KR20240005336A - Driving Assistance Device of Vehicle and Control Method thereof - Google Patents

Abstract

Disclosed is a driving assistance device for a vehicle and a method for controlling the same.
According to an embodiment of the present disclosure, a method of controlling a device for assisting driving of a vehicle includes: acquiring driving information of a vehicle controlled according to road information obtained from at least one of a camera or a navigation device; Obtaining driving information of at least one surrounding vehicle; and outputting a warning notification based on whether a difference between the driving information of the vehicle and the driving information of the at least one surrounding vehicle is greater than a preset first reference value.

Description

Driving assistance device of vehicle and control method thereof}

The present disclosure relates to a driving assistance device for a vehicle, particularly a device and method for assisting the driving of a vehicle based on driving information of surrounding vehicles as well as cameras and navigation systems.

The content described below simply provides background information related to this embodiment and does not constitute prior art.

As the demand for driver convenience and safety increases along with the demand for improved vehicle performance, vehicle driving assistance devices are continuously researched and developed and applied to vehicles. A driving assistance device is a device that controls a vehicle based on information obtained from various sensors mounted on the vehicle, and may be referred to as a driver assist system (DAS).

As part of several driving assistance devices, the Smart Cruise Control (SCC) system, which controls the vehicle to drive while maintaining a certain distance from the vehicle ahead, and the Lane Keeping Assist system, which controls the vehicle's lateral speed ( Lane Keeping Assist System (LKAS). Specifically, the SCC system according to the prior art measures the distance to the preceding vehicle through sensors mounted on the vehicle, and controls the vehicle's speed based on the measured distance and the speed of the preceding vehicle, thereby controlling the vehicle's speed without driver intervention. This can ensure safe driving. In other words, the SCC system controls the speed of the vehicle in the driving direction.

Meanwhile, as a driving assistance device, there is an Intelligent Speed Limit Assist (ISLA) system that informs whether the vehicle is speeding based on the speed limit of the road. Specifically, the ISLA system acquires road information using a navigation device or camera sensor mounted on the vehicle. By recognizing traffic signs, the ISLA system can obtain road information such as speed limit, driving direction, child protection zone, or bus lane displayed on traffic signs. . Additionally, the ISLA system can obtain road information from a navigation device. The ISLA system can prevent traffic accidents by providing drivers with speed limit notifications based on road information. Furthermore, the ISLA system can alert occupants or control the vehicle to ensure that the vehicle's speed does not exceed the road speed limit.

However, the driving assistance device may misjudge the information displayed on traffic signs or obtain incorrect road information from a navigation device that is not updated. For example, because there are various signs on the road, the driving assistance device may misrecognize the information displayed on the traffic signs. Otherwise, in environments that impede the recognition performance of the camera, such as weather or illumination, the driving assistance device may obtain incorrect road information. As another example, with a version of the navigation that is not updated, the driving assistance device may recognize a speed that is different from the actual speed limit of the road. If the driving assistance device controls the vehicle based on an incorrectly recognized speed rather than the actual speed limit, problems such as traffic jams or accidents may occur.

Therefore, driving assistance devices that rely only on the camera and navigation device provided in the vehicle have limitations in assisting the driving of the vehicle or implementing a higher autonomous driving mode.

The driving assistance device and its control method for a vehicle according to an embodiment provide a driving assistance function by additionally using information collected from other vehicles, despite receiving road information different from actual road information from a camera or navigation device installed in the vehicle. It improves reliability and accuracy and can assist driving similar to assisting vehicle driving based on actual road information.

The vehicle driving assistance device and its control method according to one embodiment may use traffic sign recognition technology or stored navigation information provided in other vehicles.

The problems to be solved by the present invention are not limited to the problems mentioned above, and other problems not mentioned can be clearly understood by those skilled in the art from the description below.

According to an embodiment of the present disclosure, a method of controlling a device for assisting driving of a vehicle includes: acquiring driving information of a vehicle controlled according to road information obtained from at least one of a camera or a navigation device; Obtaining driving information of at least one surrounding vehicle; and outputting a warning notification based on whether a difference between the driving information of the vehicle and the driving information of the at least one surrounding vehicle is greater than a preset first reference value.

According to an embodiment of the present disclosure, in a device for assisting driving of a vehicle, the driving information of the vehicle controlled according to road information obtained from at least one of a camera or a navigation device is acquired, and the driving information of at least one surrounding vehicle is obtained. An acquisition unit that acquires driving information; and a control unit that outputs a warning notification based on whether a difference between the driving information of the vehicle and the driving information of the at least one surrounding vehicle is greater than a preset first reference value.

According to one embodiment, a vehicle driving assistance device and its control method provide driving assistance by additionally using information collected from other vehicles, despite receiving road information different from actual road information from a camera or navigation device installed in the vehicle. It has the effect of improving the reliability and accuracy of functions and assisting driving similar to assisting vehicle driving based on actual road information.

According to one embodiment, a vehicle driving assistance device and its control method have the effect of using traffic sign recognition technology or stored navigation information provided in other vehicles.

1 is a configuration diagram showing the relationship between vehicles and servers according to an embodiment of the present disclosure.
Figure 2 is a configuration diagram of a vehicle according to an embodiment of the present disclosure.
Figure 3 is a flowchart showing a method of controlling a driving assistance device for a vehicle according to an embodiment of the present disclosure.
Figure 4 is a flowchart for explaining a method of assisting driving of a vehicle according to an embodiment of the present disclosure.

Hereinafter, some embodiments of the present disclosure will be described in detail using exemplary drawings. When adding reference signs to components in each drawing, it should be noted that the same components are given the same reference numerals as much as possible even if they are shown in different drawings. Additionally, in describing the present disclosure, if it is determined that a detailed description of a related known configuration or function may obscure the gist of the present disclosure, the detailed description will be omitted.

In describing the components of the embodiment according to the present disclosure, symbols such as first, second, i), ii), a), and b) may be used. These codes are only used to distinguish the component from other components, and the nature, sequence, or order of the component is not limited by the code. In the specification, when a part is said to 'include' or 'have' a certain element, this means that it does not exclude other elements, but may further include other elements, unless explicitly stated to the contrary. .

Each component of the device or method according to the present invention may be implemented as hardware or software, or may be implemented as a combination of hardware and software. Additionally, the function of each component may be implemented as software and a microprocessor may be implemented to execute the function of the software corresponding to each component.

1 is a configuration diagram showing the relationship between vehicles and servers according to an embodiment of the present disclosure.

FIG. 1 shows a server 100, a first vehicle 110, and a second vehicle 120. The second vehicle 120 is a surrounding vehicle of the first vehicle 110. In FIG. 1, the second vehicle 120 is represented as one vehicle, but may be replaced with a plurality of vehicles.

The first vehicle 110 is equipped with a driving assistance device. Furthermore, the second vehicle 120 may also be equipped with a driving assistance device.

In order to assist driving of the first vehicle 110, the driving assistance device provided in the first vehicle 110 uses at least one of a camera or a navigation device provided in the first vehicle 110. ) collects information about the road while driving. For example, a driving assistance device can recognize traffic signs in an image captured by a camera and collect information displayed on the recognized traffic signs as road information. The driving assistance device can receive road information stored in the navigation device from the navigation device.

The driving assistance device provided in the first vehicle 110 assists the driving of the first vehicle 110 based on collected road information.

For example, when the first vehicle 110 is driving on a highway with a prescribed speed limit, the driving assistance device is used to detect the first vehicle 110 based on the speed information in the traffic sign recognized by the camera of the first vehicle 110. 110). Specifically, the driving assistance device may detect speed limit information written on traffic signs through the camera of the first vehicle 110 and control the first vehicle 110 according to the speed limit information. Here, recognizing information from traffic signs is referred to as traffic signal recognition (TSR) technology.

As another example, the driving assistance device may control the speed of the first vehicle 110 so that it does not exceed the speed limit based on speed limit information provided from the navigation device of the first vehicle 110.

As another example, the driving assistance device may control the first vehicle 110 using both speed limit information detected from traffic signs and speed limit information provided from a navigation device. At this time, the priority of speed limit information provided from the navigation device may be higher than the priority of speed limit information detected from traffic signs.

As another example, the driving assistance device may identify a child protection zone based on road information and control the first vehicle 110 at a low speed within the child protection zone. As another example, the driving assistance device may change the lane of the first vehicle 110 based on lane information included in road information.

In addition, the driving assistance device may control the speed, direction, or lane change of the first vehicle 110 based on direction information and lane characteristic information obtained from traffic signs or navigation devices in addition to speed information.

However, if the camera installed in the first vehicle 110 incorrectly recognizes traffic signs or the navigation device is not updated, the driving assistance device may control the first vehicle 110 based on incorrect road information.

In order to solve this problem, the driving assistance device according to an embodiment of the present disclosure not only collects information using at least one of a camera or a navigation device provided in the first vehicle 110, but also collects information from the second vehicle 120. Assists the driving of the first vehicle 110 based on the information.

Specifically, the driving assistance device controls the first vehicle 110 using information obtained from at least one of a camera or a navigation device. At this time, if the information in the camera or navigation device is incorrect, the first vehicle 110 drives differently from the second vehicle 120. When the first vehicle 110 drives differently from the second vehicle 120, the driving assistance device determines misrecognition of traffic signs or non-update of the navigation device, and provides the second vehicle 120 based on the driving information of the second vehicle 120. 1 Control the vehicle 110. When the second vehicle 120 accurately detects the information on traffic signs or the navigation device is the latest version, the driving assistance device controls the first vehicle 110 according to the driving information of the second vehicle 120 to ensure accurate navigation on the road. You can enjoy the same effect as controlling the first vehicle 110 based on information. When there are a plurality of surrounding vehicles around the first vehicle 110, the driving assistance device may control the first vehicle 110 according to the average or weighted average of the driving information of the surrounding vehicles. Here, the weighted average refers to applying a high weight to the driving information of surrounding vehicles close to the first vehicle 110.

Meanwhile, in the present disclosure, the driving information includes location, longitudinal speed, lateral speed, longitudinal acceleration, lateral acceleration, average speed, speed statistics, and heading. ), heading statistical value, yaw rate, and speed change pattern within a predetermined time interval. Here, the statistical value refers to any one of the average, variance, or standard deviation of the speed during a preset time interval. Additionally, the driving information may further include at least one of path history or path prediction.

Hereinafter, a method for the first vehicle 110 to collect driving information of surrounding vehicles, including the second vehicle 120, will be described.

The first vehicle 110 receives driving information of the second vehicle 120 through the server 100, or acquires driving information of the second vehicle 120 using sensors provided in the first vehicle 110. Alternatively, driving information of the second vehicle 120 may be obtained from the second vehicle 120 through wireless communication technology such as V2V (Vehicle-to-Vehicle).

According to an embodiment of the present disclosure, the server 100 stores identification information and driving information of the second vehicle 120 received from the second vehicle 120. The server 100 may transmit the identification information and driving information of the second vehicle 120 to the first vehicle 110 as is.

When there are a plurality of surrounding vehicles, including the second vehicle 120, around the first vehicle 110, the server 100 may receive a plurality of driving information of the surrounding vehicles. At this time, the server 100 may analyze the driving patterns of surrounding vehicles based on driving information received from the surrounding vehicles. For example, the server 100 may analyze the location, speed, average speed, dispersion of speed within a predetermined time period, or standard deviation of speed within a predetermined time period of each surrounding vehicle. The server 100 may transmit the analysis result to the first vehicle 110. Otherwise, the server 100 may receive the results analyzed by the surrounding vehicles from the surrounding vehicles and transmit them to the first vehicle 110.

According to another embodiment of the present disclosure, the first vehicle 110 may directly sense driving information of surrounding vehicles, including the second vehicle 120, or receive driving information from surrounding vehicles. The driving assistance device provided in the first vehicle 110 can directly analyze the driving patterns of surrounding vehicles.

Considering that incorrect information is received from a camera or navigation device, the driving assistance device can improve the driving assistance performance of the first vehicle 110 by using the driving information of surrounding vehicles collected through the above processes.

Figure 2 is a configuration diagram of a vehicle according to an embodiment of the present disclosure.

Referring to FIG. 2, a vehicle 200 according to an embodiment of the present disclosure includes at least one of a collection unit 210, a driving assistance device 220, or a driving unit 230.

The collection unit 210 collects information about the vehicle 200 and information about at least one surrounding vehicle. The driving unit 230 controls the movement of the vehicle 200 by the driving assistance device 220.

The driving assistance device 220 assists driving or controls the vehicle 200 based on information collected from the navigation device 212 or the camera 214. The driving assistance device 220 collects information on surrounding vehicles, compares the driving information of the vehicle 200 with the driving information of surrounding vehicles, and controls the vehicle 200 based on the driving information of surrounding vehicles according to the comparison result. do. At this time, the driving assistance device 220 gives priority to the driving information of surrounding vehicles over the camera 214 or the navigation device 212.

Below, the components disclosed in Figure 2 are described in detail.

The collection unit 210 includes at least one of a navigation device 212, a camera 214, a communication unit 216, and a sensor unit 218.

The navigation device 212 estimates the location of the vehicle and provides road information according to the estimated location.

Specifically, the navigation device 212 may receive satellite signals using a GPS receiver included in a global navigation system (GPS) and estimate the location of the vehicle 200 using the satellite signals.

The navigation device 212 provides information about the road on which the vehicle 200 is located. Road information includes at least one of the direction of the road, curvature, speed limit information, road type information, number of lanes, characteristic information for each lane, or characteristic information for each zone. Here, road type information includes general roads, highways, unpaved roads, etc. Characteristic information for each lane includes exclusive left turn lanes, straight-only lanes, right turn-only lanes, and bus-only lanes. Information on characteristics of each area includes child protection areas, accident-prone areas, etc. The navigation device 212 can provide road information to the occupants and the driving assistance device 220.

This road information can be stored as map information in the navigation device 212.

The map information may be either a navigation map or a high definition map (HD map).

A navigation map includes a node indicating a point where at least two roads meet and a link connecting the two nodes. The navigation map may include geographic information, road information, lane information, building information, or signal information.

Precision maps contain more specific data than navigation maps. A precision map may include lane information, lane boundary information, stop line locations, traffic light locations, signal sequences, or intersection information at very small scale units. A precision map may include basic road information, surrounding environment information, detailed road environment information, or dynamic road situation information. Detailed road environment information may include static information such as terrain elevation, curvature, lanes, lane center lines, regulation lines, road boundaries, road center lines, traffic signs, road surface signs, road shape and height, and lane width. Dynamic road situation information may include traffic jams, accident sections, construction sections, etc. A precision map may include 3D road surrounding environment information, geometric information such as road shape or facility structure, and semantic information such as traffic signs or lane marks.

Meanwhile, the navigation device 212 may provide a route from the current location of the vehicle 200 to the set destination.

The camera 214 captures scenes around the vehicle 200 as images. Furthermore, the camera 214 can detect traffic signs in the image and process the information displayed on the traffic signs.

Specifically, the camera 214 may acquire a front image of the vehicle 200. Depending on the angle of view of the camera 214, the camera 214 can acquire not only the front, but also the side and rear images of the vehicle 200.

The camera 214 may transmit the acquired image information to the driving assistance device 220 or process the image information.

When the camera 214 processes image information, the camera 214 may include an image sensor and an image processing module. The camera 214 can process still images or moving images obtained by an image sensor (eg, CMOS or CCD). The image processing module can process still images or moving images obtained through an image sensor, extract necessary information, and transmit the extracted information to the driving assistance device 220.

The camera 214 may perform some functions of the driving assistance device 220. The camera 214 detects traffic signs from the acquired image. Furthermore, the camera 214 can detect information displayed on traffic signs, especially road information. For example, the camera 214 can detect a speed limit sign in an image and detect the speed limit of the current road or the road ahead.

Meanwhile, the camera 214 may be composed of a plurality of cameras disposed at different locations on the exterior of the vehicle 200. One of the plurality of cameras may generate a front image of the vehicle 200 by collecting images obtained from the plurality of cameras.

The communication unit 216 communicates with the server or surrounding vehicles.

The communication unit 216 may receive driving information of surrounding vehicles from surrounding vehicles, or may receive driving information of surrounding vehicles through a server. When the server processes driving information of surrounding vehicles, the communication unit 216 may receive the driving information processed by the server.

The communication unit 216 may include an internal communication unit and an external communication unit.

The internal communication unit can transmit or receive using various communication protocols existing in the vehicle 200. Here, the communication protocol may include at least one of CAN (Controller Area Network), CAN FD (CAN with Flexible Data rate), Ethernet, LIN (Local Interconnect Network), and FlexRay. The communication protocol may include other protocols for communication between various devices mounted on the vehicle 200.

The external communication department includes VANET (vehicular ad hoc network) communication technology, WAVE (Wireless Access in Vehicular Environments) communication technology, DSRC (Dedicated Short Range Communication), CALM (Communication Access in Land Mobile) communication technology, and V2V (Vehicle-to-Vehicle) communication technology. ) Communication technology, V2I (Vehicle-to-Infrastructure) communication technology, V2N (Vehicle-to-Network) communication technology, WLAN (Wireless LAN) communication technology, Wi-Fi (Wireless-Fidelity) communication technology, WiBro (Wireless Broadband) Communication technology, LTE (Long Term Evolution) communication technology, LTE-A (Long Term Evolution-Advanced) communication, 5G communication technology, 6G communication technology, UWB (Ultra Wideband) communication technology, ZigBee communication technology, NFC (Near Field Communication) Various communication methods such as communication technology can be used.

The communication unit 216 may include at least one of a transmitting antenna, a receiving antenna, a radio frequency (RF) circuit capable of implementing various communication protocols, and an RF element.

Meanwhile, the communication unit 216 can communicate with the passenger's terminal.

The sensor unit 218 senses objects around the vehicle 200 and senses driving information of the vehicle 200.

Specifically, the sensor unit 218 may sense at least one surrounding vehicle located around the vehicle 200. The sensor unit 218 can obtain driving information of at least one surrounding vehicle.

For example, the sensor unit 218 may measure the distance between the vehicle 200 and surrounding vehicles using a distance sensor. The sensor unit 218 uses a distance sensor to determine the location of surrounding vehicles, the distance from the vehicle 200 to the surrounding vehicles, the direction in which the surrounding vehicles are separated from the vehicle 200, the direction of movement of the surrounding vehicles, or the speed of the surrounding vehicles. Information about surrounding vehicles can be measured precisely. The sensor unit 218 can detect objects located in at least one of the front, rear, left, and right areas of the vehicle using a distance sensor.

The sensor unit 218 is a distance sensor and may use a radar sensor, a Light Detection And Ranging (LiDAR) sensor, an infrared sensor, an ultrasonic sensor, or a laser sensor.

When the sensor unit 218 uses a laser sensor, the sensor unit 218 uses a time-of-flight (TOF) or/and phase-shift method depending on the laser signal modulation method. Thus, the positional relationship between the vehicle 200 and the object can be accurately measured.

Distance sensors may be placed at various locations in the vehicle 200. The distance sensor may be placed at least one of the front, rear, left, right, or ceiling of the body of the vehicle 200.

When there are a plurality of surrounding vehicles around the vehicle 200, the sensor unit 218 can sense the plurality of surrounding vehicles simultaneously.

Meanwhile, the sensor unit 218 can measure driving information of the vehicle 200.

In order to obtain driving information of the vehicle 200, the sensor unit 218 includes a heading sensor, a yaw sensor, a gyro sensor, a vehicle forward/reverse sensor, and a wheel sensor. , a vehicle speed sensor, a vehicle body tilt sensor, a battery sensor, a fuel sensor, a tire sensor, a steering sensor based on steering wheel rotation, a temperature sensor inside the vehicle, a humidity sensor inside the vehicle, or a door sensor.

The sensor unit 218 may further sense at least one of direction information, vehicle speed information, acceleration information, tilt information, forward/backward information, fuel information, or turn signal information of the vehicle 200.

The driving unit 230 includes at least one of an acceleration control device 232, a braking control device 234, or a steering control device 236.

The acceleration control device 232 may be configured to control engine drive or motor drive of the vehicle and may accelerate the vehicle.

The braking control device 234 may be configured to control braking of the vehicle and may include a controller that controls the brakes.

The steering control device 236 may be configured to control the steering angle of the vehicle and may include a steering wheel, an actuator linked to the steering wheel, and a controller that controls the actuator.

The driving assistance device 220 includes an acquisition unit 222 and a control unit 224. The driving assistance device 220 may be implemented by at least one processor and at least one memory.

The acquisition unit 222 obtains information about the road on which the vehicle 200 is traveling from at least one of the camera 214 or the navigation device 212. The control unit 224 assists or controls the driving of the vehicle 200 through the driving unit 230 based on road information. The vehicle 200 is controlled according to road information obtained from at least one of the camera 214 or the navigation device 212.

The acquisition unit 222 acquires driving information of the vehicle 200. The acquisition unit 222 acquires driving information of the vehicle 200, which is controlled according to road information acquired from at least one of the camera 214 or the navigation device 212.

Furthermore, the acquisition unit 222 acquires driving information of surrounding vehicles located around the vehicle 200. Driving information of surrounding vehicles may be received from the communication unit 216 through wireless communication or may be sensed by the sensor unit 218.

The control unit 224 compares the driving information of the vehicle 200 with the driving information of surrounding vehicles. For example, the control unit 224 may compare the average speed of the vehicle 200 within a predetermined time period with the average speed of surrounding vehicles. As another example, the control unit 224 may compare at least one of the speed, average speed, or standard deviation of speed of the vehicle 200 with at least one of the speed, average speed, or standard deviation of speed of surrounding vehicles.

The control unit 224 outputs a warning notification based on whether the difference between the driving information of the vehicle 200 and the driving information of surrounding vehicles is greater than a preset first reference value. Here, the first reference value may be set by the vehicle manufacturer or the passenger. As an example, when the difference between the average speed of the vehicle 200 and the average speed of surrounding vehicles within the most recent 10-minute time period is greater than 20 km/h, the control unit 224 may output a warning notification to the occupants.

The control unit 224 may control the vehicle 200 based on whether the difference between the driving information of the vehicle 200 and the driving information of surrounding vehicles is greater than a preset second reference value. Here, the second reference value is a value greater than the first reference value, and may be set by the vehicle manufacturer or the passenger. In particular, when the difference between the driving information of the vehicle 200 and the driving information of surrounding vehicles is greater than a preset second reference value, the control unit 224 may control the vehicle based on the driving information of surrounding vehicles. For example, when the difference between the average speed of the vehicle 200 and the average speed of surrounding vehicles is greater than 30 km/h, the control unit 224 controls the vehicle 200 to make the speed of the vehicle 200 similar to the speed of the surrounding vehicles. ) can be controlled.

Meanwhile, when there are a plurality of surrounding vehicles around the vehicle 200, the control unit 224 calculates the difference between the driving information of the vehicle 200 and the average driving information of the plurality of surrounding vehicles.

Here, the average driving information may be the average of the speeds of a plurality of surrounding vehicles or the average of the average speeds of the surrounding vehicles. Alternatively, the average driving information may be the average of the direction values of surrounding vehicles or the average of the average direction values of the surrounding vehicles within a specific time period. In this way, the average driving information may refer to the average value of each element included in the driving information of surrounding vehicles.

In this way, the control unit 224 calculates the difference between at least one element included in the driving information of the vehicle 200 and at least one element included in the average driving information of surrounding vehicles.

Thereafter, the control unit 224 may output a warning notification based on whether the difference between the driving information of the vehicle 200 and the average driving information of a plurality of surrounding vehicles is greater than the first reference value. For example, when the difference between the average speed of a plurality of surrounding vehicles and the average speed of the vehicle 200 is greater than the first reference value, the control unit 224 may output a warning notification to the occupant.

Furthermore, the control unit 224 may control the vehicle based on whether the difference between the driving information of the vehicle 200 and the average driving information of a plurality of surrounding vehicles is greater than the second reference value. In particular, when the difference between the driving information of the vehicle 200 and the driving information of at least one surrounding vehicle is greater than the preset second reference value, the control unit 224 controls the vehicle 200 based on the average driving information of a plurality of surrounding vehicles. can be controlled.

Meanwhile, the control unit 224 may be electrically connected to the collection unit 210 and the driving unit 230, and electrically controls each component. The control unit 224 may be an electric circuit that executes software commands, thereby performing various data processing and calculations, which will be described later. For example, the control unit 224 may be an electronic control unit (ECU), a micro controller unit (MCU), or another lower-level controller mounted on a vehicle.

The driving assistance device 220 may further include an interface unit (not shown).

The interface unit provides necessary information to the passenger or receives a request from the passenger.

The interface unit can be implemented as a device that can exchange various sensory information such as human hearing, vision, and touch. For example, the interface unit may include a User Setting Mode (USM) device or a Human-Machine Interaction (HMI) device.

Figure 3 is a flowchart showing a method of controlling a driving assistance device for a vehicle according to an embodiment of the present disclosure.

Referring to FIG. 3, the driving assistance device provided in the vehicle acquires driving information of the vehicle, which is controlled according to road information obtained from at least one of a camera or a navigation device (S300).

The driving assistance device acquires driving information of at least one surrounding vehicle (S310).

The driving assistance device outputs a warning notification based on whether the difference between the driving information of the vehicle and the driving information of at least one surrounding vehicle is greater than a preset first reference value (S320).

Specifically, the driving assistance device compares the driving information of the vehicle with the driving information of at least one surrounding vehicle. If there is a large difference between the driving information of the vehicle and the driving information of at least one surrounding vehicle, the driving assistance device determines that the road information detected from the traffic sign or the road information stored in the navigation device is not normal. Accordingly, when the difference between the vehicle's driving information and the driving information of at least one surrounding vehicle is greater than a preset first reference value, the driving assistance device outputs a warning notification. A warning notification may indicate that the vehicle is driving differently from surrounding vehicles, a camera recognition error, or a navigation device not being updated. Driving assistance devices can output warning notifications to drivers or passengers through voice, video, or haptic devices.

According to an embodiment of the present disclosure, when there are a plurality of surrounding vehicles around the vehicle, the driving assistance device determines whether the difference between the driving information of the vehicle and the average driving information of the plurality of surrounding vehicles is greater than the first reference value. Prints a warning notification.

According to one embodiment of the present disclosure, the driving assistance device controls the vehicle based on whether the difference between the driving information of the vehicle and the driving information of at least one surrounding vehicle is greater than a preset second reference value. Here, the second reference value is a preset value that is greater than the first reference value. At this time, the driving assistance device controls the vehicle based on driving information of at least one surrounding vehicle.

According to an embodiment of the present disclosure, when there are a plurality of surrounding vehicles around the vehicle, the driving assistance device determines whether the difference between the driving information of the vehicle and the average driving information of the plurality of surrounding vehicles is greater than a preset second reference value. Control the vehicle based on The driving assistance device can control the vehicle based on the average driving information of surrounding vehicles. For example, the driving assistance device may control the vehicle based on the average of the average speeds and average direction values of surrounding vehicles.

As mentioned above, when there is a large difference between the driving information of the vehicle controlled by a camera or navigation device and the driving information of surrounding vehicles, the driving assistance device outputs a warning notification to the occupants or operates the vehicle based on the driving information of surrounding vehicles. It can be controlled with . As a result, the driving assistance device can prevent the vehicle from driving based on incorrect road information due to misrecognition of traffic signs or non-updating of the navigation device.

Figure 4 is a flowchart for explaining a method of assisting driving of a vehicle according to an embodiment of the present disclosure.

Referring to FIG. 4, the driving assistance device acquires road information from at least one of a camera or a navigation device (S400).

The driving assistance device controls the vehicle based on road information (S410).

The driving assistance device acquires driving information of the vehicle and driving information of surrounding vehicles (S420).

The driving assistance device calculates the difference between the vehicle's driving information and the driving information of surrounding vehicles (S430).

The driving assistance device determines whether the difference between the vehicle's driving information and the driving information of surrounding vehicles is greater than a preset first reference value (S440).

If the difference between the vehicle's driving information and the driving information of surrounding vehicles is greater than the first reference value, the driving assistance device outputs a warning notification (S450).

If the difference value between the driving information of the vehicle and the driving information of surrounding vehicles is not greater than the first reference value, the driving assistance device maintains the current driving of the vehicle.

Meanwhile, the driving assistance device determines whether the difference between the vehicle's driving information and the driving information of surrounding vehicles is greater than a preset second reference value (S460).

If the difference value between the driving information of the vehicle and the driving information of surrounding vehicles is greater than the second reference value, the driving assistance device controls the vehicle based on the driving information of surrounding vehicles (S470).

If the difference value between the driving information of the vehicle and the driving information of surrounding vehicles is not greater than the second reference value, the driving assistance device maintains driving of the vehicle.

Various implementations of the systems and techniques described herein may include digital electronic circuits, integrated circuits, field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), computer hardware, firmware, software, and/or these. It can be realized through combination. These various implementations may include being implemented as one or more computer programs executable on a programmable system. The programmable system includes at least one programmable processor (which may be a special purpose processor) coupled to receive data and instructions from and transmit data and instructions to a storage system, at least one input device, and at least one output device. or may be a general-purpose processor). Computer programs (also known as programs, software, software applications or code) contain instructions for a programmable processor and are stored on a "computer-readable medium."

Computer-readable recording media include all types of recording devices that store data that can be read by a computer system. These computer-readable recording media are non-volatile or non-transitory such as ROM, CD-ROM, magnetic tape, floppy disk, memory card, hard disk, magneto-optical disk, and storage device. It may be a medium, and may further include a transitory medium such as a data transmission medium. Additionally, the computer-readable recording medium may be distributed in a computer system connected to a network, and the computer-readable code may be stored and executed in a distributed manner.

In the flowchart/timing diagram of this specification, each process is described as being executed sequentially, but this is merely an illustrative explanation of the technical idea of an embodiment of the present disclosure. In other words, a person skilled in the art to which an embodiment of the present disclosure pertains may change the order described in the flowchart/timing diagram and execute one of the processes without departing from the essential characteristics of the embodiment of the present disclosure. Since the above processes can be applied in various modifications and variations by executing them in parallel, the flowchart/timing diagram is not limited to a time series order.

The above description is merely an illustrative explanation of the technical idea of this embodiment, and those skilled in the art will be able to make various modifications and variations without departing from the essential characteristics of this embodiment. Accordingly, the present embodiments are not intended to limit the technical idea of the present embodiment, but rather to explain it, and the scope of the technical idea of the present embodiment is not limited by these examples. The scope of protection of this embodiment should be interpreted in accordance with the claims below, and all technical ideas within the equivalent scope should be interpreted as being included in the scope of rights of this embodiment.

210: Collection department
220: Driving assistance device
230: driving unit

Claims (14)

In a method of controlling a device to assist driving a vehicle,
Obtaining driving information of a vehicle controlled according to road information obtained from at least one of a camera or a navigation device;
Obtaining driving information of at least one surrounding vehicle; and
Outputting a warning notification based on whether the difference between the driving information of the vehicle and the driving information of the at least one surrounding vehicle is greater than a preset first reference value.
A control method comprising: According to paragraph 1,
The driving information of the vehicle is,
The vehicle's position, longitudinal spped, lateral speed, longitudinal acceleration, lateral acceleration, average speed, speed statistics, heading, and heading statistics. , or yaw rate. According to paragraph 1,
Controlling the vehicle based on whether the difference between the driving information of the vehicle and the driving information of the at least one surrounding vehicle is greater than a preset second reference value.
A control method further comprising: According to paragraph 3,
The step of controlling the vehicle is,
Controlling the vehicle based on driving information of the at least one surrounding vehicle
A control method comprising: According to paragraph 1,
The step of outputting the warning notification is,
When there are a plurality of surrounding vehicles around the vehicle, outputting a warning notification based on whether the difference between the driving information of the vehicle and the average driving information of the plurality of surrounding vehicles is greater than the first reference value.
A control method comprising: According to paragraph 1,
When there are a plurality of surrounding vehicles around the vehicle, controlling the vehicle based on whether the difference between the driving information of the vehicle and the average driving information of the plurality of surrounding vehicles is greater than a preset second reference value.
A control method further comprising: According to paragraph 1,
Driving information of the at least one surrounding vehicle,
A control method that is received from an external device through wireless communication or obtained by at least one sensor provided in the vehicle. In a device for assisting the driving of a vehicle,
An acquisition unit that acquires driving information of a vehicle controlled according to road information acquired from at least one of a camera or a navigation device and acquires driving information of at least one surrounding vehicle; and
A control unit that outputs a warning notification based on whether the difference between the driving information of the vehicle and the driving information of the at least one surrounding vehicle is greater than a preset first reference value.
A device containing a. According to clause 8,
The driving information of the vehicle is,
The vehicle's position, longitudinal spped, lateral speed, longitudinal acceleration, lateral acceleration, average speed, speed statistics, heading, and heading statistics. , or yaw rate. According to clause 8,
The control unit,
A device for controlling the vehicle based on whether the difference between the driving information of the vehicle and the driving information of the at least one surrounding vehicle is greater than a preset second reference value. According to clause 10,
The control unit,
A device that controls the vehicle based on driving information of the at least one surrounding vehicle. According to clause 8,
The control unit,
When there are a plurality of surrounding vehicles around the vehicle, a device that outputs a warning notification based on whether the difference between the driving information of the vehicle and the average driving information of the plurality of surrounding vehicles is greater than the first reference value. According to clause 8,
The control unit,
When there are a plurality of surrounding vehicles around the vehicle, a device for controlling the vehicle based on whether the difference between the driving information of the vehicle and the average driving information of the plurality of surrounding vehicles is greater than a preset second reference value. . According to clause 8,
The driving information of the at least one surrounding vehicle is:
A device that is received from an external device through wireless communication or acquired by at least one sensor provided in the vehicle.

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