KR20230091210A - Advanced Driver Assistance System, and Vehicle having the same - Google Patents

Abstract

The present invention relates to a driver assisting device and a vehicle having the same. The driver assisting device includes: an output unit; a communication unit; and a processor checking second vehicles existing within a first reference distance based on position information about a first vehicle and position information of other vehicles received through the communication unit while performing a notification mode. Moreover, the processor controls the communication unit to transmit a wake-up signal to the checked second vehicles and controls the output unit to output notification information based on obstacle information received from the second vehicles. The driver assisting device includes: the communication unit communicating with an image obtaining unit and an obstacle detecting unit and communicating with an external device; and the processor obtaining the position information on an obstacle which can move based on the detection information detected by the obstacle detecting unit and image information of the image obtaining unit received through the communication unit. The processor obtains at least one among moving speed information and moving route information on the obstacle which can move based on the position information on the obstacle which can move. The processor also controls the communication unit to transmit at least one among the position information on the obstacle which can move, the moving speed information, and the moving route information as the obstacle information to the peripheral second vehicle. According to an aspect of the present invention, the driver assisting device can receive the information about the peripheral obstacle from other stopped vehicle and output the received information about the obstacle as notification information.

Description

Driver assistance device and vehicle having the same {Advanced Driver Assistance System, and Vehicle having the same}

The present invention relates to a driver assistance device for preventing collision with an obstacle and a vehicle having the same.

Recently, various advanced driver assistance systems (ADAS) are being developed that deliver driving information of a vehicle to a driver and guide information for the driver's convenience in order to prevent an accident caused by a driver's negligence.

As an example, there is a technology in which a distance sensor is mounted on a vehicle to detect an obstacle around the vehicle and alerts the driver.

As another example, there is an autonomous driving technology that autonomously travels to a destination based on road information and current location information, detects an obstacle, and autonomously travels to the destination while avoiding the detected obstacle.

Such a driver assistance device has a problem in that it is difficult to cope with a sudden protruding situation of obstacles such as people, bicycles, and pets because the view is obstructed by vehicles parked and stopped on the side of the road. In addition, the driver assistance device has a problem in that it is difficult to cope with a protruding situation of young children who are less attentive in a child protection area.

In addition, in the case of driver assistance devices to which Forward Collision Avoidance (FCA) technology is applied, in response to the recognition of a suddenly protruding obstacle in front, the steering force of the vehicle is doubled to avoid the obstacle, but it is Because it is controlled by, there is a passive aspect. Accordingly, the need for safety technology is greatly increasing.

One aspect provides a driver assistance device that receives information about an obstacle around it from another vehicle in a stationary state and outputs the information about the received obstacle as notification information, and a vehicle having the same.

Another aspect is driver assistance that transmits information on nearby obstacles to other vehicles in response to a notification request from another vehicle in a driving state, and transmits information about other vehicles in a driving state as notification information to a nearby terminal capable of communicating therewith. A device and a vehicle having the same are provided.

According to one aspect, a driver assistance device provided in a first vehicle includes an output unit; communications department; and checking the second vehicles existing within the first reference distance based on the location information of other vehicles and the location information of the first vehicle received through the communication unit while the notification mode is being performed, and transmitting a wake-up signal to the confirmed second vehicles. and a processor for controlling the communication unit to do so and controlling the output unit to output notification information based on obstacle information received from the second vehicles.

The second vehicles existing within the first reference distance of the driver assistance device according to one aspect are located ahead of the traveling direction of the first vehicle and are stationary.

The processor of the driver assistance device according to an aspect controls obstacle information received from second vehicles existing in a lane in the same direction as the first vehicle among the second vehicles to be preferentially output as notification information, and Obstacle information received from the second vehicle existing in the opposite lane is controlled to be output as next notification information.

The processor of the driver assistance device according to an aspect controls the communication unit to identify a third vehicle driving behind the first vehicle based on the received location information of other vehicles and to transmit obstacle information received to the identified third vehicle. do.

The processor of the driver assistance device according to one aspect controls at least one of braking and steering based on the received obstacle information.

According to another aspect, a driver assistance device provided in a first vehicle includes: a communication unit configured to communicate with an image acquisition unit and an obstacle detection unit and to communicate with an external device; and obtaining location information of a movable obstacle based on the image information of the image acquisition unit received through the communication unit and detection information detected by the obstacle detection unit, and based on the location information of the movable obstacle, moving speed information of the movable obstacle and and a processor controlling a communication unit to acquire at least one of movement path information and to transmit at least one of position information, movement speed information, and movement path information of a movable obstacle to a nearby second vehicle as obstacle information.

When the location information of the second vehicle is received, the processor of the driver assistance device according to another aspect obtains distance information with the second vehicle based on the location information of the second vehicle and the location information of the first vehicle, and obtains the obtained distance information. If the distance to the first vehicle is equal to or less than the first reference distance, the communication unit is controlled to transmit obstacle information to the second vehicle.

The processor of the driver assistance device according to another aspect controls the communication unit to transmit obstacle information to the second vehicle when the distance between the vehicle and the movable obstacle is equal to or less than the second reference distance.

The processor of the driver assistance device according to another aspect controls lighting of the emergency light when the moving speed of the movable obstacle is less than the reference moving speed based on the moving speed information of the movable obstacle.

The processor of the driver assistance device according to another aspect controls the communication unit to transmit the obstacle information as emergency information to the second vehicle when the moving speed of the movable obstacle is greater than or equal to the reference moving speed based on the moving speed information of the movable obstacle.

The processor of the driver assistance device according to another aspect controls execution of a notification mode when a wake-up signal is received from the second vehicle.

The processor of the driver assistance device according to another aspect searches for a terminal capable of communicating through a communication unit, determines the possibility of collision with a second vehicle based on location information of the searched terminal, and determines that there is a possibility of collision with a second vehicle. If determined, the communication unit is controlled to transmit notification information to the searched terminal and the second vehicle.

The processor of the driver assistance device according to another aspect determines whether a terminal of a movable obstacle is possessed based on image information, detection information, and location information of the recognized terminal, and turns on an emergency light when it is determined that the obstacle does not hold the terminal. to control

The processor of the driver assistance device according to another aspect controls the emergency lights to be turned on a preset number of times at a preset cycle when the distance between the first vehicle and the terminal is equal to or less than the second reference distance.

A vehicle according to another aspect includes a braking device; steering gear; input unit; output unit; a communication unit that communicates with other vehicles and terminals and receives current location information; and when an on-command for the notification mode is received through the input unit, controlling the execution of the notification mode, and if the current state is a driving state, a stationary state that exists within a reference distance based on the location information of other vehicles and the current location information received through the communication unit. Controls the communication unit to check other vehicles in the stationary state and transmits a wake-up signal to other vehicles in a stopped state, controls the output unit to output notification information based on obstacle information received from other vehicles in a stopped state, and and a processor controlling at least one of braking and steering based on obstacle information.

A vehicle according to another aspect further includes an image acquisition unit and an obstacle detection unit, and the processor identifies a movable obstacle based on image information obtained by the image acquisition unit and detection information detected by the obstacle detection unit when the processor is in a stationary state, and The communication unit controls the communication unit to transmit obstacle information on a movable obstacle to other driving vehicles.

A vehicle according to another aspect further includes a lamp, and the processor controls lighting of the lamp when it is determined that a movable obstacle exists in a stationary state.

According to another aspect, the processor of the vehicle controls the communication unit to transmit obstacle information to the second vehicle when the distance between the vehicle and the movable obstacle is equal to or less than the second reference distance.

According to another aspect, the processor of the vehicle searches for terminals capable of communicating with the communication unit, and transmits information about another vehicle being driven to the searched terminals.

According to another aspect, the processor of the vehicle may obtain movement speed information of the movable obstacle based on the detection information detected by the obstacle detection unit, and determine the movement speed of the movable obstacle based on the movement speed information of the movable obstacle. If the speed exceeds the speed, the communication unit controls the obstacle information to be transmitted to the second vehicle as emergency information.

The present invention determines the possibility of a collision between a nearby obstacle and another vehicle in a driving state while the vehicle is stopped, and transmits notification information about the collision to the other vehicle in response to the determination result. etc.) can be recognized in advance and avoided.

The present invention can allow other vehicles to recognize the existence of a fast-moving obstacle by immediately sending notification information to other vehicles in a driving state about a fast-approaching obstacle while the vehicle is stopped. That is, the present invention can avoid pedestrians more safely in an emergency situation by outputting notification information to other vehicles in a driving state through V2V communication.

In addition, the present invention transmits notification information about the entry of another vehicle in a driving state while stopped to a nearby terminal so that a person possessing a terminal capable of V2P communication can cope with a collision with another vehicle in advance through the terminal. .

According to the present invention, when there is a person unable to communicate with V2P while the vehicle is stopped, an emergency light may be turned on so that the person recognizes a risk of collision with another vehicle.

The present invention can flexibly cope with the appearance of obstacles by receiving information about obstacles around it from other vehicles in a stopped state while driving and outputting the information about the received obstacles as notification information, thereby improving driving safety. can

According to the present invention, it is possible to receive notification information about an obstacle without adding a hardware configuration, thereby improving the safety of the vehicle while preventing a cost increase of the vehicle.

In this way, the present invention can improve the quality and marketability of driver assistance devices and vehicles, furthermore, it is possible to increase user satisfaction and secure product competitiveness.

1 is a diagram illustrating communication of a vehicle according to an embodiment.
2 is an exemplary view of a vehicle itself according to an embodiment.
3 is a control configuration diagram of a vehicle according to an embodiment.
4 to 11 are diagrams illustrating control of a vehicle according to an embodiment.
12 and 13 are control flowcharts of a vehicle and another vehicle according to an embodiment.

Like reference numbers designate like elements throughout the specification. This specification does not describe all elements of the embodiments, and general content or overlapping content between the embodiments in the technical field to which the present invention pertains will be omitted. The term 'unit, module, member, device' used in the specification may be implemented as software or hardware, and according to embodiments, a plurality of 'units, modules, members, and devices' may be implemented as one component, or may be implemented as one component. It is also possible that the 'part, module, member, device' of includes a plurality of components.

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

In addition, when a certain component is said to "include", this means that it may further include other components, not excluding other components unless otherwise stated.

Terms such as first and second are used to distinguish one component from another, and the components are not limited by the aforementioned terms.

Expressions in the singular number include plural expressions unless the context clearly dictates otherwise.

In each step, the identification code is used for convenience of description, and the identification code does not explain the order of each step, and each step may be performed in a different order from the specified order unless a specific order is clearly described in context. there is.

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

1 is a diagram illustrating communication of a vehicle according to an embodiment.

As shown in FIG. 1, a vehicle (1, or referred to as 'own vehicle') can communicate with other vehicles (2: 2a, 2b) and the infrastructure 3, and the server 4 and Communication can also be performed with the terminal 5 .

The vehicle 1 may radiate electromagnetic waves to the outside through an antenna. In this case, the antenna may emit electromagnetic waves corresponding to electrical signals transmitted from the processor 182 (see FIG. 3 ) provided in the vehicle 1 .

The first other vehicle 2 (2a) may receive electromagnetic waves emitted through the antenna of the vehicle 1. At this time, the first other vehicle 2a receives the electromagnetic wave emitted from the vehicle 1, converts the received electromagnetic wave into an electrical signal, and generates a control signal corresponding to the converted electrical signal to control the first other vehicle 2a. can be used for control of

The second other vehicle 2: 2b may receive electromagnetic waves emitted through the antenna of the vehicle 1. The second other vehicle 2b also receives the electromagnetic wave emitted from the vehicle 1, converts the received electromagnetic wave into an electrical signal, and generates a control signal corresponding to the converted electrical signal to control the second other vehicle 2b. can be used for control.

In addition, the first other vehicle 2: 2a may generate an electrical signal based on a control signal transmitted from a processor (not shown) of the first other vehicle and emit electromagnetic waves corresponding to the electrical signal. The second other vehicle (2: 2b) may also generate an electrical signal based on a control signal transmitted from a processor (not shown) of the second other vehicle and emit electromagnetic waves corresponding to the electrical signal.

At this time, the vehicle 1 receives electromagnetic waves emitted from at least one of the first other vehicle 2a and the second other vehicle 2b through the antenna, and converts the received electromagnetic wave into an electrical signal.

The vehicle 1 demodulates electromagnetic waves received through the antenna, converts them into electrical signals, and transmits them to the processor 182 . At this time, the processor 182 of the vehicle 1 generates a control signal corresponding to the converted electrical signal and uses the generated control signal to control the vehicle 1 .

The vehicle 1 may perform V2V communication with at least one other vehicle among a plurality of other vehicles.

In addition, the vehicle 1 may receive electromagnetic waves emitted from the infrastructure 3 of the road or may emit electromagnetic waves to the infrastructure 3 of the road.

The infrastructure 3 may receive electromagnetic waves emitted from the antenna of the vehicle 1 and obtain information provided from the vehicle 1 or generate a control signal using an electrical signal corresponding to the received electromagnetic waves.

Road infrastructure (3) transmits and receives control signals to and from the server (4).

The controller of the infrastructure 3 may transmit an electrical signal, a control signal generated according to the electrical signal, or information acquired based on the electrical signal to an external server 4 through a separate cable.

In addition, the controller of the infrastructure 3 may emit generated control signals or information as electromagnetic waves. At this time, vehicles located around the infrastructure 3 may receive electromagnetic waves emitted from the infrastructure 3 .

That is, the infrastructure 3 can receive the electromagnetic waves emitted from the antenna of the vehicle 1, transmit an electrical signal corresponding to the received electromagnetic waves to the server 4, and convert the electrical signals received from the server 4 into electromagnetic waves. After that, the converted electromagnetic wave can be emitted.

At this time, the antenna of the vehicle 1 may receive electromagnetic waves transmitted from the infrastructure 3, and the processor 182 of the vehicle 1 may perform various parts of the vehicle 1 based on electrical signals corresponding to the received electromagnetic waves. For example, information corresponding to an electrical signal may be displayed through the display unit by controlling the display unit of the vehicle 1 by generating a control signal for the display unit of the vehicle.

The vehicle 1 may perform communication (V2I communication) with an infrastructure (ie, a structure).

The server 4 can communicate with a plurality of vehicles and also communicate with the terminal 5 .

The server 4 may receive traffic information, road environment information, and the like from the plurality of vehicles 1 and 2 and provide the same to the plurality of vehicles 1 and 2 .

The terminal 5 can be carried by a person and is also referred to as a user terminal. The terminal 5 is a device capable of communication and can be connected to the vehicles 1 and 2 through a network.

The terminal 5 can communicate with the vehicles 1 and 2 . A person can recognize information about the vehicles 1 and 2 based on a terminal (ie, a device) possessed by the person. That is, the vehicle may perform V2 ((Vehicle to Device) communication with the terminal.

The vehicle may perform vehicle to pedestrian (V2P) communication with a pedestrian. Here, V2P communication is also referred to as communication between a vehicle and a person.

Here, V2P communication may mean the same communication as V2D communication.

The terminal 5 may be implemented as a computer or portable terminal capable of accessing the vehicles 1 and 2 through a network.

Here, the computer includes, for example, a laptop, a desktop, a laptop, a tablet PC, a slate PC, etc. equipped with a web browser, and a portable terminal, for example, has portability and mobility. As a guaranteed wireless communication device, PCS (Personal Communication System), GSM (Global System for Mobile communications), PDC (Personal Digital Cellular), PHS (Personal Handyphone System), PDA (Personal Digital Assistant), IMT (International Mobile Telecommunication) -2000, CDMA (Code Division Multiple Access)-2000, W-CDMA (W-Code Division Multiple Access), WiBro (Wireless Broadband Internet) terminal, smart phone (Smart Phone) based on all types of handhelds It may include a wireless communication device and a wearable device such as a watch, ring, bracelet, anklet, necklace, glasses, contact lens, or head-mounted-device (HMD).

The vehicle 1 can recognize the location and movement path of the pedestrian through communication with the terminal 5, and can prevent accidents such as collisions in advance by reducing the speed or changing the driving direction based on the recognition result.

A pedestrian can recognize a driving vehicle and surrounding traffic conditions even when listening to music or making a phone call through the terminal 5 .

2 is an exemplary view of a body of a vehicle according to an embodiment.

The vehicle 1 includes a body having interior and exterior parts, and a chassis on which mechanical devices required for driving are installed except for the body.

As shown in FIG. 2 , a vehicle 1 includes a body having exterior and interior parts, and a chassis on which mechanical devices necessary for driving are installed except for the body.

The exterior of the vehicle body includes a front panel 111, a bonnet 112, a roof panel 113 and a rear panel 114, and a plurality of doors 115 that open and close the indoor space, and are provided on each of the plurality of doors and includes a plurality of window glasses (also referred to as 'windows') provided to be opened and closed.

The plurality of doors 115 may include front seat doors 115a provided on the driver's seat and front passenger seat, respectively, and rear seat doors 115b provided on the left and right rear seats, respectively.

The vehicle may include a front windshield glass 116 installed on the front side and a rear windshield glass installed on the rear side.

The vehicle may include a side mirror 117 provided on the front door 115a to allow the driver to secure rear and left and right side views of the vehicle.

The vehicle 1 has a tail gate 118 that opens and closes a trunk forming a space for storing luggage, and a function of signal and communication for other vehicles and pedestrians, enabling easy viewing of surrounding information while observing the front view. It includes a lamp 119 that performs.

There may be a plurality of lamps. The plurality of lamps can be divided into lighting lamps for illuminating the far, short distance, and rear, signal lamps for notifying braking, turning direction, and emergency situations, and indicator lamps for indicating vehicle width, body height, license plate lighting, and parking. .

Here, the signal lamp may include an emergency lamp (ie, an emergency lamp).

The vehicle may include an image acquisition unit 130 for acquiring an image of the surroundings.

The image acquisition unit 130 may include one or more cameras.

The camera 131 may obtain an image of a road ahead. In this case, the camera 131 may be provided on the front windshield glass 116 or on the front panel 111 .

The camera 131 may be provided on a room mirror or roof panel inside the vehicle to be exposed to the outside, or may be provided on a license plate on the front of the vehicle, a grill on the front of the vehicle, or an emblem on the front of the vehicle. The field of view of the camera 131 provided on the roof panel 113 may be the front of the vehicle.

The camera 132 may obtain an image of the road on the side of the vehicle. These cameras 132 may be provided on the left and right side mirrors 117, respectively.

The camera 133 may obtain an image of the road for the rear of the vehicle. In this case, the camera 133 may be provided on the rear windshield glass so that the field of view of the camera 133 faces the outside of the vehicle, may be provided on the rear panel 114, or provided on the tailgate 118 It could be.

The camera 133 may be provided on a license plate on the rear of the vehicle, an emblem on the rear of the vehicle, or a roof panel 113 but exposed to the outside. The field of view of the camera 133 provided on the roof panel 113 may be the rear of the vehicle.

The image acquisition unit 130 may be a rotatable camera, and may be provided on the roof panel 113 .

The vehicle may further include an obstacle detection unit 140 (see FIG. 3 ) for detecting an obstacle.

The obstacle detector may be provided on the front panel and the rear panel.

The interior of the car body consists of a seat on which the occupant sits, a dashboard, a center fascia where air conditioner vents and a control panel are arranged, and a head provided in the center fascia and receiving audio devices, seat heating wires, and air conditioner operation commands. unit, and a cluster disposed on the dashboard and guiding driving functions and vehicle information such as vehicle speed, engine speed, refueling amount, coolant, and the like.

Clusters can be implemented digitally. This digital cluster can display vehicle information and driving information as images.

The interior of the vehicle body may perform audio, video, and navigation (AVN) functions, or may include a communicable user interface (see FIG. 3 120 ) in which a navigation app is installed.

The user interface 120 may provide navigation information to the processor 182 when performing a navigation function.

An chassis of a vehicle is a frame supporting the body, and may include a power unit, a braking unit, and a steering unit for applying driving force, braking force, and steering force to front, rear, left, and right wheels, and may further include a suspension unit, a transmission unit, and the like.

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

The vehicle includes a user interface 120, an image acquisition unit 130, an obstacle detection unit 140, a speed detection unit 150, a position reception unit 160, a lamp driving unit 170, a driver assistance device 180, a braking device 190 ) and a steering device 195.

The user interface 120 may receive a user input and display an image corresponding to the user input.

The user interface 120 displays information on at least one of an audio mode, a video mode, a navigation mode, a DMB mode, and a radio mode.

The user interface 120 can display autonomous driving control information in the autonomous driving mode and can also display images around the vehicle in the autonomous driving mode.

The user interface 120 displays a map image within a certain range from the current location of the vehicle in a map display mode, displays map information matched with route information from the current location to a destination in a navigation mode, and displays road guidance information. .

The user interface 120 may also display an image acquired by at least one of the cameras of the image acquisition unit 130 .

The user interface 120 may include a display unit. In this case, the user interface 120 may receive a user input through an input unit provided in a vehicle head unit, center fascia, steering wheel, or the like.

The user interface 120 may include both an input unit and a display unit. In this case, the user interface may be provided as a touch screen in which a touch panel and a display panel are integrated.

In this embodiment, a user interface provided with both an input unit and a display unit will be described.

The input unit 121 may receive operation commands for various functions that can be performed in the vehicle as user commands.

The input unit 121 may receive destination information when performing an autonomous driving mode or a navigation mode.

The input unit 121 may also receive an on command and an off command of the notification mode.

The input unit 121 may receive an on/off command of the autonomous driving mode and may receive a turn-off command of the lamp 119 .

The input unit 121 can also receive a cursor movement command and a selection command displayed on the display unit 122 of the user interface.

The input unit 121 may include at least one physical mechanism such as an on/off button for various functions that can be performed in the vehicle, a button for changing the set value of various functions, a key, a switch, a lever, a dial, and the like.

The input unit 121 may receive a user setting mode (USM) on/off command for changing the setting values of the vehicle body and chassis, and receive an item for changing the setting and a setting value of the selected item. can do.

The input unit 121 may receive setting values of the emergency lamp 119 to be turned on in response to the notification mode and the user setting mode. The set value of the emergency lamp 119 may include the lighting color, lighting cycle, and number of lighting of the emergency lamp 119 .

The input unit 121 may receive setting values of the display unit 122 and the sound output unit 123 to output notification information in response to execution of the notification mode and the user setting mode.

The set value of the display unit 122 may include a screen color, an alert text, a text color, a screen blink time, a screen blink period, and the number of times the screen blinks.

The setting value of the sound output unit 123 may include the type of sound, the volume of sound, the output time of sound, the output period of sound, and the number of outputs of sound.

The type of sound may include various types of alarm sounds and voices.

The display unit 122 displays information on functions being performed in the vehicle and information input by a user.

The display unit 122 may display on/off information of the autonomous driving mode, on/off information of the lamp, and on/off information of the notification mode.

The display unit 122 may display an image for a user setting mode, and display items selected by the user and setting values.

When performing the autonomous driving mode, the display unit 122 may display a surrounding image and may display the relative position of an obstacle together with an emoticon of the vehicle.

The display unit 122 may display notification information about obstacle information transmitted from the other vehicle 2 .

The display unit 122 may also display communication connection information with the other vehicle 2 when the vehicle is in a stopped state.

The display unit 122 may display communication failure information with the other vehicle 2 when the vehicle is in a stopped state.

The display unit 122 may display notification information about an obstacle transmitted from another vehicle when the vehicle is in a driving state.

The display unit 122 may display communication success or communication failure information about the transmission of the wake-up signal when the vehicle is in a driving state.

The display unit 122 may be an output unit for outputting notification information.

The vehicle 1 may further include a cluster for displaying notification information.

The vehicle may further include a sound output unit 123 as an output unit for outputting notification information.

The sound output unit 123 may output sound in response to the control command of the processor 182, and may output sound with a sound type and volume corresponding to the control command of the processor 182.

The sound output unit 123 may output notification information about an obstacle in front as a sound when the vehicle is in a driving state.

The sound output unit 123 may output warning information about a possibility of collision with an obstacle in a driving state by sound.

When the sound output unit 123 is in a stopped state, it may output notification information as a sound so that nearby pedestrians can recognize a possibility of collision with another vehicle.

The sound output unit 123 may be a speaker or a Klaxon.

The image acquisition unit 130 detects object information around the vehicle and converts it into an electrical image signal. send to

The image acquisition unit 130 may capture the surroundings of the vehicle so that the processor 182 can recognize other vehicles 2, pedestrians, cyclists, lanes, and road signs.

The image acquisition unit 130 may include one or more cameras.

The image acquisition unit 130 includes a front camera that acquires an image of the road in front of the vehicle, a rear camera that acquires an image of the road behind the vehicle, and a left and right camera that acquires images of roads on the left and right sides of the vehicle. may contain at least one.

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

The camera 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), and a stereo camera.

The image acquisition unit 130 may be a rear camera, a camera of a black box, a camera of an autonomous driving control device prepared for autonomous driving, or a camera for user authentication.

The image acquisition unit 130 may be activated in response to performing the notification mode when the vehicle 1 is parked or stopped, and may be deactivated in response to termination of the notification mode.

The image acquisition unit 130 may be activated when the vehicle 1 is in a driving state.

The obstacle detection unit 140 may be activated in response to performing the notification mode when the vehicle is parked or stopped, and deactivated in response to termination of the notification mode.

The obstacle detection unit 140 may be activated when the vehicle 1 is in a driving state.

The obstacle detection unit 140 detects the existence of obstacles and the position of obstacles in the front, rear, left, and right directions based on the position of the user's vehicle (!). Here, the position of the obstacle may include a relative distance and a relative direction to the vehicle 1 .

More specifically, the obstacle detection unit 140 detects an obstacle located outside the vehicle 1, for example, a stationary object such as a structure installed around a road, another vehicle in front, another vehicle in the rear, and an opposite lane. Detect oncoming oncoming vehicles, pedestrians and animals.

That is, the obstacle detection unit 140 detects obstacles located in the front, rear, left and right sides of the vehicle and outputs detection information about the detected obstacles.

The obstacle detector 140 may be provided on at least one of the front panel 111 and the rear panel 114 of the vehicle, and may also be provided on a side sill panel below the doors 115a and 115b.

The obstacle detection unit 140 may include a radar sensor or a light detection and ranging (Lidar) sensor.

A radar sensor is a sensor that detects the position and distance of an object by using a reflected wave generated by radiation of radio waves when transmission and reception are performed in the same place.

LiDAR (Light Detection And Ranging) sensor is a non-contact distance detection sensor using the principle of laser radar.

Since the lidar sensor has higher detection accuracy in the lateral direction than a radio detecting and ranging (RaDAR) sensor, the accuracy of the process of determining whether a passage exists in front can be increased.

The obstacle detection unit 140 may include an ultrasonic sensor or a radar sensor.

The ultrasonic sensor generates ultrasonic waves for a certain period of time and then detects a signal that is reflected from an object and returns.

The ultrasonic sensor may be used to determine the presence or absence of an obstacle such as a pedestrian within a short range.

The obstacle detection unit 140 transmits detection information about obstacle detection to the processor 182 .

The speed detection unit 150 detects the traveling speed of the vehicle.

The speed detector 150 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 vehicle (!) may further include a steering angle detecting unit for detecting the angle of the steering wheel and may further include a yaw rate detecting unit.

The location receiver 160 receives location information corresponding to the current location of the vehicle.

The location receiver 160 may include a Global Positioning System (GPS) receiver. Here, the GPS (Global Positioning System) receiver includes an antenna module and a signal processor for receiving signals from a plurality of GPS satellites.

The signal processing unit includes software for acquiring a current location using distance and time information corresponding to location signals of a plurality of GPS satellites, and a transmitter for transmitting the obtained vehicle location information.

The lamp driver 170 may turn on or off the lamp 119 in response to a control command of the processor 182, and may also turn the lamp 119 off.

Here, blinking is an operation of repeating turning on and off at regular time intervals.

The lamp driving unit 170 may turn on or off lamps (not shown) provided in the side mirrors 117 in response to a control command of the processor 182 and may also turn off the lamps of the side mirrors.

The driver assistance device 180 includes an autonomous driving mode in which the vehicle autonomously travels from the current location to a destination based on current location information, map information, and destination information, and autonomously parks while arriving at the destination or temporarily parked or stopped. It is possible to perform an autonomous parking mode that does.

The driver assistance device 180 may determine a possibility of collision with a nearby obstacle and output warning information in response to the possibility of collision.

The driver assistance device 180 may output notification information about nearby obstacles.

The driver assistance device 180 may include a communication unit 181, a processor 182, and a memory 183.

In addition to external devices, the communication unit 181 may include one or more components enabling communication between components inside the vehicle, and may include, for example, at least one of a short-distance communication module, a wired communication module, and a wireless communication module. there is.

Here, the external device includes at least one of another vehicle 2 , an infrastructure 3 , a server 4 , and a terminal 5 .

The short-range communication module is a Bluetooth module, an infrared communication module, a radio frequency identification (RFID) communication module, a wireless local access network (WLAN) communication module, a near field communication (NFC) module, and a Zigbee communication module. It may include various short-range communication modules that transmit and receive signals using

Wired communication modules include various wired communication modules, such as Controller Area Network (CAN) communication modules, Local Area Network (LAN) modules, Wide Area Network (WAN) modules, or Value Added Network (VAN) modules. In addition to communication modules, various cable communications such as USB (Universal Serial Bus), HDMI (High Definition Multimedia Interface), DVI (Digital Visual Interface), RS-232 (recommended standard 232), power line communication, or POTS (plain old telephone service) modules may be included.

The wired communication module may further include a Local Interconnect Network (LIN).

In addition to the WiFi module and the WiBro module, wireless communication modules include global system for mobile communication (GSM), code division multiple access (CDMA), wideband code division multiple access (WCDMA), and universal mobile telecommunications system (UMTS). ), time division multiple access (TDMA), long term evolution (LTE), and ultra wide band (UWB) modules.

The processor 182 includes a memory (not shown) that stores data for an algorithm or a program that reproduces the algorithm for implementing the operation of the driver assistance device 180, and a memory that performs the above-described operation using the data stored in the memory. It may be a processor (not shown).

In addition, the processor 182 includes a memory (not shown) storing data for an algorithm or a program for reproducing the algorithm for controlling the operation of components in the vehicle 1, and the above-described operation using the data stored in the memory. It may be a processor (not shown) that performs. 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.

In this embodiment, a processor provided in a driver assistance device will be described.

The processor 182 controls the display unit 122 to display the user setting window when a command to turn on the user setting mode (USM) is received through the input unit 121 .

The processor 182 may change setting information for at least one item based on an item corresponding to a user input and setting information corresponding to the user input in a state in which the user setting window is displayed.

For example, the processor 182 performs the user setting mode (USM), when an item of the head-up display (HUD) input to the input unit 121 is selected and setting information for the head-up display is input, the input setting information Based on this, setting information for the head-up display may be changed.

The processor 182 may change at least one of display setting information of the head-up display, location information of driving information display, rotation information, and brightness information based on the input setting information.

The processor 182 may change the setting information of the interior lighting of the vehicle based on the input setting information when the item of the interior lighting is selected through the input unit 121 and the setting information of the interior lighting of the vehicle is input. The processor 182 may change at least one of color information and brightness information of lights inside the vehicle.

When the external lamp item is selected through the input unit 121 and the external lamp setting information is input, the processor 182 may change the external lamp setting information based on the input setting information. The processor 182 may change at least one of the color of the external lamp, the number of times of lighting, the lighting cycle, and the lighting time.

When a sheet item is selected and setting information for the sheet is input, the processor 182 may change the setting information for the sheet based on the setting information. The processor 182 may change at least one of the position of the seat and the angle of the backrest.

The processor 182 may change steering wheel setting information based on the setting information when a steering wheel item is selected and steering wheel setting information is input. The processor 182 may change at least one of the position and angle of the steering wheel.

When the driving mode item is selected, the processor 182 may change setting information of at least one of the engine, transmission, and suspension based on the driving mode.

The driving mode may include an eco mode for saving fuel, a comfort mode for reducing engine vibration, a sport mode for dynamic fun, and a snow mode for preventing accidents on snowy roads.

When the driving mode input through the input unit 121 is the manual driving mode, the processor 182 controls driving based on press information of the brake pedal, press information of the accelerator pedal, and steering information of the steering wheel.

When the driving mode input to the input unit 121 is the autonomous driving mode, the processor 182 performs braking, braking, and It drives autonomously to its destination while controlling acceleration and steering.

More specifically, the processor 182 generates a route from the current location to the destination based on the current location information received by the location receiving unit 160 and the destination information input to the input unit 121 in the navigation mode or the autonomous driving mode. and control driving based on route information and map information for the generated route.

The processor 182 may generate navigation information by matching route information and current location information with map information, and may control the display unit 122 of the user interface to display the generated navigation information.

The processor 182 may control driving at a target driving speed when performing the autonomous driving mode. Here, the target travel speed may be a preset travel speed or a travel speed input by a user.

When the autonomous driving mode is performed, the processor 182 processes front image information of the camera, front radar data of the front radar, and corner radar data of a plurality of corner radars, and controls the braking device 190 and the steering device 195. It is possible to generate a braking signal and a steering signal for power generation, and a power signal for controlling a power unit (not shown).

The processor 182 may recognize obstacles in front of the vehicle 1 based on the front image data of the camera 131 and the front radar data of the front radar, and position information (direction) and type information (for example, For example, 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, etc.) can be obtained.

The processor 182 may obtain location information (distance and direction) and speed information (relative speed) of obstacles in front of the vehicle 1 based on the detection information of the obstacle detector.

The processor 182 matches obstacles detected by the front image data with obstacles detected by the front radar data, and obtains type information, location information, and speed information of front obstacles of the vehicle 1 based on the matching result. can

The processor 182 may generate a braking signal and a steering signal based on type information, location information, and speed information of forward obstacles.

For example, the processor 182 calculates a time to collision (TTC) between the vehicle 1 and the front obstacle based on position information (relative distance) and speed information (relative speed) of the front obstacles. And based on the comparison result between the time until the collision and the predetermined reference time, the driver may be alerted to a collision, a braking signal may be transmitted to the braking device 190, or a steering signal may be transmitted to the steering device 195.

The processor 182 calculates a distance to collision (DTC) based on speed information (ie, relative speed) of front obstacles, and based on a comparison result between the distance to collision and the distance to front obstacles. Thus, a collision may be alerted to the driver or a braking signal may be transmitted to the braking device 190 .

If it is determined that there is a possibility of collision with an obstacle while driving, the processor 182 may control the output of a notification about the possibility of collision and the sound output of the sound output unit.

When image information of the road is received, the processor 182 recognizes a lane of the road by performing image processing, and recognizes a lane on which the own vehicle is traveling based on location information of the recognized lane.

The processor 182 generates a following line based on the information about the recognized lane, the information transmitted from the image acquisition unit 130, the obstacle detection unit 140, and the speed detection unit 150, and based on the position of the generated following line. to create a driving route and control autonomous driving along the created driving route.

Such a following line is a line through which the center of a body of a vehicle follows a certain position of a road. Here, a position of any one of the lanes may be a position of any one of two lanes constituting the lane or a central position of the two lanes.

The processor 182 may turn on or off the notification mode through a user setting mode.

When a setting command for the user setting mode is received through the input unit 121 of the user interface, the processor 182 may control the display unit 122 to display items for which setting values can be changed through the user setting mode.

When the notification mode is selected from among the items displayed on the display unit 122, the processor 182 displays a notification mode setting window for setting on or off of the notification mode or setting a method of outputting notification information according to the notification mode. 122) can be controlled.

Before turning on the notification mode or setting a method of outputting notification information, the notification mode may default to an off state.

The processor 182 controls execution of the notification mode when a notification mode on command is received in response to the display of the notification mode setting window, and when setting information on how to output notification information is received, the notification information is generated based on the received setting information. output can be controlled.

Here, the method of outputting notification information includes an output unit to output notification information and a set value for each output unit. The output unit for outputting notification information may include at least one of the display unit 122 and the sound output unit 123 .

The setting value for each output unit includes at least one of the color of the display unit, the font size, the notification image, the number of notifications, and the notification period, and the volume of the sound of the sound output unit, the type of notification sound, the notification period, and the notification number. there is.

When a notification mode off command is received in response to the display of the notification mode setting window, the processor 182 may terminate and control the notification mode.

In a state of performing the notification mode, the processor 182 may perform different controls in response to whether the vehicle 1 is in a driving state or a stationary state.

The processor 182 determines whether the vehicle 1 is in a driving state or a stationary state while performing the notification mode, and receives notification information transmitted from another vehicle 2 when it is determined that the vehicle 1 is in a driving state. and controls the output of the received notification information, and controls at least one of braking and steering based on the notification information.

When it is determined that the vehicle 1 is in a stationary state while the notification mode is being performed, the processor 182 obtains information about obstacles and provides the obtained information about obstacles to other vehicles 2 as notification information. Let me explain this in more detail.

(1) A control configuration of a processor in an on state of a notification mode and a driving state will be described with reference to FIGS. 4 to 6 .

The processor 182 controls execution of the notification mode when a notification mode on command is received, and controls turning off the notification mode when a notification mode off command is received.

The processor 182 determines whether the vehicle is in a driving state while performing the notification mode. The processor 182 may determine whether the driving speed of the vehicle is equal to or greater than the reference speed based on the speed information detected by the speed detection unit 150, and determine that the vehicle is in a driving state when it is determined that the driving speed of the vehicle is greater than or equal to the reference speed. there is. Here, the reference speed may be 0 km/h.

The processor 182 may determine whether the position of the shift lever is the position of the drive end (D ), and if the position of the shift lever is determined to be the position of the drive end, it may be determined that the vehicle is in a driving state.

The processor 182 may also determine whether the vehicle is in a running state based on information about pressing the accelerator pedal.

When the processor 182 determines that the vehicle 1 (first vehicle) is in a driving state, the processor 182 controls communication with other vehicles 2 to check other vehicles 2 (second vehicle) existing within a preset distance, and A wake-up signal may be transmitted to another vehicle 2 . Here, the wake-up signal may be a signal for activating a notification mode of another vehicle 2 .

More specifically, as shown in FIG. 4 , when it is determined that the vehicle 1 is in a driving state, the processor 182 requests other vehicles 2 to provide information about the current state of the other vehicle and the location of the other vehicle. And when the current state and location information of other vehicles is received from the other vehicles 2, other vehicles in a stopped state are checked based on the current state of the received other vehicles, and the location information of the other vehicles in a stopped state and the own vehicle ( Based on the current location information of 1), other vehicles 2 whose distance from the own vehicle 1 is less than the reference distance d1 may be identified, and a wake-up signal may be transmitted to the identified other vehicles 2. Here, the reference distance may be approximately 1 KM.

The processor 182 checks other vehicles existing in the traveling direction of the user vehicle 1 based on the route information of the user vehicle and the route information of the other vehicles among other vehicles whose distance to the user vehicle is less than or equal to the reference distance, and identifies other vehicles. A wake-up signal may be transmitted to the vehicle.

Here, the other vehicles existing in the traveling direction of the vehicle 1 are other vehicles located in front, and include a vehicle 2a stopped on the same lane as the host vehicle and a vehicle 2c stopped on the opposite lane based on the center line. can do.

For example, the processor 182 may transmit a wake up signal by searching for another vehicle stopped in the traveling direction among other vehicles existing within a radius of 1 KM through V2V communication.

At this time, the other vehicles 2a and 2c receiving the wake-up signal transmitted by the host vehicle 1 may be other vehicles stopped within a standard distance in front of the host vehicle.

As shown in FIG. 5 , when obstacle information is received from another vehicle 2a while driving, the processor 182 controls the output of notification information based on the received obstacle information and adjusts the driving speed based on the received obstacle information. You can control or control the driving direction.

The obstacle information may include obstacle type, obstacle position information, movement path information of the obstacle, and movement speed information of the obstacle. Here, the location information of the obstacle may include distance information from the obstacle and direction information of the obstacle.

Controlling the output of notification information may include displaying a warning about an obstacle as an image and outputting a warning about an obstacle as a sound.

Controlling the output of notification information may include displaying an alert for an obstacle through the cluster c . For example, the text of 'Caution' can be displayed through the cluster (c).

Controlling the output of the notification information may include controlling outputting the notification information as a voice and controlling outputting the notification information as an alarm sound.

When the obstacle information is received from the other vehicle 2a, the processor 182 checks the movement speed information of the obstacle and the movement path information of the obstacle, and reduces the driving speed based on the checked movement speed information of the obstacle and the driving speed information of the host vehicle. Alternatively, it may be controlled to be maintained, and the change or maintenance of the driving direction may be controlled based on the path information of the vehicle 1 and the movement path information of the obstacle.

As shown in FIG. 6 , when notification information is received from another vehicle 2a (second vehicle), the processor 182 checks another vehicle 2b (third vehicle) driving from the rear and sends the confirmed other vehicle 2b It is also possible to send notification information to .

The processor 182 identifies other vehicles in a driving state based on the current state of other vehicles received while driving, and is located behind the host vehicle based on the location information of the identified other vehicles in the driving state and the current location information of the host vehicle. It is possible to check other vehicles that are running, and transmit notification information to the checked other vehicles.

The processor 182 may transmit notification information to other vehicles driving at the rear of which a distance to the host vehicle exists within a preset distance among other vehicles driving from the rear while driving.

The processor 182 may transmit notification information to other vehicles (ie, third vehicles) traveling in the same driving direction as the host vehicle among other vehicles driving behind the vehicle while driving.

The processor 182 determines whether communication fails when transmitting the wake-up signal to other vehicles in front, and if it is determined that the communication fails, it can control inactivation of the notification mode for stability.

The processor 182 prioritizes the obstacle information transmitted from the other vehicle 2a in the same lane based on the center line and outputs it as notification information, and then converts the obstacle information transmitted from the other vehicle 2c in the opposite lane into the notification information. It can be controlled to output as .

When the processor 182 controls the driving speed and driving direction based on the received obstacle information, the other vehicle 2a in the same lane than the obstacle information transmitted from the other vehicle 2c in the opposite lane based on the center line The driving speed and driving direction may be controlled based on the transmitted obstacle information.

(2) The control structure of the processor when the notification mode is on and stopped will be described with reference to FIGS. 7 to 11 .

The processor 182 determines whether the driving speed is equal to or less than the reference speed based on the speed information detected by the speed detection unit 150, and determines that the vehicle is in a stationary state when it is determined that the driving speed is equal to or less than the reference speed.

The processor 182 determines whether the position of the shift lever is at the parking level (P) based on the positional information of the shift lever, and determines that the vehicle is in a stopped state when it is determined that the position of the shift lever is the position of the parking level.

The processor 182 determines the electronic parking button is on state factor and determines that the vehicle is in a stop state when it is determined that the electronic parking button is on.

The processor 182 may determine that the vehicle is stopped when it is determined that the current location is a parking lot or a destination based on the current location information and map information received by the location receiving unit 160 .

When the vehicle 1 is in a stopped state, the processor 182 displays a notification mode setting window for setting on/off of the notification mode when a user setting mode on command is received through the input unit 121 of the user interface. The display unit 122 may be controlled, and the notification mode may be performed when a notification mode on command is received.

As shown in FIG. 7 , the processor 182 may turn on the notification mode when a wake-up signal is received from another vehicle 2 in a driving state while the own vehicle 1 is in a stopped state.

The processor 182 may control transmission of status information and location information on the current status when a request signal for providing current status and location information is received from another vehicle 2 in a driving state while the notification mode is turned on.

The processor 182 can also receive location information of another vehicle from another vehicle 2 in a driving state, and based on the received location information of the other vehicle 2 and the current location information of the own vehicle 1 It is also possible to obtain distance information to the vehicle 2 and to determine the possibility of collision with an obstacle based on the acquired distance information to another vehicle 2 .

The processor 182 can also receive route information from another vehicle 2 in a driving state, and can also determine the possibility of collision with an obstacle based on the received route information.

When it is determined that there is a possibility of collision with an obstacle, the processor 182 may transmit obstacle information to the other vehicle 2 . Explain this in more detail.

The processor 182 may control activation of the image acquisition unit and the obstacle detection unit when the notification mode is performed.

The processor 182 may obtain surrounding obstacle information based on the image information obtained by the image acquisition unit and the obstacle information obtained by the obstacle detection unit.

The processor 182 can activate all of the front camera, the rear camera, and the left and right side cameras while performing the notification mode, and recognizes obstacles in the front, rear, left, and right directions based on image information in the front, rear, left, and right directions, and recognizes the recognized obstacles in the front, rear, left, and right directions. It is possible to obtain the type and location information of.

Obstacles may include roadside trees, traffic lights, crosswalks, pedestrians, cyclists, medians, road signs, and the like.

The processor 182 may obtain position information and moving speed information of the obstacle based on the obstacle information detected by the obstacle detection unit, and obtain position information and moving speed information of the obstacle with respect to the moving obstacle.

The processor 182 may obtain position information and movement speed information of the movable obstacle recognized by the image obtained by the image acquisition unit 130 based on the detection information detected by the obstacle detection unit 140 . Movable obstacles may include animals, pedestrians and cyclists.

The processor 182 may determine whether the obstacle collides with another vehicle based on location information of a movable obstacle, movement speed information of the obstacle, location information of the other vehicle, and driving speed information of the other vehicle.

The processor 182 acquires movement path information of the movable obstacle based on the change in position information of the movable obstacle, obtains the obtained movement path information of the obstacle, movement speed information of the obstacle, path information of other vehicles, and other vehicles (2). ), it is possible to determine whether an obstacle collides with another vehicle based on the driving speed information.

As shown in FIG. 9 , the processor 182 may transmit obstacle information to another vehicle 2 and control lighting of the lamp 119 or sound output unit 123 so that a movable obstacle can be recognized. You can control the sound output. Here, the lamp 119 may be an emergency lamp.

As shown in FIG. 10 , the processor 182 performs communication with the terminals 5 around the vehicle 1 and requests the terminals 5 to provide location information, and the terminals 3 When the location information of is received, based on the received location information of the terminals and the current location information of the vehicle 1, distance information and movement speed information with the terminals are obtained, respectively, and based on the distance information and movement speed information of each terminal Thus, it is possible to determine the possibility of collision with another vehicle 2 and transmit notification information to the terminal 5 and the other vehicle 2 when it is determined that there is a possibility of collision with another vehicle 2 .

The processor 182 may also check the terminal 5 existing within a certain distance from the vehicle 1 and transmit notification information to the checked terminal 5 . At this time, the terminal may display notification information.

The processor 182 checks terminals existing within a certain distance from the vehicle 1, identifies a terminal whose moving speed is less than the reference moving speed among the checked terminals based on the moving speed information of the checked terminals, and notifies the checked terminal 5 It is also possible to transmit information.

The processor 182 checks terminals existing within a certain distance from the vehicle 1, determines whether there is a terminal whose moving speed is equal to or higher than the reference moving speed among the identified terminals based on the moving speed information of the checked terminals, and If it is determined that the terminal exists, it is also possible to transmit information indicating that there is a terminal (ie, an obstacle) moving at a reference speed or higher to the other vehicle 2 .

The processor 182 acquires the moving path information of the terminal 5 based on the change in location information of the terminal 5, and obtains the obtained moving path information and moving speed information of the terminal 5 and the path of the other vehicle 2. A possibility of collision between the terminal 5 and the other vehicle 2 may be determined based on the information and the driving speed information of the other vehicle.

The processor 182 may obtain information on a pedestrian's movement path based on a change in location information of the terminal 5 .

Determining the possibility of collision between the terminal 5 and another vehicle 2 may include determining the possibility of collision between a pedestrian carrying the terminal 5 and another vehicle 2 that has transmitted a wake-up signal. .

The processor 182 can also recognize a pedestrian carrying the terminal 5 based on the image information.

The processor 182 may determine the direction in which the movable obstacle exists based on the image information in the front, rear, left, and right directions, and determine whether the terminal 5 capable of communication exists in the direction in which the movable obstacle exists.

The processor 182 generates location information (ie GPS information) of a pedestrian based on the current location information (GPS information) of the vehicle 1 and the relative direction information and relative distance information of the obstacle (ie pedestrian) detected by the obstacle detection unit. , and recognizes the terminal 5 and the pedestrian existing at the same location based on the obtained location information of the pedestrian and the location information of the terminal 5 .

The processor 182 may recognize the terminal 5 and the pedestrian existing at the same location as one obstacle. That is, the processor 182 may determine that the recognized obstacle is a pedestrian carrying the terminal 5 .

If the processor 182 determines that the obstacle is a pedestrian but does not carry the terminal 5, the processor 182 can control lighting of the lamp 119 and control the sound output of the sound output unit 123.

The processor 182 may control the lighting of the lamp 119 when the distance to the other vehicle 2 is less than the second reference distance and it is determined that the pedestrian does not have the terminal 5, and the sound output unit 123 ) can control the alarm sound output.

The processor 182 may transmit notification information about the existence of a pedestrian within the second reference distance to the other vehicle 2 .

The processor 182 may transmit information about the obstacle to the other vehicle 2 before performing V2P communication with the pedestrian when it is determined that the obstacle is moving at a preset reference movement speed or higher based on the movement speed information of the obstacle. At this time, the processor 182 may suspend lighting of the lamp.

As shown in FIG. 11 , the processor 182 transmits information about the obstacle to the other vehicle 2 when it is determined that the obstacle is moving at a speed equal to or higher than the reference speed, and then transmits information about the obstacle to the terminal 5 moving at a speed greater than or equal to the reference speed. Notification information notifying the possibility of collision with another vehicle 2 may be transmitted.

For example, the processor may output notification information through the cluster c, but may control the display of the 'Caution' text, and may also output a warning sound through the sound output unit.

The processor 182 may obtain location information of the pedestrian based on reception of the detection signal output from the obstacle detection unit 140 and determine whether the pedestrian is approaching based on the obtained location information of the pedestrian.

The processor 182 obtains distance change information between each obstacle detection unit 140 and the pedestrian based on the reception of the detection signal output from the obstacle detection unit 140, and determines the approach of the pedestrian based on the obtained distance change information. It is also possible.

The processor 182 releases the approach of the movable obstacle if it is not recognized for a set period of time after the movable obstacle is recognized.

The memory 183 may store information about the first reference distance and the second reference distance and information about the reference movement speed.

The memory 183 may store image information about the shape of the obstacle.

The memory 183 may store items set in the user setting mode and setting information.

The memory 183 may include a non-volatile memory device such as a cache, read only memory (ROM), programmable ROM (PROM), erasable programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM), and flash memory, or RAM ( 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 power unit may be a device that generates a driving force of the vehicle. In the case of an internal combustion engine vehicle, the power unit may include an engine and an engine control unit. In the case of an eco-friendly vehicle, the power unit may include a motor, a battery, a motor control unit, and a battery management device.

In the case of an internal combustion engine vehicle, the power unit may control the engine in response to a driver's will to accelerate through an accelerator pedal. For example, an engine control unit may control torque of an engine.

The braking device 190 may be a device that generates braking force for the vehicle.

The braking device 190 may decelerate the vehicle 1 or stop the vehicle 1 through friction with wheels.

The brake device may include an electronic brake control unit. The electronic brake control unit can control the braking force in response to the driver's intention to brake via the brake pedal and/or slip of the wheels. For example, the electronic brake control unit may temporarily release braking of a wheel in response to wheel slip detected during braking of the vehicle 1 (Anti-lock Braking Systems, ABS).

The electronic brake control unit may selectively release brakes on wheels in response to oversteering and/or understeering detected during steering of the vehicle 1 (Electronic Stability Control, ESC).

In addition, the electronic brake control unit may temporarily brake a wheel in response to wheel slip detected while driving the vehicle 1 (Traction Control System, TCS).

The steering device 195 may be a device that changes the driving direction of the vehicle.

The steering device 195 may change the driving direction in response to the driver's steering intention through the steering wheel. The steering device may include an electronic steering control unit, and the electronic steering control unit may decrease steering force during low-speed driving or parking and increase steering force during high-speed driving.

Meanwhile, each component shown in FIG. 3 means software and/or hardware components such as a Field Programmable Gate Array (FPGA) and Application Specific Integrated Circuit (ASIC).

12 and 13 are control flowcharts of a vehicle 1 (that is, the host vehicle) and another vehicle 2 according to an embodiment.

A case where the host vehicle 1 is in a stationary state and the other vehicle is in a running state 2 will be described as an example.

As shown in FIG. 12 , the other vehicle 2 performs the notification mode when a notification mode on command is received (301).

At this time, the other vehicle 2 requests the surrounding vehicles to provide the current state of the surrounding vehicle and the location information of the surrounding vehicle, and when the current state and location information of the other vehicle is received from the surrounding vehicles, the received surrounding vehicle 2 Based on the current state of the vehicles, the surrounding vehicles to which obstacle information is to be provided are searched (302).

More specifically, the other vehicle 2 identifies vehicles in a stopped state based on the received current states of surrounding vehicles and other vehicles based on the location information of the vehicles in a stopped state and the current location information of the other vehicle 2. (2) It is possible to check surrounding vehicles that are less than the first reference distance d1, and transmit a wake-up signal to the checked surrounding vehicles (303).

When it is determined that the vehicle 1 is in a stopped state and a wake-up signal is received from the other vehicle 2, the notification mode is turned on.

Turning on the notification mode includes activating a plurality of cameras (401) and activating an obstacle detection unit.

The vehicle 1 searches for a movable obstacle based on image information acquired by a plurality of cameras and detection information detected by the obstacle detection unit 140 (402).

The user vehicle 1 acquires position information of the movable obstacle, obtains movement path information and movement speed information of the movable obstacle based on the position information of the movable obstacle, and obtains the position information, movement path information and movement of the movable obstacle. The speed information is transmitted to the other vehicle 2 as obstacle information (403).

When the other vehicle 2 receives obstacle information from nearby vehicles while driving (304), it outputs notification information based on the received obstacle information (305) and controls the driving speed or driving direction based on the received obstacle information. can control.

As shown in FIG. 13 , the own vehicle 1 performs a notification mode and attempts communication with nearby terminals when in a stopped state (404).

The vehicle 1 requests the terminals 5 to provide location information, and when the location information of the terminals 3 is received, based on the received location information of the terminals and the current location information of the vehicle 1 Distance information and movement speed information with the terminals are respectively obtained, and based on the distance information and movement speed information of each terminal, a terminal having a possibility of collision with another vehicle 2 is searched (405).

The vehicle 1 may obtain movement route information of the terminal based on navigation information of the terminal, and may obtain movement route information of the terminal based on a change in location information of the terminal.

The vehicle 1 can search for terminals 5 that may collide with other vehicles by determining the possibility of collision with other vehicles 2 based on the movement path information and movement speed information of the terminal. .

Based on the movement speed information of the searched terminals, the vehicle 1 determines (406) whether there is a terminal whose moving speed is equal to or higher than the standard moving speed among the searched terminals, and if it is determined that there is a terminal equal to or higher than the standard moving speed, the standard speed is determined. Notification information notifying that the above terminal exists may be transmitted to the other vehicle 2 (407).

At this time, the other vehicle 2 may output notification information (307) in response to reception of the notification information (306). That is, the other vehicle 2 may output notification information indicating that there is a terminal exceeding the standard speed through the display unit and the sound output unit.

When it is determined that among the searched terminals that there is no terminal higher than the standard moving speed, the user vehicle 1 transmits notification information notifying the searched terminals of a possibility of collision with another vehicle (408).

The vehicle 1 determines whether there is a pedestrian without a terminal based on image information acquired by a plurality of cameras, detection information detected by an obstacle detection unit, and communication information with the terminal (409), and detects the terminal. If it is determined that there is a pedestrian who does not possess the vehicle, distance information to the pedestrian is acquired based on the location information of the pedestrian and the current location information of the user's vehicle (410), and the distance to the pedestrian is determined based on the distance information to the pedestrian. When it is determined that the distance is less than the reference distance (411), an emergency light is turned on (412) and notification information (413) notifying the possibility of a collision with another vehicle is transmitted.

At this time, the other vehicle 2 may output notification information (309) in response to reception of notification information (308). That is, the other vehicle 2 may output notification information indicating that the distance between the vehicle receiving the wake-up signal and the pedestrian is equal to or less than the second reference distance through the display unit and the sound output unit.

The other vehicle 2 may transmit notification information about an obstacle to another vehicle 2b driving behind the other vehicle (310).

The user vehicle 1 determines whether an obstacle whose moving speed is higher than the standard moving speed exists based on the moving speed information of an obstacle (eg, a cyclist or a pedestrian) that does not have a terminal, and when it is determined that an obstacle higher than the standard moving speed exists It is also possible to transmit notification information notifying the existence of an obstacle higher than the standard speed to the other vehicle 2 .

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 codes, and when executed by a processor, create program modules to perform operations of the disclosed embodiments. The recording medium may be implemented as a computer-readable recording medium.

Computer-readable recording media include all types of recording media in which instructions that can be decoded by a computer are stored. For example, there may be read only memory (ROM), random access memory (RAM), magnetic tape, magnetic disk, flash memory, optical data storage device, and the like.

As described above, the disclosed embodiments have been described with reference to the accompanying drawings. A person skilled in the art to which the present invention pertains may change the technical spirit or essential features of the present invention in a different form from the disclosed embodiments. It will be understood that the invention may be practiced. The disclosed embodiments are illustrative and should not be construed as limiting.

1: vehicle 2: other vehicle
3: Infrastructure 5: Terminal

Claims (20)

In the driver assistance device provided in the first vehicle,
output unit;
communications department; and
During the notification mode, based on the location information of other vehicles and the location information of the first vehicle received through the communication unit, second vehicles existing within a first reference distance are identified, and a wake-up signal is given to the identified second vehicles. and a processor configured to control the communication unit to transmit and control the output unit to output notification information based on obstacle information received from the second vehicles. According to claim 1,
Second vehicles existing within the first reference distance are located in front of the traveling direction of the first vehicle and are in a stationary state. The method of claim 2, wherein the processor,
Obstacle information received from second vehicles existing in a lane in the same direction as the first vehicle among the second vehicles is controlled to be preferentially output as notification information, and a second vehicle existing in a lane opposite to the first vehicle A driver assistance device that controls obstacle information received from a vehicle to be output as notification information. The method of claim 1, wherein the processor,
A driver assistance device for controlling the communication unit to identify a third vehicle driving behind the first vehicle based on the received location information of other vehicles and to transmit the received obstacle information to the identified third vehicle. The method of claim 1, wherein the processor,
A driver assistance device that controls at least one of braking and steering based on the received obstacle information. In the driver assistance device provided in the first vehicle,
a communication unit that communicates with the image acquisition unit and the obstacle detection unit and communicates with an external device; and
Obtaining location information of a movable obstacle based on image information of the image acquisition unit received through the communication unit and detection information detected by the obstacle detection unit, and moving the movable obstacle based on the location information of the movable obstacle A processor for controlling the communication unit to acquire at least one of speed information and movement path information and transmit at least one of position information, movement speed information, and movement path information of the movable obstacle to a nearby second vehicle as obstacle information driver assistance devices. The method of claim 6, wherein the processor,
When the location information of the second vehicle is received, distance information to the second vehicle is obtained based on the location information of the second vehicle and the location information of the first vehicle, and based on the obtained distance information, a distance to the first vehicle is obtained. and controlling the communication unit to transmit the obstacle information to the second vehicle when the distance is equal to or less than the first reference distance. The method of claim 7, wherein the processor,
and controlling the communication unit to transmit the obstacle information to the second vehicle when the distance between the vehicle and the movable obstacle is equal to or less than a second reference distance. The method of claim 8, wherein the processor,
A driver assistance device for controlling lighting of an emergency light when a moving speed of the movable obstacle is less than a reference moving speed based on the moving speed information of the movable obstacle. The method of claim 8, wherein the processor,
and controlling the communication unit to transmit the obstacle information as emergency information to the second vehicle when the moving speed of the movable obstacle is greater than or equal to a reference moving speed based on the moving speed information of the movable obstacle. The method of claim 6, wherein the processor,
A driver assistance device controlling execution of a notification mode when a wake-up signal is received from the second vehicle. The method of claim 6, wherein the processor,
Searching for a terminal capable of communication through the communication unit, determining the possibility of collision with the second vehicle based on the location information of the searched terminal, and determining that there is a possibility of collision with the second vehicle, the searched terminal and A driver assistance device controlling the communication unit to transmit notification information to the second vehicle. The method of claim 12, wherein the processor,
A driver assistance device that determines whether a terminal of the movable obstacle is possessed based on the image information, the detection information, and the recognized location information of the terminal, and controls the lighting of emergency lights when it is determined that the obstacle does not possess the terminal . The method of claim 13, wherein the processor,
A driver assistance device for controlling the emergency lights so that the emergency lights are turned on a preset number of times at a preset cycle when the distance between the first vehicle and the terminal is equal to or less than a second reference distance. braking device;
steering gear;
input unit;
output unit;
a communication unit that communicates with other vehicles and terminals and receives current location information; and
When a notification mode on command is received through the input unit, the execution of the notification mode is controlled, and if the current state is a driving state, a stop existing within a reference distance based on the location information of other vehicles and the current location information received through the communication unit Checking other vehicles in the stopped state, controlling the communication unit to transmit a wake-up signal to the other vehicles in the stopped state, and outputting notification information based on obstacle information received from the other vehicles in the stopped state and a processor configured to control at least one of braking and steering based on the received obstacle information. According to claim 15,
Further comprising an image acquisition unit and an obstacle detection unit,
When the processor is in a stationary state, the processor checks a movable obstacle based on the image information obtained by the image acquisition unit and the detection information detected by the obstacle detection unit, and transmits obstacle information about the movable obstacle to other driving vehicles in the surrounding area. A vehicle that controls the communication unit to transmit to the vehicle. According to claim 15,
Including more lamps,
The processor controls lighting of the lamp when it is determined that the movable obstacle exists in the stationary state. The method of claim 17, wherein the processor,
and controlling the communication unit to transmit the obstacle information to the second vehicle when the distance between the vehicle and the movable obstacle is equal to or less than a second reference distance. The method of claim 16, wherein the processor,
A vehicle that searches for terminals capable of communicating with the communication unit and transmits information about the other driving vehicle to the searched terminals. The method of claim 16, wherein the processor,
Obtain movement speed information of the movable obstacle based on the detection information detected by the obstacle detection unit, and if the movement speed of the movable obstacle is greater than or equal to a reference movement speed based on the movement speed information of the movable obstacle, the obstacle information A vehicle that controls the communication unit to transmit as emergency information to the second vehicle.

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