the input unit 720. However, the camera 722 may be included in the vehicle driving assistant 100 as described above.

The microphone 723 can process an external acoustic signal into electrical data. The processed data can be utilized variously according to functions performed in the vehicle 700. 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 user input unit 724 can receive information from the user. When information is input through the user input unit 724, the control unit 770 can control the operation of the vehicle 700 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. For this purpose, the sensing unit 760 may include a sensor, a wheel sensor, a speed sensor, a tilt sensor, a weight sensor, a heading sensor, a yaw sensor, a gyro sensor, It can include a position module, a vehicle forward / backward 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, have.

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 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 725 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 725.

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

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 700 and the user and may provide an output interface between the vehicle 700 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. The sound output section 742 may output a sound corresponding to the operation input by the user input section 724. [

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

The vehicle drive unit 750 can control the operation of various devices and components included in the vehicle 700. [ 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 driving unit 751 can perform electronic control on the power source in the vehicle 700. [

For example, when a fossil fuel-based engine (not shown) is a power source, the power source drive unit 751 can perform electronic control of 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 driving unit 754 can control the turn-on / turn-off of the lamp 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, it is possible to control the air conditioner to operate so that the cool air is supplied to the interior of the vehicle 700.

The window driving unit 756 may perform electronic control of the window apparatus in the vehicle. For example, it may control the opening or closing of left and right windows of side 700 of the vehicle.

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

The sunroof driving unit 758 can perform electronic control of a sunroof device (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 on a suspension device (not shown) in the vehicle 700. [ 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 730 may be, in hardware, various storage media such as ROM, RAM, EPROM, flash drive, 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 may serve as a pathway to various kinds of external devices connected to the vehicle 700. 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. When the mobile terminal 600 is electrically connected to the interface unit 780, the interface unit 780 provides electric energy supplied from the power supply unit 790 to the mobile terminal 600 under the control of the controller 770 .

The control unit 770 can control the overall operation of each component in the vehicle 700. [ 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 delivered signal according to the execution signal transmission of the vehicle driving assistant 100. [

The control unit 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) Controllers, micro-controllers, microprocessors, and other electronic units for performing other functions.

The power supply unit 790 can supply power necessary for the operation of each component under the control of the control unit 770. In this case, the power supply unit 790 can receive power from a battery (not shown) or the like inside 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 another navigation apparatus (not shown). Here, the navigation information may include set destination information, route information according to the destination, map information related to driving the vehicle, or vehicle location information.

8 is a block diagram showing a configuration of a water level sensor included in a vehicle driving assist system according to an embodiment of the present invention.

The vehicle driving assistance apparatus 100 according to an embodiment of the present invention may include a water level sensor 800. [ The water level sensor 800 may be implemented as an ultrasonic sensor that measures the distance to an object using ultrasonic waves.

For this, the water level sensor 800 may include an ultrasonic wave transmitter 810, an ultrasonic wave receiver 820, and a converter 830.

The ultrasonic transmitter 810 may generate an ultrasonic wave and divert the generated ultrasonic wave toward a separated object. Here, an object may include not only an object having a fixed external shape but also a fluid such as water or oil whose appearance is variable.

According to one embodiment, the ultrasonic transmitter 810 may emit ultrasonic waves toward the surface of the fluid.

The ultrasonic receiving unit 820 can receive ultrasonic waves reflected from an object. More specifically, when the ultrasonic wave transmitted from the ultrasonic transmitter 810 to the object is reflected by the object, the ultrasonic receiver 820 can receive the reflected ultrasonic wave.

The converter 830 can convert the characteristic amount of the signal form or the control object into another physical quantity having a constant relation thereto. For example, the converter 830 may convert the ultrasonic wave received by the ultrasonic wave receiver 820 into an electric signal, and output the converted electric signal to the processor 170.

9 is a view for explaining the operation of the water level sensor included in the vehicle driving assist system according to the embodiment of the present invention.

Ultrasonic waves are reflected or transmitted through the medium when they come into contact with media of different densities. When the ultrasonic wave in the air meets a fluid composed of water or the like, the ultrasonic wave is reflected from the surface of the fluid.

The sound velocity of the ultrasonic wave propagating to the same medium is constant. Therefore, the sonic velocity of the ultrasonic wave is constant until the generated ultrasonic wave travels in the air to reach the object, reflects on the object, advances the air, and returns.

Accordingly, the vehicle driving assistant 100 can measure the return time of the reflected ultrasonic wave, and then measure the distance to the surface of the fluid from the ultrasonic wave emitting portion 810 based on the measured time and the velocity of the ultrasonic wave .

The water level sensor 800 may be configured as a tank-like structure having an empty interior space where the fluid can flow. 9, the water level sensor 800 includes a tank wall 850 surrounded by four sides, an ultrasonic wave generator 810 and an ultrasonic wave receiver 820 disposed inside the upper portion of the tank wall 850, And a transducer 830 disposed outside the top of the tank wall 850. In this case, the positions of the ultrasonic transmitter 810, the ultrasonic receiver 820, and the transducer 830 may be variously set according to the embodiment.

A hole may be formed in the upper side surface of the tank wall 850. Thereby, the fluid can be introduced into the internal space from the outside of the water level sensor 800. The positions, sizes, and shapes of the holes may be variously set according to the embodiment.

Fluid may be present in the interior space of the tank wall 850.

Referring to FIG. 9, the ultrasonic wave emitted from the ultrasonic transmitter 810 travels toward the fluid in the interior, and is reflected when it reaches the surface of the fluid. The reflected ultrasonic wave is received by the ultrasonic wave receiving unit 820. In this case, the water level sensor 800 detects the level of the ultrasonic wave transmitted from the ultrasonic wave transmitter 810 or the ultrasonic wave receiver 820 to the surface of the fluid, based on the time elapsed after the ultrasonic wave is emitted from the ultrasonic transmitter 810 and reflected on the surface of the object. You can get a distance.

Meanwhile, the distance of the processor 170 from the ultrasonic wave transmitting unit 810 or the ultrasonic wave receiving unit 820 to the fluid surface may be obtained. In this case, when the transducer 830 converts the ultrasonic wave received by the transducer 830 into an electric signal and transmits the ultrasonic wave to the processor 170, the processor 170 reads the ultrasonic wave from the ultrasonic wave transmitter 810, The distance to the surface of the fluid can be obtained from the ultrasonic transmitting portion 810 or the ultrasonic receiving portion 820. [

10 is a view showing an example in which a water level sensor included in a vehicle driving assist device according to an embodiment of the present invention is disposed in a vehicle.

According to one embodiment, the level sensor 800 described with reference to FIGS. 8 and 9 may be attached to the lower end of the door formed on the vehicle 700 side. However, the present invention is not limited thereto, and the water level sensor 800 may be attached at a position corresponding to various heights within the vehicle 700. [

At least one water level sensor 800 may be attached to the vehicle 700. The number of the water level sensors 800 to be attached can be variously set according to the embodiment.

Referring to FIG. 10, a water level sensor 800 is attached to the lower ends of two doors formed on the left side of the vehicle 700. In this case, two water level sensors 800 are attached to the left side of the vehicle 700.

11 is a view illustrating a process of controlling a vehicle parking in response to a water level in a vehicle driving assist device according to an embodiment of the present invention.

The vehicle driving assist device 100 according to an embodiment of the present invention can control the vehicle parking in correspondence with the measured level. Specifically, when the level of the water level measured by the water level sensor 800 is equal to or greater than the threshold value, the vehicle driving assistant 100 can automatically guide the vehicle backward or exit the parking lot. If the water level is below the threshold value, the vehicle driving assistant 100 can perform the vehicle parking assist function. Here, the vehicle parking assistance function is a function of providing the driver with a guide for parking, and may include parking route guidance, virtual parking line display, collision notification with an obstacle or a wall, and the like.

The vehicle 700 starts parking the vehicle (S1101).

Specifically, the driver of the vehicle 700 can slow down the vehicle 700 toward the parking target area in order to park the vehicle 700 in the parking lot or a parking target area within the predetermined area.

The vehicle driving assistant 100 executes the water level detection mode (S1102).

The vehicle driving assistant device 100 can determine that the vehicle 700 is performing parking when the vehicle 700 slows down to less than the predetermined speed. In this case, the vehicle driving assist system 100 executes the water level detection mode. The water level detection mode may be a mode of sensing the level of the fluid and controlling the parking of the vehicle 700 according to the sensed water level.

The vehicle driving assistant 100 measures the level of the water level (S1103).

Specifically, the processor 170 of the vehicle driving assistant 100 can determine the level of the water level based on the measured value measured by the water level sensor 800.

The water level sensor 800 can measure the distance between the ultrasonic wave transmitter unit 810 or the ultrasonic wave receiver unit 820 and the fluid surface. The lower the fluid level, the larger the distance between the two, and the higher the fluid level, the shorter the distance between the two. Therefore, the distance between the ultrasonic transmitter 810 or the ultrasonic receiver 820 and the fluid surface can be inversely proportional to the water level.

The vehicle driving assistant 100 determines whether the water level is equal to or greater than a threshold value (S1104).

Here, the threshold value can be variously set according to the embodiment based on the vehicle type, the parking pattern of the vehicle, the external environment, and the like.

If it is determined that the level is equal to or higher than the threshold value (S1104-Yes), the vehicle driving assist system 100 automatically guides the vehicle 700 backward or departs the parking lot (S1105). That is, the processor 170 of the vehicle driving assistance apparatus 100 determines whether the currently measured level is equal to or greater than the threshold value, that the components of the vehicle are immersed in fluid or are affected by the fluid, Is judged to be inadequate. Accordingly, the vehicle 700 is controlled to automatically backward from the corresponding parking target area or to guide a route to exit the parking lot.

According to the embodiment, the processor 170 of the vehicle driving assistance apparatus 100 may notify the mobile terminal 600 of the registered driver, the server 500, or the other vehicle 510 that the water level is above the threshold value .

On the other hand, if it is determined that the level is below the threshold (S1104-No), the vehicle driving assist system 100 performs the vehicle parking assist function (S1115). That is, the processor 170 of the vehicle driving assistant 100 can provide a parking route guidance for parking the currently set parking target area, a virtual parking line display, a collision notification with an obstacle or a wall, and the like.

12A and 12B are views for explaining a method of controlling a vehicle parking assist system in accordance with a level of a vehicle, according to an embodiment of the present invention.

The fluid may be over a predetermined height above the parking target area in which parking is currently in progress. If the vehicle 700 is parked in the parking target area in this state, the components and accessories of the vehicle 700 may be immersed in the fluid or in contact with the fluid and corroded.

Therefore, the vehicle driving assistance apparatus 100 measures the level of the parking target area by the water level sensor 800, and controls the parking of the vehicle 700 based thereon.

12A shows a case where the vehicle 700 is under parking. The vehicle 700 moves leftward toward the parking target area located on the left side. In this case, the fluid is accumulated in the area where the vehicle 700 is moving, and the fluid is introduced into the level sensor 800 attached to the lower portion of the vehicle 700 or the lower portion of the door, or is locked by the fluid. Thereby, the fluid is accumulated in the inner space of the water level sensor 800. The water level sensor 800 measures the distance between the ultrasonic wave transmitter unit 810 or the ultrasonic wave receiver unit 820 and the fluid surface by radiating ultrasonic waves to the fluid in the inner space of the water level sensor 800.

The water level sensor 800 may emit ultrasonic waves toward the fluid outside the vehicle 700 to measure the distance between the ultrasonic wave transmitting unit 810 or the ultrasonic wave receiving unit 820 and the surface of the external fluid You may.

12B shows a case in which the vehicle 700 is automatically retracted. The vehicle driving assistance apparatus 100 judges the level of the fluid, and when the level is above the threshold level, guides the vehicle 700 to automatically reverse or exit the parking lot. In Fig. 12B, the processor 170 of the vehicle driving assistant 100 causes the vehicle 700 to automatically move backward to travel in the right direction.

11 to 12B, the vehicle driving assist system 100 judges the level of the fluid to control the parking of the vehicle 700, so that the vehicle 700 is parked in a region where the fluid is depleted, It is possible to prevent the danger that may be caused by encroachment or corrosion of the accessory parts.

13 is a view illustrating a process of controlling a vehicle parking assist system in response to a change in a level of a level of a vehicle, according to an embodiment of the present invention.

The vehicle driving assist system 100 according to the embodiment of the present invention can control the vehicle parking in response to the change amount of the measured level. Specifically, when the amount of change in the level of the water level measured by the water level sensor 800 is equal to or greater than the threshold value, the vehicle driving assist system 100 can automatically guide the vehicle backward or exit the parking lot. On the other hand, when the amount of change in the level is less than the threshold value, the vehicle driving assist system 100 can perform the vehicle parking assist function. Here, the vehicle parking assistance function is a function of providing the driver with a guide for parking, and may include parking route guidance, virtual parking line display, collision notification with an obstacle or a wall, and the like.

The vehicle 700 starts parking the vehicle (S1301).

Specifically, the driver of the vehicle 700 can slow down the vehicle 700 toward the parking target area in order to park the vehicle 700 in the parking lot or a parking target area within the predetermined area.

The vehicle driving assistant 100 executes the water level detection mode (S1302).

The vehicle driving assistant device 100 can determine that the vehicle 700 is performing parking when the vehicle 700 slows down to less than the predetermined speed. In this case, the vehicle driving assist system 100 executes the water level detection mode. The water level detection mode may be a mode of sensing the level of the fluid and controlling the parking of the vehicle 700 according to the sensed water level.

The vehicle driving assistant 100 measures the amount of change in the level of the water level (S1303).

Specifically, the processor 170 of the vehicle driving assistant 100 can determine the amount of change in the level of the water level based on the measured value measured by the water level sensor 800. [

The water level sensor 800 can measure a change in distance between the ultrasonic wave transmitter unit 810 or the ultrasonic wave receiver unit 820 and the fluid surface. The higher the fluid level, the smaller the distance between them. In this case, as the increase in the fluid level increases, the distance between the two decreases sharply, and as the increase in the fluid level decreases, the distance between the two decreases slowly. Therefore, the distance between the ultrasonic wave transmitting portion 810 or the ultrasonic receiving portion 820 and the fluid surface can be reduced in inverse proportion to the degree of the water level change.

The vehicle driving assistant 100 determines whether the amount of change in the level is equal to or greater than a threshold value (S1304).

Here, the threshold value can be variously set according to the embodiment based on the vehicle type, the parking pattern of the vehicle, the external environment, and the like.

If it is determined that the amount of change in the level is equal to or greater than the threshold value (S1304-Yes), the vehicle driving assist system 100 automatically guides the vehicle 700 backward or departs the parking lot (S1305). That is, when the change amount of the currently measured level is equal to or greater than the threshold value, the processor 170 of the vehicle driving assistant apparatus 100 determines whether the components of the vehicle 700 are immersed in the fluid or not It is judged that the parking in the parking target area is inadequate. Accordingly, the vehicle 700 is controlled to automatically retreat from the target parking target area or guide the route to exit the parking lot.

On the other hand, if it is determined that the amount of change in the level is less than the threshold (S1304-No), the vehicle driving assist system 100 performs the vehicle parking assist function (S1315). That is, the processor 170 of the vehicle driving assistant 100 provides a parking route guidance for parking the currently set parking target area, a virtual parking line display, a collision notification with an obstacle or a wall, and the like.

FIGS. 14A and 14B are views for explaining a method of controlling a vehicle parking assist system in response to a change in a level of a level of a vehicle, according to an embodiment of the present invention. FIG.

The fluid does not accumulate in the parking target area where parking is currently being performed but the fluid may be higher than the predetermined height in the parking target area when the flow rate of the area is increased and the predetermined time has elapsed.

If the vehicle 700 is parked in the parking target area in this state, the components and accessories of the vehicle 700 can be corroded or abutted against the fluid at a predetermined time after parking.

Therefore, the vehicle driving assist system 100 measures the amount of change in the level of the parking target area by the water level sensor 800, and controls the parking of the vehicle 700 based thereon.

14A shows a case where the vehicle 700 is in the process of parking. The vehicle 700 moves leftward toward the parking target area located on the left side. In this case, the area where the vehicle 700 is moving is not currently in a fluid state. Therefore, the fluid does not flow into the level sensor 800 attached to the lower end portion of the vehicle 700 and the lower portion of the door.

However, since the current parking target area is in a falling state, when a predetermined time has elapsed after parking in this state, the fluid in the parking target area becomes high and fluid flows into the vehicle 700, .

Rainwater flows into the water level sensor 800 and becomes high. In this case, the water level sensor 800 measures the change in distance between the ultrasonic wave transmitter unit 810 or the ultrasonic wave receiver unit 820 and the fluid surface by radiating ultrasonic waves to the fluid in the inner space of the water level sensor 800.

The water level sensor 800 may emit ultrasonic waves toward the fluid that is externally heated to the outside of the vehicle 700 to change the distance between the ultrasonic wave transmitter unit 810 or the ultrasonic wave receiver unit 820 and the external fluid surface It can also be measured.

14B shows a case in which the vehicle 700 automatically reverses. The vehicle driving assistant device 100 determines the amount of change in the level of the fluid, and when the amount of change in the level is equal to or greater than the threshold value, the vehicle driving assistant 100 controls the vehicle 700 to automatically backward or guide the vehicle out of the parking lot. In Fig. 14B, the processor 170 of the vehicle driving assistant device 100 automatically controls the vehicle 700 to travel backward to travel in the right direction. Thereby, the vehicle 700 deviates from the parking target area.

13 to 14B, the vehicle driving assist system 100 judges the amount of change in the level of the fluid to control the parking of the vehicle 700, so that the vehicle 700 is moved to a region where the fluid is suddenly lifted It is possible to prevent a risk that the component or the accessory component is infiltrated or hindered after the predetermined time elapses after being parked.

FIG. 15 is a diagram illustrating a process in which a vehicle driving assist apparatus according to an embodiment of the present invention controls vehicle parking in response to a predicted level change amount.

The vehicle driving assist system 100 according to the embodiment of the present invention can control the vehicle parking in response to the variation amount of the predicted level. Specifically, the vehicle driving assist system 100 predicts the amount of change in the level from the current point of time based on the change amount of the water level or the water level measured by the water level sensor 800 and the weather environment information received from the server . In this case, when the amount of change in the level from the current point in time is equal to or greater than the threshold value, the vehicle driving assistant 100 can automatically guide the vehicle 700 backward or exit the parking lot. On the other hand, if the amount of change in the level from the current time is less than the threshold value, the vehicle driving assist system 100 can perform the vehicle parking assist function. Here, the vehicle parking assistance function is a function of providing a driver with a guide for parking, and may include a parking route guidance, a virtual parking line display, a collision notification with an obstacle or a wall, and the like.

The vehicle 700 starts parking the vehicle (S1501).

Specifically, the driver of the vehicle 700 can slow down the vehicle 700 toward the parking target area in order to park the vehicle 700 in the parking lot or a parking target area within the predetermined area.

The vehicle driving assistant 100 executes the water level detection mode (S1502).

The vehicle driving assistant device 100 can determine that the vehicle 700 is performing parking when the vehicle 700 slows down to less than the predetermined speed. In this case, the vehicle driving assist system 100 executes the water level detection mode. The water level detection mode may be a mode of sensing the level of the fluid and controlling the parking of the vehicle 700 according to the sensed water level.

The vehicle driving assistant 100 measures a change amount of the water level or the water level (S1503).

The method of measuring the change level of the water level or the water level has been described in detail in the foregoing, and a description thereof will be omitted.

The vehicle driving assistant 100 receives the weather environment information (S1504).

The weather environment information is information on weather information of the area in which parking is performed, and may include information on the amount of precipitation per hour, precipitation of a predetermined time, whether or not snow falls, and the like.

The communication unit 120 of the vehicle driving assistant apparatus 100 may communicate with the server 500 equipped with the intelligent traffic system (ITS) to receive such weather environment information.

 The vehicle driving assistant 100 predicts a change in the level of the water level from the current time (S1505).

Specifically, the processor 170 of the vehicle driving assistance apparatus 100 calculates a change amount of the water level from the current point of time based on the measurement value measured by the water level sensor 800 and the weather environment information received by the communication unit 120 Can be predicted.

The water level sensor 800 can measure a distance or a distance change between the ultrasonic wave emitting portion 810 or the ultrasonic wave receiving portion 820 and the fluid surface.

In this case, the processor 170 of the vehicle driving assistant 100 can estimate the amount of change in the level from the current time point by referring to the weather environment information.

The vehicle driving assistant 100 determines whether the amount of change in the level from the current time is equal to or greater than a threshold value (S1506).

Here, the threshold value can be variously set according to the embodiment based on the vehicle type, the parking pattern of the vehicle, the external environment, and the like.

If it is determined that the amount of change in the level from the current time is equal to or greater than the threshold value (S1506-Yes), the vehicle driving assist system 100 controls the vehicle 700 to automatically backward or guide the route (S1507). That is, when the amount of change in the level from the predicted present point in time is greater than or equal to the threshold value, the processor 170 of the vehicle driving assistant apparatus 100 can not lock the components of the vehicle 700 into the fluid Or may be affected by the fluid, thereby determining that parking in the parking target area is unsuitable. Accordingly, the vehicle 700 is controlled to automatically retreat from the target parking target area or guide the route to exit the parking lot.

On the other hand, if it is determined that the amount of change in the level from the current time is less than the threshold (S1506-No), the vehicle driving assist system 100 performs the vehicle parking assistance function (S1517). That is, the processor 170 of the vehicle driving assistant 100 provides a parking route guidance for parking the currently set parking target area, a virtual parking line display, a collision notification with an obstacle or a wall, and the like.

FIGS. 16A and 16B are views for explaining a method of controlling a vehicle parking assist system in accordance with a variation in a predicted water level, according to an embodiment of the present invention.

The fluid does not accumulate in the parking target area in which parking is currently being performed but the fluid may increase to a predetermined height or higher after the elapse of a predetermined time since the flow rate of the area is increased at the time of parking. However, at the present point in time during parking, the fluid level change amount is insignificant and it can be predicted that the flow level increases below the threshold value only by the measurement value measured by the water level sensor 800. [

If the vehicle 700 is parked in the parking target area in this state, when the predetermined time elapses after parking, the fluid level increases to a threshold value or higher, so that the components or accessories of the vehicle 700 are immersed in the fluid, So that it can be corroded.

Therefore, the vehicle driving assist system 100 is configured to determine whether the vehicle 700 (700) is on the basis of the change amount of the water level or the water level of the parking target area measured by the water level sensor 800 and the weather environment information received by the communication unit 120 ).

16A shows a case where the vehicle 700 is under parking. The vehicle 700 moves leftward toward the parking target area located on the left side. In this case, the area where the vehicle 700 is moving is not currently in a fluid state. Therefore, the fluid does not flow into the level sensor 800 attached to the lower end portion of the vehicle 700 and the lower portion of the door.

However, according to the weather information, since the parking target area is expected to be in a raining state after the present time, when the predetermined time elapses after parking in this state, the fluid in the parking target area becomes high and fluid flows into the vehicle 700, The lower part is immersed by the fluid.

Inside the water level sensor 800, fluid, raindrops or the like accumulated in the parking target area may flow into the inside of the water level sensor 800. [ In this case, the water level sensor 800 measures the distance or the change in distance between the ultrasonic wave transmitter unit 810 or the ultrasonic wave receiver unit 820 and the fluid surface by radiating ultrasonic waves to the fluid in the inner space of the water level sensor 800.

The water level sensor 800 may emit ultrasonic waves toward the external fluid to the outside of the vehicle 700 so that the ultrasonic wave is transmitted to the ultrasonic wave transmitter 810 or the ultrasonic wave receiver 820, The change may also be measured.

16B shows a case in which the vehicle 700 automatically reverses. The vehicle driving assistance apparatus 100 can automatically return the vehicle 700 or exit the parking lot when the amount of change in the level from the current point of time is equal to or greater than the threshold value based on the change amount of the fluid level or the water level and the weather information Guide. In Fig. 16B, the processor 170 of the vehicle driving assistant 100 causes the vehicle 700 to automatically move backward to travel in the right direction. Thereby, the vehicle 700 deviates from the parking target area.

15 to 16B, the vehicle driving assist system 100 determines the amount of change in the level of the fluid level from the current point of time based on the weather environment information and controls the parking of the vehicle 700, 700 can be parked in a region where the fluid accumulates due to passage of time after the parking, so that the risk that the component or the accessory component is infiltrated or hindered by the fluid after the elapse of a predetermined time can be prevented.

17 is a view illustrating a process of controlling a vehicle parking assist system in accordance with a level and an inclination of a vehicle driving assistance apparatus according to an embodiment of the present invention.

The vehicle driving assist apparatus 100 according to an embodiment of the present invention can control the vehicle parking in correspondence with the measured level and inclination. Specifically, when the level of the water level measured by the water level sensor 800 is equal to or greater than the threshold value, the vehicle driving assist system 100 sets the parking path to the area where the water level is equal to or less than the threshold value corresponding to the inclination of the area including the parking target area Or guide the vehicle automatically backward from the targeted parking area or exit the parking lot. If the water level is below the threshold value, the vehicle driving assistant 100 can perform the vehicle parking assist function. Here, the vehicle parking assistance function is a function of providing the driver with a guide for parking, and may include parking route guidance, virtual parking line display, collision notification with an obstacle or a wall, and the like.

The vehicle 700 starts parking the vehicle (S1701).

Specifically, the driver of the vehicle 700 can slow down the vehicle 700 toward the parking target area in order to park the vehicle 700 in the parking lot or a parking target area within the predetermined area.

The vehicle driving assistant 100 executes the water level detection mode (S1702).

The vehicle driving assistant device 100 can determine that the vehicle 700 is performing parking when the vehicle 700 slows down to less than the predetermined speed. In this case, the vehicle driving assist system 100 executes the water level detection mode. The water level detection mode may be a mode of sensing the level of the fluid and controlling the parking of the vehicle 700 according to the sensed water level.

The vehicle driving assistant 100 measures the level of the level (S1703).

Specifically, the processor 170 of the vehicle driving assistant 100 can determine the level of the water level based on the measured value measured by the water level sensor 800.

The water level sensor 800 can measure the distance between the ultrasonic wave transmitter unit 810 or the ultrasonic wave receiver unit 820 and the fluid surface. The lower the fluid level, the larger the distance between the two, and the higher the fluid level, the shorter the distance between the two. Therefore, the distance between the ultrasonic transmitter 810 or the ultrasonic receiver 820 and the fluid surface can be inversely proportional to the water level.

The vehicle driving assistant device 100 determines whether the water level is equal to or greater than a threshold value (S1704).

Here, the threshold value can be variously set according to the embodiment based on the vehicle type, the parking pattern of the vehicle, the external environment, and the like.

If it is determined that the water level is equal to or higher than the threshold (S1704-Yes), the vehicle driving assist system 100 measures the inclination of the area including the parking target area (S1705).

An area including the parking target area may include a parking target area in which parking is currently in progress and a peripheral area of the parking target area. In this case, the area including the parking target area may have a predetermined inclination.

The tilt can be measured based on sensor information sensed by an abnormality in at least one of a heading sensor, a yaw sensor, a gyro sensor, a position module and a body tilt monitoring sensor.

If the inclination is equal to or greater than the predetermined reference value (S1706-Yes), the vehicle driving assist system 100 searches for an area whose level is below the threshold value (S1707). In this case, the vehicle driving assistant 100 guides the parking path to the searched area (S1708).

If the inclination of the area including the parking target area is equal to or greater than the predetermined reference value, inclination is formed between the parking target area and the surrounding area, and the respective water level can be changed. Therefore, the processor 170 of the vehicle driving assistant 100 searches the area where the water level is below the threshold value, and guides the parking path to the searched area.

On the other hand, if it is determined in step S1706 that the inclination is less than the predetermined reference value (S1706-No), the vehicle driving assist system 100 automatically guides the vehicle 700 backward or departs the parking lot (S1718).

That is, when the inclination of the area including the parking target area is less than the predetermined standard value, no inclination is formed between the parking target area and the surrounding area, and there is little difference between the respective water level. Therefore, the vehicle driving assist system 100 does not search the area where the water level is below the threshold value.

In addition, the processor 170 of the vehicle driving assistant device 100 determines whether the currently measured level is equal to or greater than the threshold value, that the components of the vehicle are immersed in the fluid or influenced by the fluid, Is judged to be inadequate. Therefore, the processor 170 of the vehicle driving assistant 100 guides the vehicle 700 to travel or departs from the corresponding parking target area.

On the other hand, if it is determined in step S1704 that the level is below the threshold (S1704-No), the vehicle driving assist system 100 performs the vehicle parking assistance function (S1728). That is, the processor 170 of the vehicle driving assistant 100 provides a parking route guidance for parking to the currently set parking target area, a parking line display, a collision notification with an obstacle or a wall, and the like.

FIGS. 18A and 18B are views for explaining a method of controlling a vehicle parking assist system according to an embodiment of the present invention in response to a water level and an inclination. FIG.

The area containing the parking target area in which parking is currently in progress may have an inclination. In this case, the level of the high flow rate may be different between the parking target area and the surrounding area. That is, the level of the parking target area is higher than the threshold value, but the level of the surrounding area of the parking target area may be lower than the threshold value.

If the vehicle 700 is parked in the parking target area in this state, there is a risk that the components and accessories of the vehicle 700 will be immersed in fluid or contact with fluid and corroded.

Accordingly, the vehicle driving assistance apparatus 100 determines the degree of inclination of the area including the level of the parking target area measured by the water level sensor 800 and the parking target area obtained from the sensor information, ).

18A shows a case in which the vehicle 700 is under parking. The vehicle 700 is slow to park in the parking target area P _o located on the right side. In this case, the fluid is accumulated in the parking target area P _{o in which the} vehicle 700 is moving, and the water level sensor 800 attached to the lower end portion of the vehicle 700 and the door bottom of the vehicle 700, . The water level sensor 800 measures the distance between the ultrasonic wave transmitter unit 810 or the ultrasonic wave receiver unit 820 and the fluid surface by radiating ultrasonic waves to the fluid in the inner space of the water level sensor 800.

The water level sensor 800 may emit ultrasonic waves toward the target fluid P _{o in} the parking target area P _o outside the vehicle 700 so that the ultrasonic wave transmitter 810 or the ultrasonic wave receiver 820, It is also possible to measure the distance between the external fluid surfaces.

In addition, the vehicle driving assistance apparatus 100 measures the inclination of the area including the parking target area P _o . From this, the vehicle driving assist system 100 can determine whether there is a possibility that an area having a level different from the parking target area P _o exists.

18B shows a case where the vehicle 700 moves to the peripheral area P _F of the parking target area P _o . When the level of the water level is equal to or greater than the threshold value, the vehicle driving assistant device 100 determines the inclination of the area including the parking target area P _o , guides the parking path to the area where the water level is below the threshold value, 700) travels beyond the corresponding parking target area or guides the parking path.

In Fig. 18B, the processor 170 of the vehicle driving assistant 100 advances the vehicle 700 to travel in the left peripheral region P _F.

17 to 18B, when the vehicle driving assist system 100 judges the level and the degree of inclination of the fluid to control the parking of the vehicle 700, the vehicle 700 is in the vicinity of the area where the fluid is depleted Parked in a safe area to avoid the risk of encroachment or corrosion of components and accessories.

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 can be combined and modified by other persons 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.

100: vehicle driving assistant 110: input
120: communication unit 130: interface unit
140: memory 155:
165: monitoring unit 170: processor
180: display unit 185: audio output unit
190: Power supply unit 800: Water level sensor
810: Ultrasonic wave transmitter 820: Ultrasonic wave receiver
830: Converter

Claims (9)

A vehicle driving assist system,
A display unit for displaying a screen for guiding parking of the vehicle;
A water level sensor for measuring the fluid level based on a time when the ultrasonic waves are reflected and received on the surface of the fluid;
Corresponding to the fluid level, displaying the screen so as to drive the vehicle such that the vehicle is out of the currently parked parking target area, or to guide parking to the parking target area of the vehicle Vehicle driving assistance device. The method according to claim 1,
The water level sensor comprises:
And a vehicle driving assist device disposed at a lower portion of the door of the vehicle. The method according to claim 1,
The water level sensor comprises:
And transmits the ultrasonic waves to the fluid stacked in the inner space of the water level sensor. The method according to claim 1,
The water level sensor comprises:
And transmits the ultrasonic wave to the fluid stacked in the parking target area or the peripheral area of the parking target area. The method according to claim 1,
Wherein the water level sensor determines a change amount of the fluid level,
Wherein the processor is configured to drive the vehicle so that the vehicle is out of the parking target area in response to the amount of change in the fluid level and the fluid level, or to guide the parking to the parking target area of the vehicle Vehicle driving assistance device displaying the screen. The method according to claim 1,
Further comprising a communication unit for receiving weather environment information from a server providing intelligent transportation service,
The processor estimates the amount of change of the fluid level from the current point of time based on the fluid level and the gaseous environment information, And displays the screen so as to drive the vehicle or guide the parking of the vehicle to the parking target area. The method according to claim 1,
The processor comprising:
Determining a gradient of an area including the parking target area from the sensing information of the surrounding environment of the vehicle when the gradient is greater than or equal to a first threshold value and determining that the fluid level among the peripheral areas of the parking target area is less than a second threshold value And then parks the vehicle in the searched peripheral area. The method according to claim 1,
The processor comprising:
Determining a gradient of an area including the parking target area from the sensing information of the surrounding environment of the vehicle, and when the gradient is less than the first threshold value, determining that the vehicle is out of the parking target area corresponding to the fluid level And displays the screen so as to drive the vehicle or to guide parking of the vehicle to the parking target area. In a vehicle including a vehicle driving assist device,
A display unit for displaying a screen for guiding parking of the vehicle;
A water level sensor for measuring the fluid level based on a time when the ultrasonic waves are reflected and received on the surface of the fluid; And
A vehicle driving assist device for displaying the screen so as to drive the vehicle such that the vehicle is out of the parking target area currently parked or to guide parking to the parking target area of the vehicle in response to the fluid level, ≪ / RTI >

Images