KR20210124586A - Advanced Driver Assistance System, and Vehicle - Google Patents

Abstract

The present invention relates to a diver assistant apparatus for autonomous driving and a vehicle having the same. The vehicle comprises: an image unit which displays image information by obtaining an image of a road; and a control unit which determines whether a surrounding vehicle is a vehicle loading a freight based on the image information of the image unit, when the surrounding vehicle is determined to be a vehicle loading a freight, obtains at least one information among size information of the surrounding vehicle, size information of the freight, and relative position information between the surrounding vehicle and the freight based on the image information of the image unit, and controls avoidance driving to avoid the surrounding vehicle based on at least one obtained information. The driver assistant apparatus informs a collision risk due to a freight loaded on another driving vehicle.

Description

{Advanced Driver Assistance System, and Vehicle}

The present invention relates to a driver assistance device and a vehicle for preventing a risk of collision with another vehicle when performing an autonomous driving mode.

A vehicle is a machine driven by wheels for the purpose of transporting people or cargo, and it moves on the road. Such a vehicle may cause an accident due to its own failure when driving on the road, or an accident may occur due to the negligence of the driver, negligence of other vehicles, or road conditions.

Recently, various advanced driver assistance systems (ADAS) have been developed to deliver driving information of a vehicle to a driver or perform autonomous driving for the driver's convenience in order to prevent accidents caused by driver negligence.

As an example of the driver assistance device, there is a collision avoidance device that detects an obstacle around a vehicle and informs a driver of collision information with a vehicle based on distance information from the detected obstacle.

As another example, there is a lane departure warning device that recognizes a lane of a road on which a vehicle is traveling, determines whether or not to depart a lane based on information on the recognized lane, and warns a driver when it is determined as lane departure.

As another example, autonomous driving in which the vehicle itself recognizes the road environment (road information, lanes, obstacles, traffic signals, etc.) There is a control device.

The autonomous driving control device recognizes lanes and obstacles through images, acquires position information of lanes and obstacles recognized through sensor detection information, and controls autonomous driving while avoiding obstacles based on the obtained position information of lanes and obstacles. do. When the autonomous driving control device recognizes an object, it recognizes only the type of the object based on the shape information of the recognized object.

Due to this, the existing autonomous driving control device has a problem in that it does not recognize the danger to the vehicle running in the state of being loaded with cargo while driving in the vicinity of the own vehicle, and when the loaded cargo falls, There was a problem in that it could not prevent a collision with a vehicle.

One aspect provides a driver assistance device and vehicle that warns of a risk of collision due to cargo loaded on another vehicle traveling in the vicinity.

According to one aspect, a driver assistance apparatus includes: an image unit configured to obtain an image of a road and output image information; And based on the image information of the image unit, it is determined whether the surrounding vehicle is a vehicle loaded with cargo, and when it is determined that the surrounding vehicle is a vehicle loaded with cargo, the size information of the surrounding vehicle and the size information of the cargo are determined based on the image information of the image unit. and a control unit for controlling the avoidance driving for avoiding the surrounding vehicle based on the acquired and the acquired size information of the surrounding vehicle and the acquired size information of the cargo.

A neighboring vehicle in the driver assistance device according to an aspect is a vehicle that travels in the same lane as the own vehicle, but drives in front of the own vehicle.

When it is determined that the surrounding vehicle is a vehicle in which no cargo is loaded, the controller of the driver assistance apparatus according to an aspect controls the following driving to follow the surrounding vehicle based on image information of the image unit.

A driver assistance apparatus according to an aspect further includes an obstacle detector configured to detect an obstacle and output obstacle information on the detected obstacle, wherein the controller acquires location information and speed information of a surrounding vehicle based on the obstacle information, The following driving is controlled based on the location information and speed information of the surrounding vehicles.

The control unit of the driver assistance apparatus according to an aspect determines whether a nearby vehicle exists based on image information of the image unit, and when it is determined that the surrounding vehicle does not exist, controls autonomous driving based on a target driving speed.

A driver assistance apparatus according to an aspect further includes an obstacle detector configured to detect an obstacle and output obstacle information on the detected obstacle, wherein the controller is configured to detect an obstacle in a left lane or a right lane of the own lane based on the obstacle information. Acquire location information and speed information, and control avoidance driving based on the obtained location information and speed information of other vehicles.

The information on the size of the cargo in the driver assistance device according to one aspect includes information on the width of the cargo and the height of the cargo. The loading status is determined as normal, and if the width of the cargo is greater than the standard width or the height of the cargo is greater than the reference height, the loading status of the cargo is judged as overloaded.

The size information of the surrounding vehicle in the driver assistance device according to one aspect includes information on a width of a trailer and a height of a trailer provided in the surrounding vehicle, and the reference width is determined by the width of the trailer of the surrounding vehicle and a first predetermined value. This is set information, and the reference height is information set by the height of the trailer of the surrounding vehicle and the second predetermined value.

The control unit of the driver assistance device according to one aspect determines whether a door of a trailer provided in a nearby vehicle is opened or a cover of cargo is present based on the image information, and when it is determined that the door is open or there is no cover, loading of cargo The state is judged to be abnormal.

According to another aspect, a driver assistance apparatus includes: an imaging unit configured to obtain an image of a road and output image information; and determining whether the surrounding vehicle is a vehicle loaded with cargo based on the image information of the image unit, and when it is determined that the surrounding vehicle is a vehicle loaded with cargo, relative displacement information between the surrounding vehicle and the cargo is obtained based on the image information of the image unit and a control unit for controlling avoidance driving to avoid surrounding vehicles based on the obtained relative displacement information.

The control unit of the driver assistance device according to another aspect, when acquiring relative displacement information, recognizes the surrounding vehicle and cargo in the image based on the image information, identifies the recognized area of the surrounding vehicle and the cargo area, Obtaining the location information of the center of the surrounding vehicle in the area of the surrounding vehicle, obtaining the location information of the center of the cargo in the checked cargo area, the obtained location information of the center of the second vehicle and the obtained location information of the center of the cargo By comparing , the relative displacement information for the position change of the two centers is obtained.

The control unit of the driver assistance apparatus according to another aspect may determine that the loading state of the cargo is a normal state when the displacement value corresponding to the obtained relative displacement information is less than the reference value, and the displacement value corresponding to the obtained relative displacement information is the reference value If it is abnormal, it is determined that the loading state of the cargo is an overloaded state, and when it is determined that the loading state is an overloaded state, the avoidance driving is controlled.

The control unit of the driver assistance device according to another aspect obtains a horizontal distance between two central positions and a vertical angle between the two central positions by comparing the obtained position information of the center of the second vehicle with the obtained position information of the center of the cargo, If the obtained horizontal distance is equal to or greater than the reference distance and the obtained vertical angle is greater than or equal to the reference angle, it is determined that the loading state of the cargo is abnormal.

The control unit of the driver assistance device according to another aspect determines whether a door of a trailer provided in a neighboring vehicle is opened or a cover of cargo is present based on the image information, and when it is determined that the door is open or there is no cover, loading of cargo It determines that the state is an abnormal state and controls the avoidance driving when it is determined that the loading state is an abnormal state.

A vehicle according to another aspect includes: an imaging unit for acquiring an image of a road and outputting image information; And based on the image information of the image unit, it is determined whether the surrounding vehicle is a vehicle loaded with cargo, and when it is determined that the surrounding vehicle is a vehicle loaded with cargo, the size information of the surrounding vehicle, the size information of the cargo and and a controller configured to acquire at least one piece of information on relative displacement between the surrounding vehicle and the cargo, and control the avoidance driving for avoiding the surrounding vehicle based on the acquired at least one piece of information.

The information on the size of the cargo in the vehicle includes information on the width of the cargo and the height of the cargo. If the width of the cargo is greater than the reference width or the height of the cargo is greater than or equal to the reference height, the loading state of the cargo is determined as the overloaded state, and if the loading state of the cargo is the overloaded state, the avoidance driving is controlled.

The vehicle includes: a display unit for displaying information corresponding to the loading state of the cargo of the surrounding vehicle as an image in response to a control command of the controller; And in response to the control command of the controller further includes at least one of a sound output unit for outputting information corresponding to the loading state of the cargo of the surrounding vehicle as a sound.

The control unit of the vehicle recognizes the surrounding vehicle and cargo in the image based on the image information, checks the recognized area of the surrounding vehicle and the cargo area, and acquires the location information of the center of the surrounding vehicle in the identified area of the surrounding vehicle and obtains the location information of the center of the cargo in the checked cargo area, and compares the obtained location information of the center of the second vehicle with the location information of the center of the obtained cargo to obtain relative displacement information for the position change of the two centers. If the displacement value corresponding to the obtained relative displacement information is less than the reference value, it is determined that the loading status of the cargo is normal. When it is determined that the load state is an overload state, the avoidance driving is controlled.

The control unit of the vehicle compares the obtained position information of the center of the second vehicle with the obtained position information of the center of the cargo to obtain a horizontal distance between the two central positions and a vertical angle between the two central positions, and the obtained horizontal distance is a reference If the distance is greater than the distance and the obtained vertical angle is greater than or equal to the reference angle, it is determined that the loading state of the cargo is abnormal.

The vehicle further includes an obstacle detection unit that detects an obstacle and outputs obstacle information on the detected obstacle, and the control unit of the vehicle includes: location information of another vehicle traveling in the left lane or right lane of the own lane based on the obstacle information; Acquires speed information, and controls avoidance driving based on the acquired location information and speed information of other vehicles.

The present invention can prevent accidents during autonomous driving by determining the risk of collision due to the fall of cargo loaded in other nearby vehicles and adjusting the driving speed and driving direction, thereby improving the safety of autonomous driving.

According to the present invention, it is possible to perform stable autonomous driving in a state in which no hardware configuration is added, thereby preventing an increase in cost due to the addition of a device.

The present invention can prevent accidents in advance by notifying the user of the possibility of falling of cargo loaded in other nearby vehicles, the risk of collision due to the fall, and the avoidance method even in the manual driving mode.

The present invention can provide great convenience to the user, improve the marketability of the driver assistance device and the vehicle, and further increase the user's satisfaction, improve the user's convenience and reliability, and secure the competitiveness of the product can do.

1 is a configuration diagram of a vehicle provided with a driver assistance device according to an exemplary embodiment.
2 is a control configuration diagram of a driver assistance apparatus according to an exemplary embodiment.
3 is an exemplary diagram of an imaging unit and a detection area of a radar provided in a driver assistance device according to an exemplary embodiment.
4 is an exemplary diagram of a table of risk levels of surrounding vehicles determined by a vehicle equipped with a driver assistance device according to an embodiment.
5 is a control flowchart of a vehicle provided with a driver assistance device according to an exemplary embodiment.
6 is an exemplary view for determining the relative displacement between the surrounding vehicle and the cargo.
7A and 7B are exemplary views of images of surrounding vehicles when cargo is loaded in an abnormal state.
8A, 8B, and 8C are diagrams illustrating avoidance driving of a vehicle according to an embodiment.
9A and 9B are other exemplary views of avoidance driving of a vehicle according to an embodiment.
10A and 10B are exemplary views for determining whether the loading state of the cargo of the surrounding vehicle is an overloaded state.

Like reference numerals refer to like elements throughout. This specification does not describe all elements of the embodiments, and general content in the technical field to which the present invention pertains or content that overlaps among the embodiments is omitted. The term 'unit, device' used in the specification may be implemented in software or hardware, and according to embodiments, a plurality of 'units and devices' may be implemented as one component, or one 'unit or device' may be implemented as a plurality of components. It is also possible to include components of

Throughout the specification, when a part is "connected" with another part, it includes not only direct connection but also indirect connection, and indirect connection includes connection through a wireless communication network. do.

Also, when a part "includes" a certain component, it means that other components may be further included, rather than excluding other components, unless otherwise stated.

Terms such as 1st, 2nd, etc. are used to distinguish one component from another component, and the component is not limited by the above-mentioned terms.

The singular expression includes the plural expression unless the context clearly dictates otherwise.

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

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

1 is a configuration diagram of a vehicle provided with a driver assistance device according to an embodiment, FIG. 2 is a control configuration diagram of the driver assistance device according to an embodiment, and FIG. 3 is an image unit and radar provided in the driver assistance device according to the embodiment is an exemplary view of a detection area of , and FIG. 4 is a detailed configuration diagram of a control unit provided in the driver assistance apparatus according to an embodiment.

The vehicle according to the embodiment may be an internal combustion engine vehicle or an eco-friendly vehicle.

The vehicle according to the embodiment may be a vehicle that performs a manual driving mode in which the vehicle is driven in response to a driver's driving intention and an autonomous driving mode in which the vehicle autonomously drives to a destination.

The vehicle according to the present embodiment guides the risk of collision due to the fall of cargo loaded in the surrounding vehicle when driving in the manual driving mode, or falls of the cargo loaded in the surrounding vehicle when driving in the autonomous driving mode It may be a vehicle having a driver assistance device that controls evasive driving to prevent a collision caused by a crash.

In this embodiment, an internal combustion engine vehicle having a driver assistance device will be described as an example.

As shown in FIG. 1 , a vehicle 1 includes an engine 10 , a transmission 20 , a braking device 30 , and a steering device 40 .

The engine 10 includes a cylinder and a piston, and may generate power for driving the vehicle 1 .

The transmission 20 includes a plurality of gears, and may transmit power generated by the engine 10 to the wheels.

The braking device 30 may decelerate the vehicle 1 or stop the vehicle 1 through friction with the wheels.

The steering device 40 may change the driving direction of the vehicle 1 .

The vehicle 1 may include a plurality of electrical components.

For example, the vehicle 1 includes an Engine Management System (EMS) 11, a Transmission Control Unit (TCU) 21, and an Electronic Brake Control Module ( 31), an Electronic Power Steering (EPS) 41, a Body Control Module (BCM), and a Driver Assistance System (DAS).

The engine management system 11 may control the engine 10 in response to a driver's will to accelerate through an accelerator pedal or a request from the driver assistance system 100 . For example, the engine management system 11 may control the torque of the engine 10 .

The transmission control unit 21 may control the transmission 20 in response to a driver's shift command through the shift lever and/or the driving speed of the vehicle 1 . For example, the transmission control unit 21 may adjust a shift ratio from the engine 10 to the wheel.

The electronic brake control module 31 may control the brake device 30 in response to the driver's will to brake through the brake pedal and/or slip of the wheels. For example, the electronic brake control module 31 may temporarily release the brake of the wheel in response to the slip of the wheel detected when the vehicle 1 is braked (Anti-lock Braking Systems, ABS).

The electronic brake control module 31 may selectively release braking of the wheel in response to oversteering and/or understeering sensed when the vehicle 1 is steered (Electronic stability control, ESC). ).

In addition, the electronic braking control module 31 may temporarily brake the wheel in response to the slip of the wheel detected when the vehicle 1 is driven (Traction Control System, TCS).

The electronic steering control device 41 may assist the operation of the steering device 40 so that the driver can easily operate the steering wheel in response to the driver's will to steer through the steering wheel. For example, the electronic steering control device Reference numeral 41 may assist the operation of the steering device 40 to decrease the steering force during low-speed driving or parking and increase the steering force for high-speed driving.

The body control module 51 may control the operation of electronic components that provide convenience to the driver or ensure the driver's safety. For example, the body control module 51 may control a head lamp, a wiper, a cluster, a multi-function switch, and a direction indicator lamp.

The above electronic components may communicate with each other through the vehicle communication network NT. For example, electronic components transmit data through Ethernet, MOST (Media Oriented Systems Transport), Flexray, CAN (Controller Area Network), and LIN (Local Interconnect Network). can give and receive

The driver assistance system 100 may assist a driver to operate (drive, brake, and steer) the vehicle 1 . For example, the driver assistance system 100 detects the environment around the vehicle 1 (eg, other vehicles, pedestrians, cyclists, lanes, road signs, etc.), and responds to the sensed environment to the vehicle (1) can control driving and/or braking and/or steering.

The driver assistance system 100 may provide various functions to the driver. For example, the driver assistance system 100 includes a lane departure warning (LDW), a lane keeping assist (LKA), a high beam assist (HBA), an automatic emergency braking ( Autonomous Emergency Braking (AEB), Traffic Sign Recognition (TSR), Smart Cruise Control (SCC), and Blind Spot Detection (BSD) may be provided.

The driver assistance system 100 may include a collision avoidance device that outputs notification information about a collision with an obstacle or avoids the obstacle in order to prevent the collision with the obstacle.

The driver assistance system 100 is an autonomous driving control device that automatically drives to a destination by recognizing the road environment of the vehicle itself, determining obstacles and driving conditions, and controlling the driving of the vehicle according to a planned driving route while avoiding obstacles. may include

The driver assistance system 100 provides a drive control signal, a brake control signal and a steering control signal to the engine management system 11 , the electronic brake control module 31 , and the electronic steering control device 41 through the vehicle communication network NT, respectively. can be transmitted.

As shown in FIG. 2 , the driver assistance device 100 includes an image unit 110 , an obstacle detection unit 120 , an input unit 130 , a display unit 140 , a control unit 150 , a storage unit 151 , and a sound output unit. It includes a unit 160 and a communication unit 170 .

The image unit 110 is an image acquisition unit that acquires image data around the vehicle 1 and image data of a road. The image unit 110 may photograph the front of the vehicle 1 and recognize other vehicles, pedestrians, cyclists, lanes, road signs, and the like.

The imaging unit 110 may include one or a plurality of cameras.

The plurality of cameras 110 may acquire images of roads in different directions. For example, the plurality of cameras may include a front camera for acquiring an image of a road in front of the vehicle and a rear camera for acquiring an image of a road behind the vehicle.

Here, the front camera may be provided on the window glass of the front of the vehicle, but may be provided on the window glass inside the vehicle, or provided on the front panel, the interior of the vehicle, or the roof panel to be exposed to the outside, or may be provided on the front of the vehicle. It may be provided on a license plate, a grill on the front of the vehicle, or an emblem on the front of the vehicle. The field of view of the front camera provided on the roof panel may be the front of the vehicle.

The rear camera is provided on the window glass at the rear of the vehicle, but may also be provided on the window glass inside the vehicle. may be The view of the rear camera provided on the roof panel may be the rear of the vehicle.

The rear camera may be a camera for parking assistance, and may be a camera of a Surround View Monitor (SVM), a camera of a Blind Spot Detection (BSD), or a camera of a rear detection device. .

The imaging unit may further include a camera provided on the left and right side mirrors to acquire images of roads on the left and right sides and rear of the vehicle.

The image unit may include a CCD or CMOS image sensor, and may include a 3D spatial recognition sensor such as a KINECT (RGB-D sensor), a TOF (Structured Light Sensor), or a stereo camera.

The image unit may be a camera for lane departure warning, a camera for autonomous driving control, a camera for a black box, or a camera for detecting an obstacle.

The obstacle detection unit 120 acquires obstacle data around the vehicle 1 .

The driver assistance apparatus 100 may obtain a relative position, a relative speed, etc. of an obstacle (eg, another vehicle, a pedestrian, a cyclist, etc.) around the vehicle 1 from the obstacle data.

The obstacle detector 120 may include a front radar 121 and a plurality of corner radars 122 (122a, 122b, 122c, 122d).

The obstacle detection unit 120 may further include at least one of a light detection and ranging (Lidar) sensor and an ultrasonic sensor.

As shown in FIG. 3 , the imaging unit 110 may photograph the front of the vehicle 1 and acquire image data of the front of the vehicle 1 . The imaging unit 110 may have a field of sensing 110a facing the front of the vehicle 1 .

The image unit 110 may include a plurality of lenses and an image sensor. The image sensor may include a plurality of photodiodes that convert light into an electrical signal, and the plurality of photodiodes may be arranged in a two-dimensional matrix.

The imaging unit 110 may be electrically connected to the control unit 150 . For example, the imaging unit 110 is connected to the control unit 150 through the vehicle communication network (NT), or is connected to the control unit 150 through a hard wire (hard wire), or a printed circuit board (Printed Circuit Board, PCB) may be connected to the controller 150 .

The image unit 110 may transmit image data of the front of the vehicle 1 to the controller 150 .

The front radar 121 may have a field of sensing 121a facing the front of the vehicle 1 . The front radar 120 may be installed, for example, on a grille or a bumper of the vehicle 1 .

The front radar 121 may include a transmission antenna (or a transmission antenna array) that radiates a transmission wave toward the front of the vehicle 1, and a reception antenna (or a reception antenna array) that receives the reflected wave reflected by an obstacle. have.

The front radar 121 may acquire front radar data from the transmitted wave transmitted by the transmitting antenna and the reflected wave received by the receiving antenna.

The forward radar data may include position information and speed degree about other vehicles or pedestrians or cyclists located in front of the vehicle 1 .

The front radar 121 calculates the relative distance to the obstacle based on the phase difference (or time difference) between the transmitted radio wave and the reflected wave, and calculates the relative speed of the obstacle based on the frequency difference between the transmitted radio wave and the reflected wave can do.

The front radar 121 may be connected to the control unit 150 through, for example, a vehicle communication network (NT) or a hard wire or a printed circuit board. The forward radar 121 may transmit forward radar data to the controller 150 .

The plurality of corner radars 122 include a first corner radar 122a installed on the front right side of the vehicle 1 , a second corner radar 122b installed on the front left side of the vehicle 1 , and the vehicle 1 . and a third corner radar 122c installed on the rear right side of the , and a fourth corner radar 122d installed on the rear left side of the vehicle 1 .

The first corner radar 122a may have a detection field of view a toward the front right side of the vehicle 1 . The first corner radar 122a may be installed on the right side of the front bumper of the vehicle 1 .

The second corner radar 122b may have a detection field of view b facing the front left side of the vehicle 1 , and may be installed on the left side of the front bumper of the vehicle 1 .

The third corner radar 122c may have a detection field of view c facing the rear right side of the vehicle 1 , and may be installed on the right side of the rear bumper of the vehicle 1 .

The fourth corner radar 122d may have a detection field of view d toward the rear left of the vehicle 1 , and may be installed on the left side of the rear bumper of the vehicle 1 .

Each of the first, second, third, and fourth corner radars 122a, 122b, 122c, and 122d may include a transmit antenna and a receive antenna.

The first, second, third and fourth corner radars 122a, 122b, 122c, and 122d acquire first corner radar data, second corner radar data, third corner radar data, and fourth corner radar data, respectively. can do.

The first corner radar data may include distance information and speed degree about other vehicles, pedestrians or cyclists (hereinafter referred to as “obstacles”) located on the right front side of the vehicle 1 .

The second corner radar data may include distance information and speed degree of an obstacle located on the left front of the vehicle 1 .

The third and fourth corner radar data may include distance information and speed information of obstacles located on the rear right side of the vehicle 1 and the rear left side of the vehicle 1 .

Each of the first, second, third, and fourth corner radars 122a, 122b, 122c, and 122d may be connected to the control unit 150 through a vehicle communication network NT or a hard wire or a printed circuit board. The first, second, third, and fourth corner radars 122a , 122b , 122c , and 122d may transmit first, second, third, and fourth corner radar data to the controller 150 , respectively.

The input unit 130 receives a user command. Such an input unit may receive an operation command of various functions that can be performed in the vehicle as a user command.

The input unit 130 receives an operation command of any one of the manual driving mode, the autonomous driving mode, and the collision avoidance mode.

The input unit 130 may receive an operation command of at least one of a navigation mode and a map display mode.

The input unit 130 may receive destination information in a navigation mode or an autonomous driving mode.

The input unit 130 may be provided on the head unit and the center fascia, and may include at least one physical button such as an on/off button for operation of various functions, a button for changing setting values of various functions, and the like, and a display unit ( 140) may further include a jog dial (not shown) or a touch pad for inputting a cursor movement command, a selection command, and the like.

The display unit 140 displays information about a function being performed in the vehicle and information input by the user.

The display unit 140 displays information on an audio function, a video function, a navigation function, a DMB function, and a radio function.

The display unit 140 may display autonomous driving control information and may also display images around the vehicle in the autonomous driving mode.

The display unit 140 may display notification information about collision avoidance while the manual driving mode is being performed.

The display unit 140 displays a map image within a predetermined range from the current location of the vehicle in the map display mode, displays map information that matches route information from the current location to the destination in the navigation mode, and displays road guidance information.

The input unit and the display unit may be a user interface (UI). The display unit may include a display panel, and the input unit may include a touch panel. That is, the display panel may be provided as a touch screen in which the touch panel is integrated.

The display unit 140 may include a cluster. Such a cluster may display autonomous driving control information and may also display notification information about collision avoidance when a manual driving mode is performed.

The display unit 140 may be provided in the head unit or may be provided in a vehicle terminal.

The controller 150 generates a route from the current location to the destination based on the current location information and the destination information received by the location receiver in the navigation mode or the autonomous driving mode, and controls driving with the generated route.

When a plurality of routes are generated, the controller 150 may control driving based on information on a route selected by the input unit 130 among the plurality of routes.

The controller 150 may control the display unit 140 to generate navigation information by matching the generated route information and current location information to map information, and to display the generated navigation information.

The controller 150 may control the vehicle to travel at a target driving speed when the autonomous driving mode is performed. Here, the target driving speed may be a preset driving speed or a driving speed input by a user.

The controller 150 may communicate with the driving information detector 60 when the autonomous driving mode is performed and control autonomous driving based on the driving information and navigation information detected by the driving information detector 60 .

The controller 150 controls driving based on navigation information, but controls driving of the own vehicle (ie, the first vehicle) based on information on roads and obstacles (ie, other vehicles).

When the autonomous driving mode is performed, the controller 150 processes the front image data of the imaging unit 110 , the front radar data of the front radar 121 , and the corner radar data of the plurality of corner radars 122 , and a braking system 32 and a braking signal and a steering signal for controlling the steering system 42 may be generated.

The controller 150 may recognize obstacles in front of the vehicle 1 based on the front image data of the camera 110 and the forward radar data of the front radar 121 , and location information (direction) and type information of the recognized obstacles (eg, whether the obstacle is another vehicle, or a pedestrian, or a cyclist, or a curb, or a guardrail, or a street tree, or a streetlight, or cargo, etc.).

Specifically, the controller 150 may acquire location information (distance and direction) and speed information (relative speed) of obstacles in front of the vehicle 1 based on the front radar data of the front radar 121 .

Also, the controller 150 matches the obstacles detected by the front image data to the obstacles detected by the front radar data, and based on the matching result, type information, location information, and speed information of the front obstacles of the own vehicle 1 . can be obtained.

The control unit 150 may determine whether the obstacle is a fallen cargo based on the type information, location information, and speed information of the front obstacles.

It is also possible for the controller 150 to determine whether the cargo is loaded in another vehicle based on the type information, the location information, and the speed information of the front obstacles.

The controller 150 may generate a braking signal and a steering signal based on type information, location information, and speed information of the front obstacles.

For example, the control unit 150 determines the time to collision (TTC) between the own vehicle 1 and the front obstacle based on the location information (relative distance) and speed information (relative speed) of the front obstacles. and may warn the driver of a collision, transmit a braking signal to the braking system 32 , or transmit a steering signal to the steering system 42 based on a comparison result between the time until collision and a predetermined reference time.

In response to the time until the collision that is less than the predetermined first reference time, the controller 150 may output a warning through audio and/or a display.

In response to a time until collision that is less than the second predetermined reference time, the control unit 150 may transmit a pre-braking signal to the braking system 32 . Here, the second reference time may be shorter than the first reference time.

The controller 150 calculates a Distance to Collision (DTC) based on speed information (ie, relative speed) of the front obstacles, and based on the comparison result between the distance to the collision and the distance to the front obstacles to warn the driver of a collision or transmit a braking signal to the braking system 32 .

The control unit 150 recognizes obstacles on the side (front right, front left, rear right, rear left) of the vehicle 1 based on the corner radar data of the plurality of corner radars 122 and recognizes the location information ( distance and direction) and speed information (relative speed).

When the image information of the road is received, the controller 150 recognizes the lane of the road by performing image processing, and recognizes the own lane in which the own vehicle travels based on the recognized position information of the lane.

The controller 150 generates a following line based on the recognized information on the own lane, information transmitted from the camera 110 , the obstacle detecting unit 120 , and the driving information detecting unit 60 , and based on the position of the generated following line to generate a driving path and control autonomous driving along the generated driving path.

The following line is a line that allows the center of the vehicle body of the host vehicle 1 to follow any one position on the road. Here, any one position of the own lane may be a position of any one of two lanes forming the own lane, or a position in the middle of the two lanes.

The control unit 150 drives in the own lane based on the image information acquired by the imaging unit 110 and the obstacle information detected by the obstacle detection unit, but another vehicle (the first vehicle) driving in front of the own vehicle (1, the first vehicle). It is also possible to make autonomous driving while following vehicle 2).

When controlling the following driving of another vehicle (that is, the second vehicle), the controller 150 obtains the driving speed of the second vehicle and the distance to the second vehicle based on the obstacle information detected by the obstacle detection unit, and obtains the obtained second vehicle. The driving speed of the first vehicle may be adjusted based on the driving speed of the first vehicle and the distance from the second vehicle, and the steering may be controlled based on location information and navigation information of a lane constituting the own lane. Here, the navigation information may include current location information and road information.

When adjusting the traveling speed of the first vehicle 1 , the controller 150 controls the braking device to decelerate or control the engine to accelerate.

When controlling the following driving of the second vehicle, the controller 150 sets the risk level of the second vehicle based on the image information and controls the display of the set risk level.

The controller 150 obtains the type of the second vehicle based on the image information and sets the risk level of the second vehicle to the first level when it is determined that the obtained type of the second vehicle is a vehicle that cannot be loaded with cargo.

If the controller 150 determines that there is no second vehicle traveling in front of the own lane based on the image information, it is also possible to set the risk level to a zero (0) level.

When the risk level is zero (0) level, the controller 150 controls autonomous driving along the tracking line based on the target driving speed.

When it is determined that the type of the obtained second vehicle is a vehicle capable of loading cargo, the controller 150 determines whether cargo is loaded based on the image information, and when it is determined that the cargo is loaded, the second vehicle in the image based on the image information and the loaded cargo, check the recognized area of the second vehicle and the area of the cargo, obtain size information of the second vehicle based on the identified area of the second vehicle, and based on the identified area of the cargo to obtain the size information of the cargo, determine the loading status of the cargo based on the obtained size information of the second vehicle and the size information of the cargo, and avoid control for avoiding the second vehicle based on the determined loading status of the cargo It is also possible to determine whether evasion control is necessary, follow-control the second vehicle when it is determined that evasion control is unnecessary, and perform evasion control when it is determined that evasion control is necessary.

A vehicle capable of loading cargo may be a vehicle equipped with a trailer. The trailer is designed for the purpose of transporting people or goods, and may be a machine detachably connected to the vehicle.

Types of trailers that can be connected to passenger cars include caravans and mini-cargo trailers, and types of trailers that can be connected to trucks include full trailers, tollies, bus trailers, and semi-trailers. have.

The size information of the second vehicle includes information on the height and width of the trailer connected to the second vehicle. The cargo size information includes information about the height and width of the cargo.

If the width of the cargo is less than the reference width, it is determined that the loading state of the cargo is normal, and when the height of the cargo is less than the reference height, it can be determined that the loading state of the cargo is the normal state.

When the width of the cargo is greater than or equal to the reference width or the height of the cargo is greater than or equal to the reference height, the controller 150 may determine that the loading state of the cargo is an overloaded state.

The reference width may be information set by the width of the trailer of the second vehicle and the first predetermined value, and the reference height may be information set by the height of the trailer of the second vehicle and the second predetermined value.

For example, if at least one of the following conditions (1) and (2) is satisfied, the controller 150 may determine that the loading state of the cargo is an overloaded state.

Condition (1): Width of trailer of second vehicle * First constant value < Width of cargo

Condition (2): the height of the trailer of the second vehicle * the second constant value < the height of the cargo

The width and height of the trailer may be the width and height of the space for loading the cargo.

Here, the first and second constant values may be approximately 1.2.

The controller 150 sets the risk level of the second vehicle to the second level when it is determined that the loading state of the cargo is normal, and sets the risk level of the second vehicle to the third level when it is determined that the loading status of the cargo is the overloaded state. can be set.

The controller 150 may determine whether the loading state of the cargo is abnormal based on the image information, and when it is determined that the loading status of the cargo is abnormal, the controller 150 may set the risk level of the second vehicle to the fourth level.

The control unit 150 determines whether the door of the trailer is in an open state, in a state without a cargo cover, or in a tilted state based on the image information, and determines whether the door of the trailer is in an open state or a state in which there is no cargo cover. Or, if it is determined that the cargo is in an inclined state, the loading state of the cargo may be determined as an abnormal state.

The controller 150 may determine whether the loading state of the cargo of the second vehicle is a closed state or a fixed state.

The control unit 150 obtains center position information of the second vehicle based on the identified area of the second vehicle, obtains center position information of the freight based on the identified area of the freight, and adds Based on the slope of the cargo can be obtained.

The controller 150 may perform avoidance control when the risk level of the second vehicle is the third level or the fourth level.

The control unit 150 obtains the location information of the center of the second vehicle in the confirmed area of the second vehicle, obtains the location information of the center of the cargo in the area of the checked cargo, and the obtained location information of the center of the second vehicle Determines the loading state of the cargo by comparing the position information of the center of the cargo with the determined cargo loading status, determines whether evasion control is necessary to avoid the second vehicle, and determines that evasion control is unnecessary If it is, the second vehicle is controlled to follow, and when it is determined that the avoidance control is necessary, it is possible to perform the avoidance control.

The control unit 150 compares the obtained position information of the center of the second vehicle with the obtained position information of the center of the cargo to obtain information about a change in the position of the two centers (that is, relative displacement information), and the obtained relative displacement information If the displacement value corresponding to is less than the reference value, it may be determined that the loading state of the cargo is in a normal state, and if the displacement value is greater than the reference value, it may be determined that the loading state of the cargo is in the overloaded state.

The displacement value may be a value obtained by subtracting the center of the second vehicle from the center of the cargo.

The reference value may be set according to the height of the trailer and the first ratio. Here, the first ratio may be approximately 50%.

If the following condition (3) is satisfied, the control unit 150 may determine the loading state of the cargo as a normal state.

Condition (3): Cargo Relative Displacement <= Reference Value (Trailer Height*50%)

Assuming that the height of the trailer is 0.4 m, the reference value may be 0.2 m.

When it is determined based on the obtained displacement information that the loading state of the cargo is in a normal state, the controller 150 sets the risk level of the second vehicle to the second level, and when it is determined that the loading state of the cargo in the second vehicle is in the overloaded state The risk level of the second vehicle is set to the third level.

The control unit 150 compares the position information of the center of the second vehicle with the obtained position information of the center of the cargo to obtain a horizontal distance between the two central positions and a vertical angle between the two central positions, and the obtained horizontal distance is equal to or greater than the reference distance and if the obtained vertical angle (absolute vertical angle) is equal to or greater than the reference angle, the risk level of the second vehicle is set to the fourth level.

The reference distance may be set by the width of the trailer of the second vehicle and the second ratio. For example, the second ratio may be approximately 25%.

The reference angle can be set by the force that the cargo slides. The reference angle may be set by the weight of the cargo and the value of the trigonometric function. Here, the value of the trigonometric function may be a value preset to a value of 30 degrees sine.

If the following conditions (4) and (5) are satisfied, the controller 150 may determine the loading state of the cargo as an abnormal state.

Condition (4): Horizontal distance between two center positions (X-axis distance) > Reference distance (2nd vehicle's trailer width*25%)

Condition (5): Vertical angle between two center positions (Y-axis angle) > Reference angle (weight of cargo *sin 30ㅀ)

That is, the controller 150 may determine whether the loading state of the cargo is abnormal based on the position of the cargo and the inclination of the cargo.

It is also possible for the controller 150 to obtain information on the change in the movement of the cargo based on the periodically received image information and to determine the possibility of dropping the cargo based on the obtained information on the change in the movement.

The control unit 150 may also determine whether there is a risk of collision between the fallen cargo and the own vehicle, respectively.

For avoidance control, the controller 150 acquires position information and speed information of another vehicle (ie, a third vehicle) traveling in the left lane and the right lane of the own lane based on the obstacle information detected by the obstacle detection unit.

The controller 150 may acquire location information and speed information of the third vehicle at a time when it is determined that avoidance control is necessary or periodically.

The controller 150 may perform avoidance control by controlling any one of steering, acceleration, and deceleration based on the obtained position information and speed information of the third vehicle.

The control unit 150 obtains the risk level of the third vehicle also for the third vehicle based on the image information, controls the display of the obtained risk level of the third vehicle, and avoids based on the obtained risk level of the third vehicle It is also possible to determine whether the control is necessary, and to perform the avoidance control when it is determined that the avoidance control is necessary.

It is also possible for the control unit 150 to determine whether the third vehicle is loaded with cargo and to perform avoidance control based on whether or not the cargo is loaded on the third vehicle.

More specifically, the control unit 150 determines whether a third vehicle exists based on the image information acquired by the imaging unit 110 and the obstacle information detected by the obstacle detection unit, and the third vehicle (ie, a nearby vehicle) If it is determined that there is, it recognizes whether the cargo of the third vehicle is loaded based on the image information, and when the loaded cargo is recognized, the relative displacement of the third vehicle and the cargo is checked based on the image information, 3 It is also possible to determine the risk of a vehicle rollover accident, the possibility of falling of the loaded cargo, and the risk of collision between the dropped cargo and the own vehicle.

The third vehicle may be another vehicle traveling in the left, right, and front of the own vehicle among other vehicles traveling in the right lane or the left lane of the own lane.

That is, the controller 150 obtains the type of the surrounding vehicle based on the image information, and when it is determined that the obtained type of the surrounding vehicle is a vehicle capable of loading cargo, the controller 150 determines whether the cargo is loaded based on the image information, and the cargo is loaded. It is also possible to determine whether there is a risk of a rollover accident of a nearby vehicle, a possibility of falling of loaded cargo, and a risk of collision between the fallen cargo and the own vehicle, respectively, based on the image information.

When it is determined that there is a possibility of falling of the cargo, the controller 150 predicts the drop position of the dropped cargo based on the traveling speed of the surrounding vehicle (the second or third vehicle) and the movement of the loaded cargo, and returns to the predicted drop location. It is also possible to generate an avoidance route based on it.

If it is determined that there is a possibility of falling of the cargo, the controller 150 acquires the traveling speed of another vehicle based on the detection information detected by the obstacle detector, and acquires the movement of the loaded cargo based on the image information acquired from the image unit and predicts the amount of loaded cargo, predicts the drop position of the dropped cargo based on the obtained traveling speed of other vehicles, the movement of the loaded cargo, and the amount of loaded cargo, and avoids based on the predicted drop position It is also possible to create a path.

The control unit 150 predicts the type and amount of loaded cargo based on the image information obtained from the image unit, predicts the weight of the cargo based on the predicted type and amount of the cargo, and the obtained traveling speed of another vehicle , it is also possible to predict the drop position of the dropped cargo based on the movement of the loaded cargo and the weight of the loaded cargo, and generate an avoidance route based on the predicted drop position.

The control unit 150 acquires information on the change in the movement of the cargo based on the image information acquired by the imaging unit 110 while the manual driving mode is being performed, and on the basis of the obtained information on the change in the movement of the cargo around It is also possible to determine the possibility of falling of the cargo loaded in the vehicle, and if it is determined that the possibility of falling of the cargo exists, it is also possible to determine the risk of collision with the dropped cargo.

The control unit 150 controls at least one of the display unit 140 and the sound output unit 160 to output warning information informing of a collision with a neighboring vehicle, a possibility of falling of cargo of a neighboring vehicle, and a collision caution with a fallen cargo. can

When controlling at least one of the display unit 140 and the sound output unit 160 to output warning information for notifying the attention of a collision with a nearby vehicle or cargo, the control unit 150 checks the risk level and based on the identified risk level You can adjust the volume of the warning sound, adjust the output interval of the warning sound, or adjust the warning display on the display unit.

For example, the controller 150 may control the volume of the warning sound to be higher as the risk level is higher, and control the screen color of the display unit to be redder as the risk level is higher.

The control unit 150 acquires image data on a cargo loading vehicle, a cargo unloading vehicle, a cover unused vehicle, and an inclined cargo loading vehicle, and generates a model by running or deep learning the acquired image data, and based on the generated model Reliability is verified, and it is also possible to select an optimal model based on the verified reliability.

The controller 150 may also store the image-processed models in real time.

As shown in FIG. 4 , the controller 150 image-processes the learned model in real time, generates flags (Freight_Car, Overloaded_H, Overloaded_V, Uncovered_Freight, Tilted_Freight) for the image-processed model in real time, and corresponds to the flag combination. It is also possible to determine the level of risk.

The controller 150 may also update the stored model and flag.

The controller 150 performs the above-described operation using a memory (not shown) that stores data about an algorithm for controlling the operation of components in the driver assistance device or a program that reproduces the algorithm, 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 as a single chip.

The storage unit 151 stores map information and stores information on a predetermined distance and a preset distance.

The storage unit 151 is a nonvolatile memory device or RAM such as a cache, read only memory (ROM), programmable ROM (PROM), erasable programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM), and flash memory. It may be implemented as at least one of a volatile memory device such as (Random Access Memory), a hard disk drive (HDD), or a storage medium such as a CD-ROM, but is not limited thereto. The storage unit may be a memory implemented as a chip separate from the processor described above with respect to the control unit, or may be implemented as a single chip with the processor.

The sound output unit 160 outputs navigation information as a sound in response to a control command of the controller 150 and outputs guide information for autonomous driving as a sound.

The sound output unit 160 outputs whether the cargo has fallen and the collision risk information due to the fall as sound. Here, the sound may include a warning sound.

The sound output unit 160 may include at least one speaker provided in the vehicle.

The communication unit 170 may include a location receiving unit that receives the vehicle location information and transmits the received location information to the controller 150 .

The location receiver may include a Global Positioning System (GPS) receiver that communicates with a plurality of satellites to calculate the location of the vehicle.

The position receiving unit includes a global positioning system (GPS) signal receiving unit and a signal processing unit processing the GPS signal obtained from the GPS signal receiving unit. Here, the GPS (Global Positioning System) signal receiver includes an antenna for receiving signals from a plurality of GPS satellites. This antenna may be provided on the exterior of the vehicle.

The signal processing unit of the position receiving unit includes software for obtaining a current position by using distance and time information corresponding to position signals of a plurality of GPS satellites, and an output unit for outputting the obtained position information of the vehicle.

The communication unit 170 may communicate with various electronic devices in the vehicle.

The communication unit 170 may communicate with other vehicles, infrastructure, and servers.

The communication unit 170 receives signals such as GPS satellites and broadcasting stations, and an antenna for performing a wireless vehicle network (V2X: Vehicle to everything) such as communication with other vehicles (V2V) and communication with infrastructure (V2I). include more

The communication unit 170 may include one or more components that enable communication with an external device, and may include, for example, at least one of a short-range communication module, a wired communication module, and a wireless communication module.

The short-distance communication module transmits a signal using a wireless communication network in a short distance such as a Bluetooth module, an infrared communication module, an RFID (Radio Frequency Identification) communication module, a WLAN (Wireless Local Access Network) communication module, an NFC communication module, and a Zigbee communication module. It may include various short-distance communication modules for transmitting and receiving.

The wired communication module includes a variety of wired communication modules such as a Controller Area Network (CAN) communication module, a Local Area Network (LAN) module, a Wide Area Network (WAN) module, or a Value Added Network (VAN) module. In addition to communication module, various cable communication such as USB (Universal Serial Bus), HDMI (High Definition Multimedia Interface), DVI (Digital Visual Interface), RS-232 (recommended standard232), power line communication, or POTS (plain old telephone service) It can contain modules.

In addition to the Wi-Fi module and the Wireless broadband module, the wireless communication module includes a global system for mobile communication (GSM), a code division multiple access (CDMA), a wideband code division multiple access (WCDMA), and a universal mobile telecommunications system (UMTS). ), Time Division Multiple Access (TDMA), Long Term Evolution (LTE), etc. may include a wireless communication module supporting various wireless communication methods.

The driving information detection unit 60 detects driving information of the vehicle. Here, the driving information of the vehicle may be information on the driving speed, the driving direction, and the driving distance of the vehicle.

The driving information detecting unit 60 may include a speed detecting unit detecting the driving speed of the vehicle.

The speed detector may include a plurality of wheel speed sensors respectively provided on a plurality of wheels of the vehicle, and may include an acceleration sensor that detects the acceleration of the vehicle.

The driving information detecting unit 60 may further include a steering angle detecting unit detecting an angle of the steering wheel. The driving information detection unit 60 may include a yaw rate detection unit.

At least one component may be added or deleted according to the performance of the components of the driver assistance apparatus illustrated in FIG. 2 . In addition, it will be readily understood by those skilled in the art that the mutual positions of the components may be changed corresponding to the performance or structure of the driver assistance apparatus.

5 is a control flowchart of a vehicle according to an embodiment, which will be described with reference to FIGS. 6, 7A, 7B, 8A, 8B, 8C, 9A, 9B, 10A, and 10B.

In the autonomous driving mode, the vehicle generates navigation information from the current location to the destination based on the current location information and the destination information received by the location receiving unit, and controls the driving based on the generated navigation information but driving at the target driving speed. . Here, the target driving speed may be a preset driving speed or a driving speed input by a user.

The vehicle may display map information in which navigation information and current location information are matched through the display unit 140 .

The vehicle may acquire image data of a road through a camera and acquire radar data, which is obstacle data, through an obstacle detector.

The vehicle recognizes a lane of a road by performing image processing on the obtained image data, and recognizes a lane in which the own vehicle travels based on the recognized position information of the lane.

The vehicle generates a following line based on the recognized information on the lane, generates a driving path based on the position of the generated following line, and controls autonomous driving along the generated driving path.

The vehicle drives in its own lane based on the image information acquired by the imaging unit 110 and the obstacle information detected by the obstacle detection unit, but another vehicle (second vehicle) driving in front of the own vehicle (1, first vehicle) Autonomous driving while following

The vehicle also recognizes obstacles in the vicinity of the own vehicle in order to perform the avoidance control when the avoidance control is required.

That is, the vehicle processes the image data of the camera 110 , the front radar data of the front radar 121 , and the corner radar data of the plurality of corner radars 122 while autonomously driving along the driving path, and the image of the camera 110 . Obstacles around the vehicle 1 are recognized based on the data, the front radar data of the front radar 121 and the corner radar data of the plurality of corner radars 122 .

The vehicle matches the obstacles detected by the image information to the obstacles detected by the front radar data and the corner radar data, and acquires type information, location information, and speed information of the obstacles around the vehicle 1 based on the matching result. can

The vehicle generates at least one of an acceleration signal, a braking signal, and a steering signal based on type information, location information, and speed information of surrounding obstacles, and autonomously drives while performing avoidance control for avoiding obstacles based on the generated at least one signal to control

For example, the vehicle calculates a time to collision (TTC) between the vehicle 1 and the front obstacle based on location information (relative distance) and speed information (relative speed) of the front obstacles, and the collision Based on the comparison result between the time to and the predetermined reference time, it is possible to warn the driver of a collision, transmit a braking signal to the braking system 32 , or transmit a steering signal to the steering system 42 .

In addition, the vehicle calculates a Distance to Collision (DTC) based on the speed information (ie, relative speed) of the obstacles ahead, and based on the comparison result between the distance to the collision and the distance to the obstacles ahead, the driver to warn of a collision or transmit a braking signal to the braking system 32 .

The vehicle acquires ( 202 ) forward image information during autonomous driving, determines the degree of risk of surrounding vehicles based on the acquired image information, and controls avoidance driving.

In order to distinguish it from other vehicles traveling in front or around the own vehicle, the own vehicle is described as the first vehicle or vehicle.

More specifically, the vehicle determines ( 203 ) whether a second vehicle exists in front of the own vehicle based on the image information obtained from the image unit, and when it is determined that the second vehicle does not exist in front of the own vehicle, the risk level is set to the 0th level (204). In this case, the vehicle may display the set risk level through the display unit.

When it is determined that the second vehicle exists in front of the own vehicle, the vehicle determines whether the second vehicle is a vehicle capable of loading cargo based on the image information (205), and when it is determined that the second vehicle is a vehicle that cannot load cargo, the second vehicle The second vehicle risk level is set to the first level (206).

Here, determining whether the second vehicle is a vehicle capable of loading cargo may include determining the type of the second vehicle and determining whether the determined type of the second vehicle is a vehicle capable of loading cargo.

When it is determined that the type of the obtained second vehicle is a vehicle capable of loading cargo, the vehicle determines whether cargo is loaded based on the image information, and when it is determined that cargo is not loaded in the second vehicle, the risk level of the second vehicle is determined It can be set to the first level.

When it is determined that the cargo is loaded in the second vehicle, the vehicle recognizes (207) the second vehicle and the loaded cargo in the image based on the image information, and checks the recognized area of the second vehicle and the area of the cargo.

6, the vehicle acquires the location information (Xa, Ya) of the center of the second vehicle in the area of the second vehicle 2 in the obtained image, and the area of the cargo L in the obtained image obtains the position information (Xb, Yb) of the center of the cargo in the information) is obtained (208), and it is determined (209) whether a displacement value (S) corresponding to the obtained relative displacement information is less than a reference value.

When it is determined that the displacement value is less than the reference value, the vehicle may determine that the loading state of the cargo is a normal state, and may set the risk level of the second vehicle to the second level ( 210 ).

Here, the reference value may be set according to the height of the trailer and the first ratio. The first ratio may be approximately 50%.

When it is determined that the displacement value is greater than or equal to the reference value, the vehicle compares the position information of the center of the second vehicle with the obtained position information of the center of the cargo to obtain a horizontal distance between the two central positions and a vertical angle between the two central positions (211), , if the obtained horizontal distance (X-axis distance) is less than the reference distance and the obtained vertical angle (absolute vertical angle) is less than the reference angle, the second vehicle's risk level is set to the third level (213).

The reference distance may be set by the width of the trailer of the second vehicle and the second ratio. For example, the second ratio may be approximately 25%.

The reference angle can be set by the force that the cargo slides. The reference angle may be set by the weight of the cargo and the value of the trigonometric function. Here, the value of the trigonometric function may be a value preset to a value of 30 degrees sine.

As shown in FIG. 6 , if the obtained horizontal distance (X-axis distance between Xa-Xb) is greater than or equal to the reference distance or the obtained vertical angle (absolute vertical angle) is greater than or equal to the reference angle, the vehicle controls the risk level of the second vehicle. Set to 4 levels (214).

7A and 7B , the vehicle determines whether the door D of the trailer of the second vehicle is open or the cover of the cargo L is uncovered based on the image information, and the door of the trailer If it is determined that (D) is in the open state or the cover of the cargo (L) is not present, it is also possible to determine the loading state of the cargo as an abnormal state and set the risk level of the second vehicle to the fourth level.

The vehicle may display the risk level of the second vehicle through the display unit.

The vehicle may control the avoidance driving 215 when the risk level of the second vehicle is the third level or the fourth level. The avoidance driving control of the host vehicle will be described with reference to FIGS. 8A, 8B, and 8C.

As shown in FIG. 8A , when it is determined that the second vehicle in front is the vehicle 2 loaded with cargo based on the obstacle information detected by the obstacle detection unit, the vehicle 1 changes the left lane and the right lane of the own lane. Position information and speed information of the driving third vehicles 3a and 3b are acquired.

As shown in FIG. 8B , the vehicle 1 decreases the speed of the own vehicle based on the obtained position information and speed information of the third vehicles 3a and 3b while decreasing the path to the left or right lane of the own lane. to secure

As shown in FIG. 8C , when a path to any one of a left lane or a right lane of the vehicle 1 is secured, the vehicle 1 moves to the secured lane by controlling steering.

When the vehicle determines whether the loading state of the cargo is overloaded, the vehicle recognizes the second vehicle and the loaded cargo in the image based on the image information, checks the recognized area of the second vehicle and the cargo area, and Acquire the size information of the second vehicle based on the area of the second vehicle, obtain the size information of the cargo based on the checked area of the cargo, and based on the obtained size information of the second vehicle and the size information of the cargo It is also possible to judge the loading status of the cargo.

The vehicle acquires the risk level of the third vehicle also for the third vehicle 3a based on the image information, controls the display of the obtained risk level of the third vehicle, and avoids based on the obtained risk level of the third vehicle It is also possible to determine whether the control is necessary, and to perform the avoidance control when it is determined that the avoidance control is necessary.

The vehicle checks the relative displacement of the third vehicle and the cargo based on the image information, and based on the confirmed relative displacement, the third vehicle rollover accident risk, the possibility of falling of the loaded cargo, and the risk of collision between the dropped cargo and the own vehicle It is also possible to determine whether or not each This will be described with reference to FIGS. 9A and 9B.

9A and 9B , when it is determined that the third vehicle traveling in the left lane is a vehicle loaded with cargo, the vehicle checks the relative displacement between the third vehicle 3a and the cargo, and based on the confirmed relative displacement Accordingly, if it is determined that there is a possibility that the cargo loaded in the third vehicle 3a may fall, it is possible to control the acceleration of the traveling speed or to change the driving lane by controlling the steering.

It is also possible for the vehicle to determine the possibility of falling of the cargo loaded in the third vehicle based on whether the cover is there or whether the trailer door is opened.

The vehicle predicts the driving speed of the third vehicle and the weight of the cargo, predicts the falling position of the cargo based on the predicted driving speed of the third vehicle and the weight of the cargo, and changes the driving lane based on the predicted falling position It is also possible

When changing a lane, the vehicle may control the lane change based on location information of other nearby vehicles.

The vehicle acquires the size information of the second vehicle based on the identified area of the second vehicle, obtains the size information of the cargo based on the identified area of the cargo, and the obtained size information of the second vehicle and the size of the cargo It is also possible to determine the loading status of the cargo based on the information.

The size information of the second vehicle includes information on the height and width of the trailer connected to the second vehicle. The cargo size information includes information about the height and width of the cargo.

As shown in Figure 10a, the vehicle determines that the loading state of the cargo is normal when the width (W1) of the cargo is less than the reference width (Wr), and if the height (H1) of the cargo is less than the reference height (Hr), the cargo It can be determined that the loading state is a normal state.

When the width W1 of the cargo is greater than or equal to the reference width Wr or the height H1 of the cargo is greater than or equal to the reference height Hr, the vehicle may determine that the loading state of the cargo is an overloaded state.

The reference width Wr may be information set by the width W2 of the trailer of the second vehicle and the first predetermined value, and the reference height Hr is the height H2 of the trailer of the second vehicle and the second predetermined value. It may be information set by

Width of trailer of second vehicle (W2) * First constant value < Width of cargo (W1)

The height of the trailer of the second vehicle (H2) * the second constant value < the height of the cargo (H1)

The width and height of the trailer may be the width and height of the space for loading the cargo.

Here, the first and second constant values may be approximately 1.2.

The controller 150 sets the risk level of the second vehicle to the second level when it is determined that the loading state of the cargo is normal, and sets the risk level of the second vehicle to the third level when it is determined that the loading status of the cargo is the overloaded state. can be set.

Meanwhile, the disclosed embodiments may be implemented in the form of a recording medium storing instructions executable by a computer. Instructions may be stored in the form of program code, and when executed by a processor, may generate program modules to perform the operations of the disclosed embodiments. The recording medium may be implemented as a computer-readable recording medium.

The computer-readable recording medium includes any type of recording medium in which instructions readable by the computer are stored. For example, there may be a read only memory (ROM), a random access memory (RAM), a magnetic tape, a magnetic disk, a flash memory, an optical data storage device, and the like.

As described above, the disclosed embodiments have been described with reference to the accompanying drawings. A person of ordinary skill in the art to which the present invention pertains, without changing the technical spirit or essential features of the present invention, forms different from the disclosed embodiments It will be understood that the present invention may be practiced with The disclosed embodiments are illustrative and should not be construed as limiting.

1: vehicle 100: driver assistance device
110: image unit 120: obstacle detection unit
150: control unit 151: storage unit

Claims (20)

an image unit for obtaining an image of a road and outputting image information; and
It is determined whether the surrounding vehicle is a vehicle loaded with cargo based on the image information of the image unit, and when it is determined that the surrounding vehicle is a vehicle loaded with cargo, size information of the surrounding vehicle and the cargo based on the image information of the image unit A driver assistance device comprising: a controller configured to obtain size information of , and control evasive driving to avoid the surrounding vehicle based on the obtained size information of the surrounding vehicle and the obtained size information of the cargo. The method of claim 1,
The surrounding vehicle is a vehicle that travels in the same lane as the own vehicle, but drives in front of the own vehicle. According to claim 2, wherein the control unit,
When it is determined that the surrounding vehicle is a vehicle in which no cargo is loaded, the driver assistance device controls the following driving to follow the surrounding vehicle based on the image information of the image unit. 4. The method of claim 3,
Further comprising an obstacle detection unit for detecting an obstacle and outputting obstacle information about the detected obstacle,
The controller may be configured to obtain location information and speed information of the surrounding vehicle based on the obstacle information, and control the following driving based on the obtained location information and speed information of the surrounding vehicle. According to claim 2, wherein the control unit,
A driver assistance device that determines whether the surrounding vehicle exists based on the image information of the image unit, and controls autonomous driving based on a target driving speed when it is determined that the surrounding vehicle does not exist. 3. The method of claim 2,
Further comprising an obstacle detection unit for detecting an obstacle and outputting obstacle information about the detected obstacle,
The controller may be configured to obtain location information and speed information of another vehicle traveling in a left lane or a right lane of the own lane based on the obstacle information, and the avoidance based on the obtained location information and speed information of the other vehicle Driver assistance devices that control driving. The method of claim 1,
The size information of the cargo includes information about the width of the cargo and the height of the cargo,
If the width of the cargo is less than the reference width and the height of the cargo is less than the reference height, the controller determines the loading state of the cargo as a normal state, and the width of the cargo is greater than or equal to the reference width, or the height of the cargo is the reference If the height is higher than the height, the driver assistance device determines the loading state of the cargo as an overloaded state. 8. The method of claim 7,
The size information of the surrounding vehicle includes information on a width of a trailer provided in the surrounding vehicle and a height of the trailer,
The reference width is information set by the width of the trailer of the surrounding vehicle and a first predetermined value,
The reference height is information set by a height of a trailer of the surrounding vehicle and a second predetermined value. According to claim 1, wherein the control unit,
Based on the image information, it is determined whether the door of the trailer provided in the surrounding vehicle is opened or whether the cover of the cargo is present. Judging driver assistance system. an image unit for obtaining an image of a road and outputting image information; and
It is determined whether the surrounding vehicle is a vehicle loaded with cargo based on the image information of the image unit, and when it is determined that the surrounding vehicle is a vehicle loaded with cargo, the relationship between the surrounding vehicle and the cargo based on the image information of the image unit and a controller for acquiring displacement information and controlling evasive driving to avoid the surrounding vehicle based on the acquired relative displacement information. 11. The method of claim 10, wherein the control unit,
When acquiring the relative displacement information, based on the image information, the surrounding vehicle and the cargo are recognized in the image, the recognized area of the surrounding vehicle and the cargo area are identified, and the surrounding vehicle is located in the identified area of the surrounding vehicle. obtains the location information of the center of the , obtains the location information of the center of the cargo in the identified cargo area, compares the obtained location information of the center of the second vehicle with the obtained location information of the center of the cargo, A driver assistance device that acquires relative displacement information for a change in the position of The method of claim 11, wherein the control unit,
If the displacement value corresponding to the obtained relative displacement information is less than the reference value, it is determined that the loading state of the cargo is normal. and, when it is determined that the loading state is an overload state, the driver assistance device controls the avoidance driving. The method of claim 11, wherein the control unit,
Comparing the obtained position information of the center of the second vehicle and the obtained position information of the center of the cargo to obtain a horizontal distance between two center positions and a vertical angle between the two center positions, the obtained horizontal distance is greater than or equal to a reference distance; If the obtained vertical angle is equal to or greater than the reference angle, it is determined that the loading state of the cargo is abnormal, and when it is determined that the loading state is the abnormal state, the driver assistance device controls the avoidance driving. 11. The method of claim 10, wherein the control unit,
Based on the image information, it is determined whether the door of the trailer provided in the surrounding vehicle is opened or whether the cover of the cargo is present. and a driver assistance device that controls the avoidance driving when it is determined that the loading state is an abnormal state. an image unit for obtaining an image of a road and outputting image information; and
It is determined whether the surrounding vehicle is a vehicle loaded with cargo based on the image information of the image unit, and when it is determined that the surrounding vehicle is a vehicle loaded with cargo, size information of the surrounding vehicle, the cargo based on the image information of the image unit A control unit configured to obtain at least one information of size information and relative displacement information between the surrounding vehicle and the cargo, and control evasive driving to avoid the surrounding vehicle based on the obtained at least one information vehicle. 16. The method of claim 15,
The size information of the cargo includes information about the width of the cargo and the height of the cargo,
If the width of the cargo is less than the reference width and the height of the cargo is less than the reference height, the controller determines the loading state of the cargo as a normal state, and the width of the cargo is greater than or equal to the reference width, or the height of the cargo is the reference When the height is higher than the height, the vehicle is determined to be an overloaded state of the loading state of the cargo, and when the loading state of the cargo is the overloaded state, the vehicle controls the avoidance driving. 17. The method of claim 16,
a display unit for displaying information corresponding to the loading state of the cargo of the surrounding vehicle as an image in response to a control command of the control unit; and at least one of a sound output unit configured to output information corresponding to the loading state of the cargo of the surrounding vehicle as a sound in response to a control command of the controller. 16. The method of claim 15, wherein the control unit,
Recognizing surrounding vehicles and cargo in the image based on the image information, confirming the recognized area of the surrounding vehicle and the area of the cargo, and obtaining location information of the center of the surrounding vehicle in the identified area of the surrounding vehicle, Obtaining the location information of the center of the cargo in the identified cargo area, and comparing the obtained location information of the center of the second vehicle with the obtained location information of the center of the cargo to obtain relative displacement information for the position change of the two centers If the displacement value corresponding to the obtained relative displacement information is less than the reference value, it is determined that the loading state of the cargo is normal, and if the displacement value corresponding to the obtained relative displacement information is greater than the reference value, the loading status of the cargo A vehicle that determines that it is an overloaded state, and controls the avoidance driving when it is determined that the loading state is an overloaded state. The method of claim 18, wherein the control unit,
Comparing the obtained position information of the center of the second vehicle and the obtained position information of the center of the cargo to obtain a horizontal distance between two center positions and a vertical angle between the two center positions, the obtained horizontal distance is greater than or equal to a reference distance; If the obtained vertical angle is equal to or greater than the reference angle, it is determined that the loading state of the cargo is abnormal, and when it is determined that the loading state is abnormal, the vehicle controls the avoidance driving. 16. The method of claim 15,
Further comprising an obstacle detection unit for detecting an obstacle and outputting obstacle information about the detected obstacle,
The controller may be configured to obtain location information and speed information of another vehicle traveling in a left lane or a right lane of the own lane based on the obstacle information, and the avoidance based on the obtained location information and speed information of the other vehicle A vehicle that controls driving.

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