KR20200002231A - Vehicle and controlling method thereof - Google Patents

Abstract

A vehicle according to an embodiment of the present disclosure includes: a sensing unit acquiring vehicle information related to a vehicle; a light output unit including at least one light source; and a control unit which determines the predicted trajectory and moving direction of the vehicle based on the vehicle information acquired by the sensing unit, and controls the light output unit to irradiate a guideline indicating the determined predicted trajectory and traveling direction.

Description

Vehicle and its control method {VEHICLE AND CONTROLLING METHOD THEREOF}

The present invention relates to a vehicle capable of providing information about a vehicle around the vehicle and a control method thereof.

In general, a vehicle imaging apparatus is a device for more effectively transferring various images including driving information to a driver while driving a vehicle.

The conventional vehicle imaging apparatus mainly uses a method of displaying an image including driving information on a windshield of a vehicle while driving a vehicle, and is limited to the purpose of providing driving information to a driver.

One aspect of the present invention provides a vehicle capable of providing information to a pedestrian or the like as well as a driver by irradiating information about the vehicle around the vehicle and a control method thereof.

Technical means for achieving the above-described technical problem, the vehicle according to one aspect, the sensing unit for obtaining vehicle information associated with the vehicle; An optical output unit including at least one light source; And a controller configured to determine an expected trajectory and a traveling direction of the vehicle based on the vehicle information obtained by the sensing unit, and to control the light output unit to examine a guide line indicating the determined estimated trajectory and the traveling direction. do.

In addition, the detector may obtain vehicle information including a steering angle, a steering direction, a vehicle speed, and a gear position state.

The controller may control the light output unit to irradiate the guideline when the vehicle speed is equal to or less than a predetermined reference value.

The control unit may determine the irradiation area based on the steering angle, and control the light output unit to irradiate the guideline to the determined irradiation area.

The controller may be further configured to determine a blind spot that is difficult for a driver to obtain visual information based on the vehicle information acquired by the detector, and to investigate the guideline on the determined blind spot. The light output unit can be controlled.

The controller may be configured to move the blind spot to the vehicle when the gear position is D (run) and the steering direction is clockwise or when the gear position is R (reverse) and the steering direction is clockwise. It can be judged as the left rear of the.

Further, the control unit may be configured to set the blind spot when the gear position is D (run) and the steering direction is counterclockwise or when the gear position is R (reverse) and the steering direction is counterclockwise. It may be determined as the right rear side of the vehicle.

The sensing unit may include a rear ultrasonic sensor for acquiring object information on the rear of the vehicle using ultrasonic waves and a rear camera sensor for acquiring visual information on the rear of the vehicle, and the controller may include the rear ultrasonic waves. The optical output unit may be controlled to determine whether an obstacle exists based on information obtained from at least one of a sensor and the rear camera sensor, and to irradiate the guideline when it is determined that the obstacle exists.

The controller may determine whether it is night based on the vehicle information acquired by the detector, and control the light output unit to irradiate the guideline when it is determined that it is night.

The controller may determine a position of a rear corner of the vehicle based on the vehicle information, and control the light output unit to irradiate the guideline to the determined position of the rear corner.

According to another aspect, a control method of a vehicle includes: obtaining vehicle information associated with a vehicle; Determine an expected trajectory and a traveling direction of the vehicle based on the obtained vehicle information; And examining a guideline indicating the estimated trajectory and the direction of the determination.

In addition, acquiring vehicle information related to the vehicle may include acquiring vehicle information including a steering angle, a steering direction, a vehicle speed, and a gear position state.

In addition, examining the guidelines may include examining the guidelines when the vehicle speed is equal to or less than a predetermined reference value.

In addition, irradiating the guide line may include: determining an irradiation area based on the steering angle; And irradiating the guideline to the determined irradiation area.

In addition, examining the guidelines may include determining a blind spot that is estimated to be difficult for a driver to obtain visual information based on the obtained vehicle information; And irradiating the guidelines on the determined road surface of the blind spot.

In addition, the blind spot is determined when the gear position is D (run) and the steering direction is clockwise or when the gear position is R (reverse) and the steering direction is clockwise. It may include determining the zone to the left rear of the vehicle.

Further, the blind spot is determined when the gear position is D (run) and the steering direction is counterclockwise or when the gear position is R (reverse) and the steering direction is counterclockwise, And determining the blind spot as the right rear side of the vehicle.

In addition, acquiring vehicle information related to the vehicle may include acquiring object information on the rear of the vehicle by using ultrasonic waves and acquiring visual information on the rear of the vehicle. Investigating may include determining whether an obstacle exists based on at least one of the object information and visual information on the rear of the vehicle, and examining the guideline if it is determined that the obstacle exists. .

In addition, examining the guidelines may include determining whether it is night based on the obtained vehicle information, and examining the guidelines if it is determined that it is night.

The irradiating the guideline may include determining a position of a rear corner of the vehicle based on the vehicle information, and irradiating the guideline to the determined position of the rear corner.

According to a vehicle and a control method thereof according to an aspect, since the vehicle-related information may be intuitively provided not only to the driver but also to external pedestrians, the prevention of a collision accident and the safety of the driver or pedestrian may be secured.

1A, 1B, and 1C are views illustrating an exterior of a vehicle according to various embodiments.
FIG. 2 is a diagram illustrating an internal configuration of a vehicle according to the embodiment of FIG. 1A.
3 is a control block diagram of a vehicle according to an exemplary embodiment.
4A and 4B are diagrams illustrating examples of guidelines that a vehicle irradiates on a road surface according to an exemplary embodiment.
5 is a diagram illustrating an optical output unit of a vehicle according to an exemplary embodiment.
6 is a diagram illustrating a guideline irradiated on a road surface by a vehicle according to another exemplary embodiment.
7 is a flowchart illustrating a control method of a vehicle according to an exemplary embodiment.
8 and 9 are flowcharts illustrating a method of controlling a vehicle, according to an exemplary embodiment.
10 is a flowchart illustrating a control method of a vehicle according to an exemplary embodiment.
11 is a flowchart illustrating a control method of a vehicle according to an embodiment.

Like reference numerals refer to like elements throughout. The present specification does not describe all elements of the embodiments, and overlaps between general contents or embodiments in the technical field to which the present invention belongs. The term 'part, module, member, block' used in the specification may be implemented in software or hardware, and a plurality of 'part, module, member, block' may be embodied as one component, It is also possible that one 'part, module, member, block' includes a plurality of components.

Throughout the specification, when a part is said to be "connected" with another part, it includes not only directly connected but also indirectly connected, and indirect connection includes connecting through a wireless communication network. do.

In addition, when a part is said to "include" a certain component, which means that it may further include other components, except to exclude other components unless otherwise stated.

The terms first, second, etc. are used to distinguish one component from another component, and the component is not limited by the terms described above.

Singular expressions include plural expressions unless the context clearly indicates an exception.

In each step, the identification code is used for convenience of explanation, and the identification code does not describe the order of each step, and each step may be performed differently from the stated order unless the context clearly indicates a specific order. have.

Hereinafter, the working principle and the embodiments of the present invention will be described with reference to the accompanying drawings.

1A, 1B, and 1C are views illustrating an exterior of a vehicle according to various embodiments.

As shown in FIG. 1A, an embodiment of a vehicle includes a main body 10 forming an exterior of a vehicle 1, wheels 21 and 22 for moving the vehicle 1, and a door for shielding the inside of the vehicle 1 from the outside. 14, the windshield 17 which gives the driver inside the vehicle 1 a view in front of the vehicle 1, the side mirrors 18 and 19 which give the driver a view in the rear of the vehicle 1, and the air It includes a grill 23 and a wiper 15 provided to be introduced.

The wheels 21 and 22 include a front wheel 21 provided at the front of the vehicle and a rear wheel 22 provided at the rear of the vehicle, and the front wheel 21 or the rear wheel 22 provides a rotational force from a driving device to be described later. The main body 10 can be moved forward or backward.

The door 14 is pivotally provided on the left and right sides of the main body 10 to allow the driver to ride inside the vehicle 1 at the time of opening and to shield the inside of the vehicle 1 from the outside at the time of closing. .

The windshield 17 is provided on the front upper side of the main body 10 to allow a driver in the vehicle 1 to obtain visual information in front of the vehicle 1, which is also referred to as windshield glass.

In addition, the side mirrors 18 and 19 include a left side mirror 18 provided on the left side of the main body 10 and a right side mirror 19 provided on the right side. 1) It is possible to acquire the visual information of the side and rear.

The grille 23 may be installed at the front of the vehicle 1 to reduce heat of the coolant and the engine by using air introduced into the holes of the grille 23 while driving. In addition, the grill 23 can protect against the danger that foreign matters may collide with the radiator and be broken.

The wiper 15 may wipe off raindrops or snow falling on the windshield 17, and may maintain the front view while driving the vehicle 1. Wiper 15 is composed of a wiper arm and a wiper blade, the wiper blade at the end of the wiper arm moves from side to side and the front glass 17 can be wiped by the blade blade. The wiper 15 may be mounted on the rear glass and the headlamp as well as the windshield 17.

Unlike the vehicle of FIG. 1A, the vehicle according to the disclosed embodiment may be implemented as a commercial vehicle used to transport goods or passengers. Commercial vehicles may include trucks, dump trucks, vans, forklifts, and the like used for the transport of goods, buses, taxis, and the like used for the transport of people.

FIG. 1B illustrates a case in which the vehicle 1 is implemented as a commercial vehicle including a tractor 10 which is a main body coupled to a trailer 50. Since the vehicle 1 of FIG. 1B is similar to the vehicle of FIG. 1A except that the non-powered trailer 50 and the tractor 10 having its own power source are coupled and moved together, the description of the same configuration is omitted. .

In addition, the vehicle 1 may include at least one sensor capable of acquiring various information for the convenience of the driver.

The vehicle 1 may include a vehicle camera sensor that allows a driver to obtain visual information around the vehicle 1. The vehicle camera sensor may be installed in the front of the body 10 of the vehicle 1, may be installed in the rear of the body 10 of the vehicle 1, but is not limited thereto. In particular, when the rear view is difficult to secure, such as when the vehicle 1 is implemented as a commercial vehicle, the vehicle 1 may include a rear camera sensor 215 to provide convenience to the driver.

In addition, the vehicle 1 may include an ultrasonic sensor capable of detecting an obstacle around the vehicle 1. The ultrasonic sensor may be installed in the front of the body 10 of the vehicle 1, may be installed in the door 14 of the vehicle 1, may be installed in the rear of the body 10, and the like. In particular, when securing the rear view is difficult, such as when the vehicle 1 is implemented as a commercial vehicle, the vehicle 1 may include a rear ultrasonic sensor 214 to provide convenience to the driver. In this case, the rear ultrasonic sensor 214 may be located at the rear end of the vehicle 1 to detect surrounding objects and pedestrians.

1C illustrates a case in which the vehicle 1 is implemented as a bus. Since the vehicle 1 of FIG. 1C is similar to the vehicle of FIG. 1A and includes a rear ultrasonic sensor 214 and a rear camera sensor 215 similarly to FIG. 1B, the description of the same configuration is omitted.

2 is a diagram illustrating an internal configuration of a vehicle according to the embodiment of FIG. 1A.

As shown in FIG. 2, the vehicle 1 includes a seat 110 on which a driver, etc., and a dashboard 150 provided with a gear box 120, a center fascia 130, a steering wheel 140, and the like ( Dashboard).

The gear box 120 may include a shift lever 121 for shifting the vehicle 1 and a dial operation unit 123 for controlling the performance of the vehicle 1.

The steering wheel 140 provided on the dashboard 150 is a device for adjusting the driving direction of the vehicle 1. The steering wheel 140 is connected to the rim 141 gripped by the driver and the steering device of the vehicle 1 and is connected to the rim 141. And a spoke 142 connecting the hub of the rotating shaft for steering. According to an embodiment, the spokes 142 may be provided with operation devices 142a and 142b for controlling various devices in the vehicle 1, for example, an audio device.

The air conditioning device 131, the clock 132, the audio device 133, the display 134, and the like may be installed in the center fascia 130 provided on the dashboard 150.

The air conditioner 131 maintains the interior of the vehicle 1 comfortably by adjusting the temperature, humidity, cleanliness of the air, and air flow in the vehicle 1. The air conditioning apparatus 131 may include at least one discharge port 131a installed in the center fascia 130 to discharge air. The center fascia 130 may be provided with a button or a dial for controlling the air conditioner 131. A passenger such as a driver may control the air conditioning apparatus 131 by using a button disposed in the center fascia 130.

The watch 132 may be provided around a button or dial for controlling the air conditioner 131.

The audio device 133 may include an operation panel provided with a plurality of buttons for performing a function of the audio device 133. The audio device 133 may provide a radio mode for providing a radio function and a media mode for playing audio files of various storage media containing audio files. Sound generated through the audio device 133 may be output through the speaker 160 provided in the vehicle 1.

The display 134 may display a user interface (UI) that provides the driver with information related to the vehicle 1 in the form of an image or text. To this end, the display 134 may be embedded in the center fascia 130. However, the installation example of the display is not limited thereto, and the display 134 may be provided to be separated from the center fascia 130 of the vehicle 1.

In this case, the display 134 may be implemented as a liquid crystal display (LCD), a light emitting diode (LED), a plasma display panel (PDP), an organic light emitting diode (OLED), a cathode ray tube (CRT), or the like. It is not limited to this.

In addition, the dashboard 150 may further include various instrument panels capable of displaying the traveling speed of the vehicle 1, the engine speed or the remaining fuel amount, and a glove box capable of storing various objects. have.

In addition, the vehicle 1 may include a room mirror 170 that allows the driver inside the vehicle to obtain visual information of the rear of the vehicle 1. The room mirror 170 may acquire not only visual information of the rear of the vehicle 1 but also visual information of the interior of the vehicle 1, that is, visual information of the interior of the vehicle 1 with respect to the rear of the driver's seat and the passenger seat. .

On the other hand, the interior of the vehicle 1 may include various components and devices in addition to the above-mentioned configuration, there is no limitation.

3 is a control block diagram of a vehicle according to an exemplary embodiment.

The vehicle 1 according to an embodiment may include a sensor 210 that acquires various information, a controller 220 that controls various devices in the vehicle 1, and an optical output unit 230 including at least one light source. It may include.

The sensing unit 210 may include a steering sensor 211 capable of acquiring steering information including a steering angle and a steering direction of the vehicle 1, a vehicle speed sensor 212 capable of acquiring vehicle speed information, and a vehicle 1. Gear sensor 213 capable of acquiring information on a gear position state of the vehicle, rear ultrasonic sensor 214 capable of acquiring information about an object around the vehicle 1, and visual information of the rear of the vehicle 1 And may include a rear camera sensor 215.

The steering sensor 211 may measure a rotation angle, a rotation direction, a torque value, and the like of the steering wheel 140, and may detect the steering angle of the vehicle 1 therefrom. For this purpose, the steering sensor 211 may be installed near the steering wheel 140.

The vehicle speed sensor 212 may measure a traveling speed of the vehicle 1, a change amount of the traveling speed, and the like. In detail, when the vehicle 1 is decelerated by a predetermined value or more, the vehicle speed sensor 212 may detect the deceleration of the vehicle 1.

The gear sensor 213 may acquire information on a gear position state of the vehicle 1, and specifically, the gear sensor 213 may be traveling (D), reversing (R), neutral (N), or parking (P). It is possible to obtain the gear position information by detecting the gear position state of the back.

The rear ultrasonic sensor 214 may acquire information about an object present in the rear of the vehicle 1, and specifically detect an object present in the rear of the vehicle 1. The rear ultrasonic sensor 214 may transmit an ultrasonic transmission signal around the vehicle 1, and may detect an object present in the rear of the vehicle 1 according to whether a reflection signal thereof is detected.

The rear camera sensor 215 may acquire visual information about the rear of the vehicle 1, and specifically, may acquire an image of the rear of the vehicle 1. The image of the rear of the vehicle 1 obtained by the rear camera sensor 215 may be used as a control basis for determining the presence or absence of an obstacle existing behind the vehicle 1 by the controller 220 to be described later.

In order to detect environmental information of the vehicle 1 including such various information, the sensing unit 210 may be installed at appropriate locations outside and inside the vehicle 1.

The light output unit 230 may irradiate information on the vehicle 1 on the road surface. In this case, the information about the vehicle 1 irradiated on the road surface may be information about the trajectory of the vehicle 1. Detailed description of the information on the trajectory of the vehicle 1 will be described later.

To this end, the light output unit 230 may include at least one light source for emitting electromagnetic waves of various wavelengths. For example, the light output unit 230 may include a laser module.

In addition, the light output unit 230 may be installed at the bottom of the vehicle 1 to irradiate toward the road surface, or may be installed at the bottom of the rear bumper behind the vehicle 1. In addition, the light output unit 230 may be installed near the rear wheel 22 and may be installed at the lower corners of both sides of the rear bumper. It may be provided in plurality.

The controller 220 may determine various situations related to driving based on the information obtained by the detector 210, and control various devices of the vehicle 1 according to the determination result.

 The controller 220 may determine whether there is an obstacle around the vehicle 1 based on information obtained from at least one of the rear ultrasound sensor 214 and the rear camera sensor 215.

In addition, the controller 220 may determine various situations related to the driving environment of the vehicle 1.

In detail, the controller 220 may determine whether it is at night based on information obtained from a camera sensor, a light sensor, a watch 132, and the like. In addition, the controller 220 may determine whether the vehicle 1 moves forward or backward based on the information obtained from the gear sensor 213, and the vehicle 1 based on the information obtained from the steering sensor 211. ) Can be determined whether the right turn, left turn, etc.

As such, the controller 220 may collect information related to driving of the vehicle 1 to provide a safe driving environment, generate information related to various situations related to driving, and provide such information to the driver. have.

The controller 220 may provide various information related to the vehicle 1 not only to the driver inside the vehicle 1 but also to a person outside the vehicle 1 such as a pedestrian.

To this end, the controller 220 may control various devices including the light output unit 230 based on the information of the various vehicles 1 obtained by the detector 210.

The control unit 220 may generate guideline information of the vehicle 1 based on the information obtained by the sensing unit 210, and the light output unit may be applied to the road surface based on the guideline information. 230 can be controlled.

In this case, the guideline information means information on the predicted trajectory of the vehicle 1. In detail, the guideline information may include predicted locus information at both rear corners of the rear end of the vehicle 1.

To this end, the controller 220 may calculate the predicted trajectory of the vehicle 1 based on the information obtained by the sensing unit 210, and generate the guideline information based on the predicted trajectory. The control unit 220 may transmit such guideline information to the light output unit 230, and the light output unit 230 examines a guideline indicating an expected trajectory of the vehicle 1 on the road surface according to the received guideline information. can do.

By the irradiation operation of the light output unit 230, the controller 220 may transmit the information of the vehicle 1 to both the driver inside the vehicle 1 and the pedestrian outside the vehicle 1.

To this end, the control unit performs the above-described operation using a memory (not shown) that stores data for an algorithm or a program that reproduces the algorithm for controlling the operation of the components in the vehicle 1, and the data stored in the memory. It may be implemented by a processor (not shown). In this case, the memory and the processor may be implemented as separate chips. Alternatively, the memory and the processor may be implemented in a single chip.

Hereinafter, the irradiation operation of the light output unit 230 for transmitting information related to the vehicle 1 to both the driver inside the vehicle 1 and the pedestrian outside the vehicle 1 and the operation of the controller 220 controlling the same. This will be described in detail.

When driving the vehicle 1, there may be blind spots in which it is difficult for a driver to obtain visual information using the side mirrors 18 and 19. In particular, when the vehicle 1 is implemented as a large vehicle such as a commercial vehicle, a blind spot may be difficult to secure a view due to a long battlefield. At this time, when the vehicle 1 makes a sharp turn, such as cornering or reverse parking, the rear wheel 22 momentarily has a larger turning trajectory than the front wheel 21, so that surrounding vehicles in a blind spot where visibility is difficult to secure. , Collisions with buildings, structures, and people can occur frequently.

In order to prevent such a collision accident in the blind spot, the controller 220 may provide information about the turning trajectory of the vehicle 1 to the pedestrian as well as the driver. The controller 220 may control the light output unit 230 to irradiate a guide line including information about a turning trajectory on the road surface in a blind spot.

The controller 220 may determine whether the vehicle 1 moves forward or backward from the gear position state information obtained from the gear sensor 213 of the sensing unit 210, and the steering angle information obtained from the steering sensor 211. The steering wheel 140 may determine whether the steering wheel 140 is rotated clockwise or counterclockwise.

For example, the controller 220 may determine that the vehicle 1 is moving forward when the gear position state obtained from the gear sensor 213 is D (driving), and when the R (reverse) is the vehicle 1 It can be judged that this reverses.

In addition, the controller 220 may determine that the steering wheel 140 is rotated in a clockwise direction when the steering angle obtained from the steering sensor 211 has a positive value, and when the steering angle has a negative value. It may be determined that the steering wheel 140 is rotated in the counterclockwise direction.

The controller 220 may determine the blind spot based on the situation of the vehicle 1. In this case, the blind spot means an area where it is determined that it is difficult for the driver to acquire visual information by the side mirrors 18 and 19.

The controller 220 may determine the blind spot based on the rotation direction of the steering wheel 140 and the traveling direction of the vehicle 1.

In detail, when the vehicle 1 moves forward while the steering wheel 140 is rotated in the clockwise direction, the controller 220 may determine the blind spot as the left corner area behind the vehicle 1, and the steering wheel ( When the vehicle 140 moves forward in the counterclockwise direction, the blind spot may be determined as a right corner region behind the vehicle 1.

In addition, the controller 220 may determine the blind spot as the left corner area behind the vehicle 1 when the vehicle 1 moves backward while the steering wheel 140 is rotated in the clockwise direction, and the steering wheel 140 In the case of reversing in a state that rotates in a counterclockwise direction, the blind spot may be determined as the right corner area behind the vehicle 1.

As such, the control unit 220 may determine the blind spot of the vehicle 1 based on the information obtained by the sensing unit 210, and the light output unit 230 may be applied so that a guideline is irradiated on the road surface of the blind spot. Can be controlled. At this time, the guideline irradiated on the road surface of the blind spot includes information about an expected turning trajectory of the vehicle 1, that is, a traveling direction and a traveling trajectory of the vehicle 1.

The controller 220 may calculate the predicted turning trajectory of the vehicle 1 for the area determined as the blind spot based on at least one of vehicle speed information, steering angle information, and gear position state information acquired from the detector 210. In addition, the guideline information including the expected turning trajectory may be generated. The light output unit 220 may irradiate the guideline of the vehicle 1 on the road surface according to the guideline information generated by the controller 230.

In addition, the controller 220 may control the light output unit 220 such that the guide line is irradiated on the road surface only when the vehicle speed is equal to or less than a predetermined reference value.

For example, the controller 220 may transmit the guideline information to the light output unit 220 only when the vehicle speed is 15 kph or less, and control the light output unit 220 so that the guide line is irradiated on the road surface only in a low speed situation.

In consideration of the fact that there are few objects, especially pedestrians, in the middle of high speed or high speed driving, and the frequency of rapid turning of the vehicle 1 is low, the controller 220 may be used only in a low speed situation in which collision with pedestrians is likely. The efficiency can be increased by allowing the guidelines to be investigated on the road surface.

In addition, the controller 220 may change a region where the guideline is to be irradiated on the road surface based on the steering angle information. In this case, the controller 220 may change the area where the guideline is to be irradiated on the road surface by changing the distance from the rear left corner area of the vehicle 1 to the guideline.

In detail, the controller 220 may determine whether the steering angle is within a predetermined range based on the steering angle information, and control the light output unit 230 to irradiate the guideline to the determined area based on the determination result. Can be.

The light output unit 220 may irradiate a guideline indicating a traveling direction and a traveling trajectory of the vehicle 1 using at least one marker having an arrow shape. In this case, the at least one marker may have a 3D shape, the color may have a red color in consideration of visibility and warning of day and night, and may have various shapes and colors according to the design purpose. It is not limited to.

4A and 4B are diagrams illustrating examples of guidelines that a vehicle irradiates on a road surface according to an exemplary embodiment.

As shown in FIG. 4A, when the vehicle 1 moves forward while the steering wheel 140 is rotated in the clockwise direction, the blind spot may be a left corner region behind the vehicle 1.

The controller 220 may calculate an anticipated turning trajectory of the vehicle 1 with respect to the left corner region behind the vehicle 1, and provides a guideline indicating the anticipated turning trajectory on the road surface of the left corner region behind the vehicle 1. The light output unit 230 may be controlled to emit light.

In addition, the controller 220 may change a region where the guideline is irradiated by changing a distance from the rear left corner area to the guideline according to whether the steering angle is within a predetermined range.

For example, when the steering angle θ obtained from the steering sensor 211 falls within the range of 0 <θ≤15 °, the guideline is irradiated to the area L1 where the distance from the rear left corner area to the guideline becomes D1. The light output unit 230 may be controlled. In addition, when the steering angle θ falls within a range of 15 <θ≤30 °, the controller 220 examines the guideline in the area L2 where the distance from the rear left corner area to the guideline becomes D2, and the steering angle θ is 30 When it is in the range of? ≤θ, the light output unit 230 may be controlled to irradiate the guideline with respect to the region L3 where the distance from the rear left corner region to the guideline becomes D3.

In this case, the predetermined range of the steering angle and the distances D1, D2, and D3 to the guideline may be adjusted according to a specific driving situation.

As another example, as shown in FIG. 4B, when the vehicle 1 moves backward while the steering wheel 140 is rotated in the clockwise direction, the blind spot may be a left corner area behind the vehicle 1.

The controller 220 may calculate the predicted turning trajectory of the vehicle 1 with respect to the left corner region behind the vehicle 1, and examine a guideline indicating the predicted turning trajectory on the road surface of the left corner region behind the vehicle 1. The light output unit 230 may be controlled to control the light output unit 230.

In addition, as in the case of FIG. 4A, when the steering angle θ obtained from the steering sensor 211 falls within a range of 0 <θ ≦ 15 °, the controller 220 may have a distance D1 'from the rear left corner area. The light output unit 230 may be controlled to irradiate the guide line with respect to the region L1 ′. In addition, when the steering angle θ falls within a range of 15 <θ≤30 °, the controller 220 examines the guideline in the area L2 'where the distance from the rear left corner area to the guideline becomes D2', and the steering angle θ Is in the range of 30 ° ≤θ, the light output unit 230 may be controlled to irradiate the guideline with respect to the area L3 'where the distance from the rear left corner area to the guideline is D3'.

In addition, the controller 220 may move backward when the vehicle 1 moves forward while the steering wheel 140 rotates counterclockwise or when the steering wheel 140 rotates counterclockwise. In this case, the predicted turning trajectory of the vehicle 1 with respect to the right corner region behind the vehicle 1 determined as the blind spot may be calculated, and the expected turning trajectory may be represented on the road surface of the right corner region behind the vehicle 1. The light output unit 230 may be controlled to radiate the guideline.

The light output unit 230 may be a plurality, for example, may be installed in the lower left corner and lower right corner of the rear bumper, respectively.

When a plurality of light output units 230 are installed, the controller 220 may include a blind spot determined based on information of the vehicle 1 obtained by the sensing unit 210 among the plurality of light output units 230. The adjacent light output unit 230 may be controlled to irradiate the guideline.

5 is a diagram illustrating an optical output unit of a vehicle according to an exemplary embodiment.

Referring to FIG. 5, the light output unit 230 may include at least one light source 231 and may include a protection unit 232 protecting the at least one light source 231. have. The protection unit 232 may include grooves 232a, 232b, and 232c through which light transmitted from each of the at least one light source 231 passes. In this case, the number of grooves may be equal to the number of light sources 231.

Each of the at least one light sources 231a, 231b, and 231c may pass through the grooves 232a, 232b, and 232c of the protection unit 232 corresponding thereto to irradiate the guide lines L1, L2, and L3 of different regions. have.

In the example of FIG. 4A described above, the control unit 220 emits light from the light source 231a that irradiates the guideline of the region L1 when the steering angle θ obtained from the steering sensor 211 falls within a range of 0 <θ ≦ 15 °. The light output unit 230 may be controlled to emit light. In addition, when the steering angle θ is in the range of 15 <θ≤30 °, the controller 220 may control the light output unit 230 to emit light from the light source 231b irradiating the guide line of the region L2. When the steering angle θ is in the range of 30 ° ≦ θ, the light output unit 230 may be controlled to emit light from the light source 231c irradiating the guide line of the region L3.

In addition, the control unit 220 may control the light output unit 230 so that one light source irradiates a guideline of a plurality of regions, and in this case, the light output unit 230 may guide the light source 231 at various angles. It may further include a rotating portion (not shown) to irradiate the line.

6 is a diagram illustrating a guideline irradiated on a road surface by a vehicle according to another exemplary embodiment.

Referring to FIG. 6, the controller 220 according to an embodiment may determine whether it is night based on information obtained from a camera sensor, a lighting sensor, a clock 132, and the like.

If it is determined that it is night, the controller 220 may control the light output unit 230 to irradiate a guideline on the road surface. In this case, the light output unit 230 may be provided on the lower surface of the rear bumper behind the vehicle 1, and may be provided on the lower left corner and the lower right corner of the rear bumper, respectively.

When it is determined that it is night, the controller 220 may determine the position of the rear end of the vehicle 1 and generate guideline information including the position of the rear end.

The light output unit 230 may irradiate a guide line indicating an end position of the rear of the vehicle 1 based on the guideline information generated by the controller 220.

For example, the light output unit 230 may irradiate the road surface to the rear end position using the marker M in the form of a 3D arrow. In this case, the shape, shape, color, position, and size of the marker M may be set differently according to the guideline information generated by the controller 220, and are not limited to the above-described example.

Through this, the driver can more easily determine the exact position of the rear end of the vehicle 1 during the night driving, and can prevent the collision between the other object and the vehicle 1 to ensure the safety of the driver or pedestrian. .

7 is a flowchart illustrating a control method of a vehicle according to an exemplary embodiment.

Referring to FIG. 7, the vehicle 1 according to an embodiment may determine whether the vehicle speed is equal to or less than a predetermined reference value X1 (710).

When the vehicle speed is equal to or less than the predetermined reference value X1 (YES in 710), the controller 220 may determine whether the vehicle 1 moves forward (711). Specifically, when the gear position state is D (driving), the controller 220 may determine that the vehicle 1 moves forward.

If it is determined that the vehicle 1 moves forward (YES in 711), the controller 220 may determine whether an obstacle is detected (712). In detail, the controller 220 may determine whether an obstacle exists based on information obtained from at least one of the rear ultrasound sensor 214 and the rear camera sensor 215.

Thereafter, if it is determined that the obstacle is detected (YES in 712), the controller 220 may determine whether rotation is detected (713). In detail, the controller 220 may determine whether the vehicle 1 rotates based on steering information including the steering angle and the steering direction obtained from the steering sensor 211.

When the rotation is detected (Yes of 713), the controller 220 may determine whether the steering wheel 140 rotates clockwise (714), and when the steering wheel 140 rotates clockwise, the vehicle The bottom of the left rear RL corner of (1) can be determined as a blind spot. If the blind spot is determined to be a lower end of the left rear RL corner, the vehicle 1 may examine the guideline on the road surface below the left rear RL corner 715.

When the steering wheel 140 does not rotate in the clockwise direction, that is, when the steering wheel 140 rotates in the counterclockwise direction, the controller 220 may determine a lower right corner of the right rear RR corner of the vehicle 1 as a blind spot. When the blind spot is determined to be a lower end of the right rear RR corner, the vehicle 1 may examine the guideline on the road surface of the lower right rear RR corner 716.

As another example, when the vehicle 1 does not move forward (No in 711), the controller 220 may determine whether the vehicle 1 moves backward (717). In detail, when the gear position state is R (reverse), the controller 220 may determine that the vehicle 1 moves backward.

If it is determined that the vehicle 1 moves backward (Yes of 717), the controller 220 may determine whether an obstacle is detected (718). If an obstacle is detected (YES of 718), the controller 220 may determine whether rotation is detected (719). When the rotation is detected (YES in 719), the controller 220 may determine whether the steering wheel 140 rotates clockwise (720).

When the steering wheel 140 rotates in a clockwise direction, the controller 220 may determine a lower left corner of the left rear RL of the vehicle 1 as a blind spot. If the blind spot is determined to be a lower end of the left rear RL corner, the vehicle 1 may examine the guideline on the road surface below the left rear corner RL.

When the steering wheel 140 does not rotate in the clockwise direction, that is, when the steering wheel 140 rotates in the counterclockwise direction, the controller 220 may determine a lower right corner of the right rear RR corner of the vehicle 1 as a blind spot. When the blind spot is determined to be a lower end of the right rear RR corner, the vehicle 1 may examine the guideline on the road surface below the right rear corner RR.

Through this, the possibility of collision between the vehicle 1 and the pedestrian or the surrounding object in the blind spot may be lowered. In addition, since the guideline is irradiated on the road surface, the driver can accurately determine the blind spots according to the guideline, and the pedestrian can avoid the vehicle turning sharply. Therefore, it is possible to secure driving safety.

8 and 9 are flowcharts illustrating a method of controlling a vehicle, according to an exemplary embodiment.

8 is a flowchart illustrating an operation of examining a guideline when the vehicle 1 moves forward, and FIG. 9 is a diagram illustrating a guideline when the vehicle 1 moves backward according to an embodiment of the present disclosure. A flowchart for explaining the operation.

Referring to FIG. 8, the vehicle 1 according to an embodiment may determine whether the gear D is input based on the gear position state information (810).

When the gear D is input (Yes of 810), the vehicle 1 may determine whether an obstacle is detected by the rear ultrasonic sensor 214 (811).

When the obstacle is not detected by the rear ultrasonic sensor 214, the vehicle 1 may determine whether the obstacle is detected by the rear camera sensor 215 (812), and by the rear camera sensor 215. If an obstacle is detected (Yes of 812), it may be determined whether a steering angle sensor value (SAS) obtained from the steering sensor 211, that is, the steering angle is positive (813). At this time, the SAS value may have a positive or negative value.

When the SAS value is confirmed to be positive (Yes of 813), the vehicle 1 can determine whether the vehicle speed is equal to or less than the predetermined reference value X1 (814), and when the vehicle speed is equal to or less than the predetermined reference value X1, The guide line may be irradiated to the lower surface of the left rear RL corner (815).

When the SAS value is found to be negative (NO in 813), the vehicle 1 may determine whether the vehicle speed is equal to or less than the predetermined reference value X1 (816), and when the vehicle speed is equal to or less than the predetermined reference value X1. In operation 817, the guide line may be irradiated on the lower road surface of the right rear corner (RR).

In this case, the guideline to be irradiated may indicate an expected progress direction and progress trajectory of the vehicle 1, and the irradiation step of the above-described guideline is based on the vehicle information acquired by the vehicle 1 by the sensing unit 210. And calculating an expected progress direction and a progress trajectory.

Referring to FIG. 9, the vehicle 1 according to an embodiment may determine whether an R gear is input based on gear position state information (910).

When the R gear is input (Yes of 910), the vehicle 1 may determine whether an obstacle is detected by the rear ultrasonic sensor 214 (911).

When the obstacle is not detected by the rear ultrasonic sensor 214, the vehicle 1 may determine whether the obstacle is detected by the rear camera sensor 215 (912), and by the rear camera sensor 215. When an obstacle is detected (YES in 912), it may be determined whether a steering angle sensor value (SAS) obtained from the steering sensor 211, that is, the steering angle is positive (913). At this time, the SAS value may have a positive or negative value.

When the SAS value is confirmed to be positive (YES in 913), the vehicle 1 may determine whether the vehicle speed is equal to or less than the predetermined reference value X1 (914), and when the vehicle speed is equal to or less than the predetermined reference value X1, The guide line may be irradiated to the lower surface of the left rear RL corner (915).

When the SAS value is found to be negative (NO in 913), the vehicle 1 may determine whether the vehicle speed is equal to or less than the predetermined reference value X1 (916), and the vehicle speed is equal to or less than the predetermined reference value X1. In operation 917, the guide line may be irradiated on the lower road surface of the right rear corner (RR).

Through this, the vehicle 1 may determine a blind spot where it is estimated that it is difficult for the driver to acquire visual information based on the gear position state and the direction in which the steering wheel rotates, and the estimated progress of the vehicle on the road surface of the blind spot is estimated. By examining the guidelines indicating the direction and travel trajectory, collision between the vehicle 1 and the surrounding obstacles can be prevented. In addition, these guidelines can be easily recognized by the driver, so that the driver can easily obtain information on the blind spot. Therefore, running safety can be increased.

10 is a flowchart illustrating a control method of a vehicle according to an exemplary embodiment.

Referring to FIG. 10, the vehicle 1 according to an embodiment may determine whether a SAS value belongs to a first range (1001). In this case, the first range may be differently set according to a design purpose as a predetermined reference range.

If the SAS value is in the first range (YES in 1001), the vehicle 1 may examine the guidelines in the first area (1002). In this case, the first region is an area corresponding to the first range, and means a region having a predetermined first horizontal distance D1 between the vehicle 1 and the guideline, and the first horizontal distance D1 is defined as a first area. It can be set corresponding to the SAS value of one range.

The irradiating the guideline to the first area may further include controlling the first light source corresponding to the first area to irradiate the guideline.

If the SAS value does not belong to the first range (NO of 1001), the vehicle 1 may determine whether the SAS value belongs to the second range (1003).

If the SAS value is in the second range (YES in 1003), the vehicle 1 may examine the guidelines in the second area (1004). In this case, the second area is an area corresponding to the second range and means an area having a second predetermined horizontal distance D2 between the vehicle 1 and the guideline, and the first horizontal distance D2 is defined as the first area. It can be set corresponding to a SAS value of two ranges.

The irradiating the guideline to the second area may further include controlling the second light source corresponding to the second area to irradiate the guideline.

If the SAS value does not belong to the second range (NO of 1003), the vehicle 1 may determine whether the SAS value belongs to the third range (1005).

If the SAS value is in the third range (YES in 1005), the vehicle 1 may examine the guidelines in the third region (1006). In this case, the third region corresponds to a third range, and means a region having a predetermined third horizontal distance D3 between the vehicle 1 and the guideline, and the third horizontal distance D3 is defined as a third region. It can be set corresponding to a SAS value of three ranges.

The irradiating the guideline to the third region may further include controlling the third light source corresponding to the third region to irradiate the guideline.

As a result, since the area irradiated by the guideline varies according to the SAS value, a wider guideline can be displayed on the vehicle 1 that is rapidly turning, thereby securing a wider safety distance. Therefore, it is possible to secure driving safety and pedestrian safety suitable for the specific situation of rapid turning of the vehicle 1.

11 is a flowchart illustrating a control method of a vehicle according to an embodiment.

Referring to FIG. 11, the vehicle 1 according to an exemplary embodiment may determine whether starting is in an ON state (1101).

If the start-up is in the ON state (YES of 1101), the vehicle 1 may determine whether it is night (1102). In detail, the vehicle 1 may determine whether it is at night based on information obtained from a camera sensor, a lighting sensor, a watch 132, and the like.

When it is determined that the vehicle 1 is at night (YES in 1102), the vehicle 1 may examine the guidelines on the road surface (1103). In this case, the vehicle 1 may grasp the position of the rear end of the vehicle 1 and irradiate the position of the road surface corresponding to the position with a guideline indicating the position of the rear end.

In addition, the vehicle 1 may irradiate the guideline to each of the position of the rear left end and the position of the rear right end of the vehicle 1, and the position and the number of the irradiated guideline are not limited thereto.

Through this, it is possible to recognize the position of the rear end of the vehicle (1) difficult to secure visibility during night driving, it is possible to secure driving safety, such as to prevent lane departure, it is possible to prevent accidents with the surrounding vehicles.

As described above, the disclosed embodiments have been described with reference to the accompanying drawings. Those skilled in the art will understand that the present invention can be implemented in a form different from the disclosed embodiments without changing the technical spirit or essential features of the present invention. The disclosed embodiments are exemplary and should not be construed as limiting.

Detector: 210
Steering Sensor: 211
Vehicle speed sensor: 212
Gear sensor: 213
Rear ultrasonic sensor: 214
Rear camera sensor: 215
Control Unit: 220
Light output: 230

Claims (20)

A sensing unit obtaining vehicle information related to a vehicle;
An optical output unit including at least one light source; And
And a controller configured to determine an expected trajectory and a traveling direction of the vehicle based on the vehicle information obtained by the sensing unit, and to control the light output unit to examine a guide line indicating the determined estimated trajectory and the traveling direction. vehicle. The method of claim 1,
The detection unit,
A vehicle for acquiring vehicle information including steering angle, steering direction, vehicle speed, and gear position status. The method of claim 2,
The control unit,
And controlling the light output unit to irradiate the guideline when the vehicle speed is equal to or less than a predetermined reference value. The method of claim 2,
The control unit,
And determine the irradiation area based on the steering angle, and control the light output unit to irradiate the guideline to the determined irradiation area. The method of claim 2,
The control unit,
A vehicle which determines a blind spot that is difficult for a driver to obtain visual information based on the vehicle information obtained by the sensing unit, and controls the light output unit to irradiate the guideline to the determined road surface of the blind spot; . The method of claim 5,
The control unit,
When the gear position state is D (run) and the steering direction is clockwise or the gear position state is R (reverse) and the steering direction is clockwise, judging the blind spot to the left rear of the vehicle vehicle. The method of claim 5,
The control unit,
When the gear position is D (run) and the steering direction is counterclockwise or when the gear position is R (reverse) and the steering direction is counterclockwise, the blind spot is to the right rear of the vehicle. Vehicle to judge. The method of claim 2,
The detection unit,
A rear ultrasonic sensor for acquiring object information on the rear of the vehicle using ultrasonic waves, and a rear camera sensor for acquiring visual information about the rear of the vehicle;
The control unit,
And determining whether an obstacle exists based on information obtained from at least one of the rear ultrasonic sensor and the rear camera sensor, and if the obstacle exists, controlling the light output unit to irradiate the guideline. The method of claim 1,
The control unit,
And determining whether it is night based on the vehicle information acquired by the sensing unit, and if it is determined to be night, controlling the light output unit to irradiate the guideline. The method of claim 9,
The control unit,
And determine a position of a rear corner of the vehicle based on the vehicle information, and control the light output unit to irradiate the guideline to the determined position of the rear corner. Obtain vehicle information associated with the vehicle;
Determine an expected trajectory and a traveling direction of the vehicle based on the obtained vehicle information; And
And examining a guideline indicating the estimated trajectory and the moving direction of the determined vehicle. The method of claim 11,
Acquiring vehicle information related to the vehicle,
A vehicle control method comprising obtaining vehicle information including a steering angle, a steering direction, a vehicle speed, and a gear position state. The method of claim 12,
Investigating the guidelines,
And examining the guideline when the vehicle speed is equal to or less than a predetermined reference value. The method of claim 12,
Investigating the guidelines,
Determine an irradiation area based on the steering angle; And
And irradiating the guideline to the determined irradiation area. The method of claim 12,
Investigating the guidelines,
Determine a blind spot estimated that it is difficult for a driver to obtain visual information based on the obtained vehicle information; And
And controlling the guideline to the determined blind spot road surface. The method of claim 15,
Determining the blind spot,
When the gear position state is D (run) and the steering direction is clockwise or the gear position state is R (reverse) and the steering direction is clockwise, judging the blind spot to the left rear of the vehicle Control method of a vehicle comprising a. The method of claim 15,
Determining the blind spot,
When the gear position is D (run) and the steering direction is counterclockwise or when the gear position is R (reverse) and the steering direction is counterclockwise, the blind spot is to the right rear of the vehicle. Control method of a vehicle comprising the determination. The method of claim 12,
Acquiring vehicle information related to the vehicle,
Acquiring object information on the rear of the vehicle by using ultrasonic waves, and obtaining visual information on the rear of the vehicle;
Investigating the guidelines,
And determining whether an obstacle exists based on at least one of the object information and visual information on the rear of the vehicle, and if the obstacle is present, examining the guideline. The method of claim 11,
Investigating the guidelines,
And determining whether it is night based on the obtained vehicle information, and examining the guidelines when it is determined that it is night. The method of claim 19,
Investigating the guidelines,
And determining the position of the rear corner of the vehicle based on the vehicle information, and irradiating the guideline to the determined position of the rear corner.

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