WO2017119557A1 - Dispositif d'aide à la conduite et son procédé de commande - Google Patents

Dispositif d'aide à la conduite et son procédé de commande Download PDF

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Publication number
WO2017119557A1
WO2017119557A1 PCT/KR2016/006545 KR2016006545W WO2017119557A1 WO 2017119557 A1 WO2017119557 A1 WO 2017119557A1 KR 2016006545 W KR2016006545 W KR 2016006545W WO 2017119557 A1 WO2017119557 A1 WO 2017119557A1
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WO
WIPO (PCT)
Prior art keywords
vehicle
processor
visible light
camera
image
Prior art date
Application number
PCT/KR2016/006545
Other languages
English (en)
Korean (ko)
Inventor
김철문
이상혁
이진교
Original Assignee
엘지전자 주식회사
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Application filed by 엘지전자 주식회사 filed Critical 엘지전자 주식회사
Publication of WO2017119557A1 publication Critical patent/WO2017119557A1/fr

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
    • B60Q1/00—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor
    • B60Q1/02—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to illuminate the way ahead or to illuminate other areas of way or environments
    • B60Q1/04—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to illuminate the way ahead or to illuminate other areas of way or environments the devices being headlights
    • B60Q1/06—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to illuminate the way ahead or to illuminate other areas of way or environments the devices being headlights adjustable, e.g. remotely-controlled from inside vehicle
    • B60Q1/08—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to illuminate the way ahead or to illuminate other areas of way or environments the devices being headlights adjustable, e.g. remotely-controlled from inside vehicle automatically
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
    • B60Q1/00—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor
    • B60Q1/02—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to illuminate the way ahead or to illuminate other areas of way or environments
    • B60Q1/04—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to illuminate the way ahead or to illuminate other areas of way or environments the devices being headlights
    • B60Q1/14—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to illuminate the way ahead or to illuminate other areas of way or environments the devices being headlights having dimming means
    • B60Q1/1415—Dimming circuits
    • B60Q1/1423—Automatic dimming circuits, i.e. switching between high beam and low beam due to change of ambient light or light level in road traffic
    • B60Q1/143—Automatic dimming circuits, i.e. switching between high beam and low beam due to change of ambient light or light level in road traffic combined with another condition, e.g. using vehicle recognition from camera images or activation of wipers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
    • B60Q1/00—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor
    • B60Q1/02—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to illuminate the way ahead or to illuminate other areas of way or environments
    • B60Q1/04—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to illuminate the way ahead or to illuminate other areas of way or environments the devices being headlights
    • B60Q1/06—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to illuminate the way ahead or to illuminate other areas of way or environments the devices being headlights adjustable, e.g. remotely-controlled from inside vehicle
    • B60Q1/08—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to illuminate the way ahead or to illuminate other areas of way or environments the devices being headlights adjustable, e.g. remotely-controlled from inside vehicle automatically
    • B60Q1/085—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to illuminate the way ahead or to illuminate other areas of way or environments the devices being headlights adjustable, e.g. remotely-controlled from inside vehicle automatically due to special conditions, e.g. adverse weather, type of road, badly illuminated road signs or potential dangers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
    • B60Q1/00—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor
    • B60Q1/02—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to illuminate the way ahead or to illuminate other areas of way or environments
    • B60Q1/04—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to illuminate the way ahead or to illuminate other areas of way or environments the devices being headlights
    • B60Q1/14—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to illuminate the way ahead or to illuminate other areas of way or environments the devices being headlights having dimming means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R21/00—Arrangements or fittings on vehicles for protecting or preventing injuries to occupants or pedestrians in case of accidents or other traffic risks
    • B60R21/01—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents
    • B60R21/013—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents including means for detecting collisions, impending collisions or roll-over
    • B60R21/0134—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents including means for detecting collisions, impending collisions or roll-over responsive to imminent contact with an obstacle, e.g. using radar systems
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F21—LIGHTING
    • F21S—NON-PORTABLE LIGHTING DEVICES; SYSTEMS THEREOF; VEHICLE LIGHTING DEVICES SPECIALLY ADAPTED FOR VEHICLE EXTERIORS
    • F21S41/00—Illuminating devices specially adapted for vehicle exteriors, e.g. headlamps
    • F21S41/30—Illuminating devices specially adapted for vehicle exteriors, e.g. headlamps characterised by reflectors
    • F21S41/32—Optical layout thereof
    • F21S41/36—Combinations of two or more separate reflectors
    • F21S41/365—Combinations of two or more separate reflectors successively reflecting the light
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F21—LIGHTING
    • F21S—NON-PORTABLE LIGHTING DEVICES; SYSTEMS THEREOF; VEHICLE LIGHTING DEVICES SPECIALLY ADAPTED FOR VEHICLE EXTERIORS
    • F21S41/00—Illuminating devices specially adapted for vehicle exteriors, e.g. headlamps
    • F21S41/60—Illuminating devices specially adapted for vehicle exteriors, e.g. headlamps characterised by a variable light distribution
    • F21S41/67—Illuminating devices specially adapted for vehicle exteriors, e.g. headlamps characterised by a variable light distribution by acting on reflectors
    • F21S41/675—Illuminating devices specially adapted for vehicle exteriors, e.g. headlamps characterised by a variable light distribution by acting on reflectors by moving reflectors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
    • B60Q2300/00—Indexing codes for automatically adjustable headlamps or automatically dimmable headlamps
    • B60Q2300/05—Special features for controlling or switching of the light beam
    • B60Q2300/056—Special anti-blinding beams, e.g. a standard beam is chopped or moved in order not to blind
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
    • B60Q2300/00—Indexing codes for automatically adjustable headlamps or automatically dimmable headlamps
    • B60Q2300/10—Indexing codes relating to particular vehicle conditions
    • B60Q2300/11—Linear movements of the vehicle
    • B60Q2300/112—Vehicle speed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
    • B60Q2300/00—Indexing codes for automatically adjustable headlamps or automatically dimmable headlamps
    • B60Q2300/40—Indexing codes relating to other road users or special conditions
    • B60Q2300/45—Special conditions, e.g. pedestrians, road signs or potential dangers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
    • B60Q2400/00—Special features or arrangements of exterior signal lamps for vehicles
    • B60Q2400/50—Projected symbol or information, e.g. onto the road or car body
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F21—LIGHTING
    • F21Y—INDEXING SCHEME ASSOCIATED WITH SUBCLASSES F21K, F21L, F21S and F21V, RELATING TO THE FORM OR THE KIND OF THE LIGHT SOURCES OR OF THE COLOUR OF THE LIGHT EMITTED
    • F21Y2101/00—Point-like light sources
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F21—LIGHTING
    • F21Y—INDEXING SCHEME ASSOCIATED WITH SUBCLASSES F21K, F21L, F21S and F21V, RELATING TO THE FORM OR THE KIND OF THE LIGHT SOURCES OR OF THE COLOUR OF THE LIGHT EMITTED
    • F21Y2115/00—Light-generating elements of semiconductor light sources
    • F21Y2115/30—Semiconductor lasers

Definitions

  • the present invention relates to a driving assistance device interlocking with a lighting device provided in a vehicle and a control method thereof.
  • a vehicle is a device which drives a wheel and transports a person, cargo, etc. from one place to another place.
  • two-wheeled vehicles such as motorcycles
  • four-wheeled vehicles such as sedans
  • trains belong to the vehicle.
  • various electronic devices such as a camera for identifying the surrounding situation of the vehicle, are mounted on the vehicle during manual driving as well as autonomous driving.
  • lighting devices such as headlamps mounted on the vehicle adjust the brightness or angle according to the exterior brightness of the vehicle or the shape of the road to illuminate the front of the vehicle. By giving it, the driver can be given a wide bright view of the road ahead.
  • the present invention has been made to solve the above-described problem, and in a predetermined situation, by controlling the lighting device to output the visible light for detecting the object that is distinct from the visible light for securing the general view, farther than the distance visible to the naked eye of the driver
  • An object of the present invention is to provide a driving assistance apparatus capable of detecting a fallen object and a control method thereof.
  • the camera and the camera and the illumination for obtaining an image showing a plurality of marking areas formed by the visible light of the first pattern output from the lighting device provided in the vehicle A driving assistance device is provided that includes a processor coupled with the device.
  • the processor detects the plurality of marking areas from the image provided from the camera, and detects an object located around the vehicle based on the plurality of marking areas.
  • the processor may control the lighting apparatus to output the visible light of the first pattern for a predetermined time.
  • the processor may control the camera to synchronize the acquisition timing of the image with the output timing of the visible light of the first pattern.
  • the camera may be a stereo camera including a first image sensor and a second image sensor spaced apart from each other by a predetermined distance.
  • the processor may be further configured to compare the first image acquired by the first image sensor and the second image obtained by the second image sensor to calculate disparity information for the plurality of marking areas.
  • the object may be detected based on the disparity information.
  • the processor may control the lighting apparatus to output visible light of the first pattern when a driver's request of the vehicle or the illuminance outside the vehicle is less than a threshold value.
  • the processor may control the lighting apparatus to output the visible light of the first pattern at an amount of light corresponding to the traveling speed of the vehicle.
  • the processor may calculate a distance between the vehicle and the object based on the sizes of the plurality of marking areas.
  • the processor may be further configured to output visible light to form a marking area having the same size for each object based on the traveling speed of the vehicle and the distance between the vehicle and each object when the detected object is plural. You can control the device.
  • the processor controls the lighting apparatus to output visible light of a second pattern that is denser than the first pattern to an area between the two objects. can do.
  • the processor may detect another object between the two objects based on the plurality of marking areas formed by the visible light of the second pattern.
  • the processor may control the lighting apparatus to stop output of the visible light of the first pattern.
  • the processor may control the lighting apparatus such that visible light having a light amount corresponding to the type of the object is projected onto the object.
  • the processor may control the lighting apparatus to block the visible light projected by the driver's eyes in the other vehicle.
  • the processor may control the lighting device to block visible light projected by the eyes of the pedestrian.
  • the processor may control the lighting device to increase the amount of visible light projected onto the traffic sign.
  • the processor may control the lighting device to increase the amount of visible light projected onto the falling object.
  • the lighting apparatus may include a reflector including a light emitting element including at least one laser diode and a plurality of micro mirrors aligned to reflect the laser beam output by the laser diode.
  • the processor may control the lighting device to output visible light of the first pattern by adjusting a tilting angle of at least some of the plurality of micro mirrors.
  • the processor may control the lighting apparatus to calculate a driving route of the vehicle and output visible light for guiding the driving route based on the size and position of the object.
  • the camera for obtaining an image of the front of the vehicle
  • a processor connected to the camera to detect a headlight area of another vehicle from the image.
  • the processor compares the detected brightness value of the headlight area with a reference value to determine whether a glare occurs, and when it is determined that the glare occurs, the aperture value used before the glare occurs. Can be set to the camera.
  • the lighting device in a predetermined situation, by controlling the lighting device to output the visible light for detecting the object, which is distinct from the visible light for securing the general view, the object farther than the distance visible to the naked eye of the driver Can be detected. Accordingly, it can help to operate the vehicle so that the driver can avoid collision with the object.
  • the present invention based on the information about the detected object, by adjusting the position, shape or brightness of the area illuminated by the lighting device, so that the object can be easily recognized. I can assist the driver.
  • FIG. 1 shows a block diagram of a vehicle in accordance with the present invention.
  • FIG. 2 shows an exemplary appearance of the vehicle shown in FIG. 1.
  • the vehicle is a four-wheeled vehicle.
  • FIG. 3 shows an example of the vehicle described above with reference to FIG. 1.
  • 4A illustrates a state in which a plurality of cameras are mounted at different positions of the vehicle. For convenience of explanation, it is assumed that four cameras are mounted.
  • 4B illustrates an exemplary composite image in which a scene in a 360 degree direction is displayed based on a vehicle.
  • FIG. 5 is an exemplary block diagram of a lighting device according to an embodiment of the present invention.
  • FIG. 6A illustrates a structure of a first light emitting module according to an embodiment of the present invention.
  • 6B is a view illustrating a structure of a second light emitting module according to an embodiment of the present invention.
  • 6C is a view illustrating a structure of a third light emitting module according to an embodiment of the present invention.
  • FIG. 7 is a block diagram of a driving assistance apparatus according to an embodiment of the present invention.
  • the camera included in the driving assistance apparatus is a stereo camera.
  • FIG. 9 shows an example of an internal block diagram of the processor shown in FIG. 7.
  • FIG. 10A and 10B are views for explaining an operation of the processor illustrated in FIG. 9.
  • FIG. 11 is a flowchart illustrating a process of detecting an object by controlling a lighting device by a driving assistance device according to an embodiment of the present invention.
  • 12A to 12C are diagrams for describing an operation of photographing a plurality of marking areas formed by the driving assistance apparatus according to an embodiment of the present invention, the visible light for detecting an object.
  • FIG. 13A to 13C illustrate an operation of acquiring distance information in front of a vehicle by a driving assistance apparatus according to an embodiment of the present invention using visible light of a first pattern.
  • 14A and 14B illustrate an operation of acquiring distance information of an undetected area shown in FIG. 13B by the driving assistance apparatus according to an exemplary embodiment of the present invention using visible light having a first pattern.
  • 15A to 15D are diagrams for describing an operation performed by the driving assistance apparatus based on object information, according to an exemplary embodiment.
  • 16A and 16B are diagrams for describing an operation performed by the driving assistance apparatus based on object information, according to an exemplary embodiment.
  • 17 is a view for explaining an operation performed by the driving assistance apparatus based on a state of a road according to an embodiment of the present invention.
  • FIG. 18 is a flowchart of a process of detecting a lane using a camera by a driving assistance apparatus according to an exemplary embodiment of the present invention.
  • 19A to 19C are diagrams for describing an operation performed by the driving assistance apparatus when a glare situation occurs according to an embodiment of the present invention.
  • FIG. 20 is a flowchart of a process of estimating a lane based on map data when a driving assistance apparatus according to an embodiment of the present invention fails to detect a lane.
  • 21A and 21B are diagrams for describing an operation of estimating a lane based on map data by a driving assistance apparatus according to an exemplary embodiment of the present invention.
  • 22A and 22B illustrate an example of an operation in which the driving assistance apparatus displays a guide lane in an intersection according to an embodiment of the present invention.
  • 23A and 23B illustrate another example of an operation of displaying driving lanes in an intersection by a driving assistance apparatus according to an exemplary embodiment of the present invention.
  • 24A and 24B are diagrams for describing an operation performed by the driving assistance apparatus according to an embodiment of the present invention to prevent lane departure of the vehicle.
  • 25A and 25B are diagrams for describing an operation of outputting visible light for driving a vehicle by the driving assistance apparatus according to an exemplary embodiment of the present invention.
  • FIG. 26A to FIG. 26E are diagrams for describing an operation performed by the driving assistance apparatus according to an exemplary embodiment of the present invention, in a section in which a lane on which a vehicle is driving is joined with another lane.
  • a component When a component is referred to as being “connected” or “connected” to another component, it may be directly connected to or connected to that other component, but it may be understood that other components may be present in between. Should be. On the other hand, when a component is said to be “directly connected” or “directly connected” to another component, it should be understood that there is no other component in between.
  • the fact that a component "controls” another component should be understood to encompass not only a component directly controlling another component but also controlling through a mediation of a third component. something to do.
  • the fact that a component "provides" information or a signal to another component means not only providing a component directly to another component but also providing through a mediation of a third component. Should be understood as.
  • the vehicle described herein may be a concept including both an internal combustion engine vehicle having an engine as a power source, a hybrid vehicle having an engine and an electric motor as a power source, an electric vehicle having an electric motor as a power source, and the like.
  • FIG. 1 shows a block diagram of a vehicle 100 in accordance with the present invention.
  • the vehicle 100 includes a communication unit 110, an input unit 120, a memory 130, an output unit 140, a vehicle driving unit 150, a sensing unit 160, a control unit 170, an interface unit 180, and a power supply unit. 190 may be included.
  • the communication unit 110 may include one or more modules that enable wireless communication between the vehicle 100 and an external device (eg, a mobile terminal, an external server, or another vehicle).
  • the communication unit 110 may include one or more modules for connecting the vehicle 100 to one or more networks.
  • the communication unit 110 may include a broadcast receiving module 111, a wireless internet module 112, a short range communication module 113, a location information module 114, and an optical communication module 115.
  • the broadcast receiving module 111 receives a broadcast signal or broadcast related information from an external broadcast management server through a broadcast channel.
  • the broadcast includes a radio broadcast or a TV broadcast.
  • the wireless internet module 112 refers to a module for wireless internet access and may be embedded or external to the vehicle 100.
  • the wireless internet module 112 is configured to transmit and receive wireless signals in a communication network in accordance with wireless internet technologies.
  • wireless Internet technologies include Wireless LAN (WLAN), Wireless-Fidelity (Wi-Fi), Wireless Fidelity (Wi-Fi) Direct, Digital Living Network Alliance (DLNA), Wireless Broadband (WiBro), and WiMAX (World). Interoperability for Microwave Access (HSDPA), High Speed Downlink Packet Access (HSDPA), High Speed Uplink Packet Access (HSUPA), Long Term Evolution (LTE), Long Term Evolution-Advanced (LTE-A), and the like.
  • 112 transmits and receives data according to at least one wireless Internet technology in a range including the Internet technologies not listed above.
  • the wireless internet module 112 may exchange data wirelessly with an external server.
  • the wireless internet module 112 may receive weather information and road traffic information (eg, TPEG (Transport Protocol Expert Group)) information from an external server.
  • TPEG Transport Protocol Expert Group
  • the short range communication module 113 is for short range communication, and includes Bluetooth TM, Radio Frequency Identification (RFID), Infrared Data Association (IrDA), Ultra Wideband (UWB), ZigBee, and NFC. (Near Field Communication), at least one of Wi-Fi (Wireless-Fidelity), Wi-Fi Direct, Wireless USB (Wireless Universal Serial Bus) technology can be used to support short-range communication.
  • RFID Radio Frequency Identification
  • IrDA Infrared Data Association
  • UWB Ultra Wideband
  • ZigBee ZigBee
  • NFC Near Field Communication
  • Wi-Fi Wireless-Fidelity
  • Wi-Fi Direct Wireless USB (Wireless Universal Serial Bus) technology can be used to support short-range communication.
  • the short range communication module 113 may form short range wireless networks to perform short range communication between the vehicle 100 and at least one external device. For example, the short range communication module 113 may exchange data wirelessly with a passenger's portable terminal. The short range communication module 113 may receive weather information and traffic condition information of a road (for example, a TPEG (Transport Protocol Expert Group)) from a portable terminal or an external server. For example, when the user boards the vehicle 100, the portable terminal of the user and the vehicle 100 may perform pairing with each other automatically or by executing an application of the user.
  • TPEG Transport Protocol Expert Group
  • the location information module 114 is a module for obtaining the location of the vehicle 100, and a representative example thereof is a GPS (Global Positioning System) module.
  • GPS Global Positioning System
  • the vehicle may acquire the position of the vehicle using a signal transmitted from a GPS satellite.
  • the optical communication module 115 may include an optical transmitter and an optical receiver.
  • the light receiver converts a light signal into an electrical signal to receive information.
  • the light receiver may include a photo diode (PD) for receiving light.
  • Photodiodes can convert light into electrical signals.
  • the light receiver may receive information of the front vehicle through the light emitted from the light emitting element included in the front vehicle.
  • the light emitter may include at least one light emitting device for converting an electrical signal into an optical signal.
  • the light emitting element is a light emitting diode (LED).
  • the light emitting unit converts the electric signal into an optical signal and transmits the signal to the outside.
  • the light transmitting unit may emit an optical signal to the outside through the blinking of the light emitting device corresponding to the predetermined frequency.
  • the light emitting unit may include a plurality of light emitting element arrays.
  • the light emitting unit may be integrated with a lamp provided in the vehicle 100.
  • the light emitting unit may be at least one of a headlight, a taillight, a brake light, a turn signal, and a vehicle width lamp.
  • the optical communication module 115 may exchange data with another vehicle through optical communication.
  • the input unit 120 may include a driving manipulation unit 121, a microphone 123, and a user input unit 124.
  • the driving manipulation unit 121 receives a user input for driving the vehicle 100.
  • the driving manipulation unit 121 may include a steering input unit 121a, a shift input unit 121b, an acceleration input unit 121c, and a brake input unit 121d.
  • the steering input unit 121a receives a driving direction input of the vehicle 100 from the user.
  • the steering input unit 121a may include a steering wheel.
  • the steering input unit 121a may be formed as a touch screen, a touch pad, or a button.
  • the shift input unit 121b receives an input of parking (P), forward (D), neutral (N), and reverse (R) of the vehicle 100 from the user.
  • the shift input means 121b is preferably formed in the form of a lever. According to an embodiment, the shift input unit 121b may be formed as a touch screen, a touch pad, or a button.
  • the acceleration input unit 121c receives an input for accelerating the vehicle 100 from the user.
  • the brake input unit 121d receives an input for deceleration of the vehicle 100 from a user.
  • the acceleration input means 121c and the brake input means 121d are preferably formed in the form of a pedal.
  • the acceleration input unit 121c or the brake input unit 121d may be formed of a touch screen, a touch pad, or a button.
  • the camera 122 is disposed at one side of the interior of the vehicle 100 to generate an indoor image of the vehicle 100.
  • the camera 122 may be disposed at various positions of the vehicle 100 such as a dashboard surface, a roof surface, a rear view mirror, and may photograph a passenger of the vehicle 100.
  • the camera 122 may generate an indoor image of the area including the driver's seat of the vehicle 100.
  • the camera 122 may generate an indoor image of an area including a driver's seat and an auxiliary seat of the vehicle 100.
  • the indoor image generated by the camera 122 may be a 2D image and / or a 3D image.
  • the camera 122 may include at least one of a stereo camera, a depth camera, and a 3D laser scanner.
  • the camera 122 may provide the indoor image generated by the camera 122 to the controller 170 functionally coupled thereto.
  • the controller 170 may detect various objects by analyzing the indoor image provided from the camera 122. For example, the controller 170 may detect the driver's gaze and / or gesture from a portion of the indoor image corresponding to the driver's seat area. As another example, the controller 170 may detect the gaze and / or gesture of the passenger from the part of the indoor image corresponding to the indoor area except for the driver's seat area. Of course, the gaze and / or gesture of the driver and the passenger may be detected at the same time.
  • the microphone 123 may process an external sound signal as electrical data.
  • the processed data may be utilized in various ways depending on the function being performed in the vehicle 100.
  • the microphone 123 may convert a user's voice command into electrical data.
  • the converted electrical data may be transferred to the controller 170.
  • the camera 122 or the microphone 123 may be a component included in the sensing unit 160, not a component included in the input unit 120.
  • the user input unit 124 is for receiving information from the user. When information is input through the user input unit 124, the controller 170 may control an operation of the vehicle 100 to correspond to the input information.
  • the user input unit 124 may include a touch input means or a mechanical input means. According to an embodiment, the user input unit 124 may be disposed in one region of the steering wheel. In this case, the driver may manipulate the user input unit 124 with a finger while holding the steering wheel.
  • the input unit 120 may include a plurality of buttons or touch sensors. It is also possible to perform various input operations through a plurality of buttons or touch sensors.
  • the sensing unit 160 senses a signal related to driving of the vehicle 100.
  • the sensing unit 160 may include a collision sensor, a steering sensor, a speed sensor, an inclination sensor, a weight sensor, a heading sensor, a yaw sensor, a gyro sensor, Position module, vehicle forward / reverse sensor, battery sensor, fuel sensor, tire sensor, steering sensor by steering wheel rotation, vehicle interior temperature sensor, vehicle interior humidity sensor, infrared sensor, radar 162, lidar ( 163, an ultrasonic sensor 164, and the like.
  • the sensing unit 160 may include vehicle collision information, vehicle direction information, vehicle position information (GPS information), vehicle angle information, vehicle speed information, vehicle acceleration information, vehicle tilt information, vehicle forward / reverse information, battery information,
  • a sensing signal may be obtained for fuel information, tire information, vehicle lamp information, vehicle internal temperature information, vehicle internal humidity information, steering wheel rotation angle, and the like.
  • the controller 170 may be configured to accelerate, decelerate, and decelerate the vehicle 100 based on external environment information acquired by at least one of a camera, an ultrasonic sensor, an infrared sensor, a radar, and a lidar provided in the vehicle 100. The control signal for changing the direction can be generated.
  • the external environment information may be information related to various objects located within a predetermined distance range from the driving vehicle 100.
  • the external environment information may include information about the number of obstacles located at a distance within 100 meters from the vehicle 100, the distance to the obstacle, the size of the obstacle, the type of the obstacle, and the like.
  • the sensing unit 160 may further include an accelerator pedal sensor, a pressure sensor, an engine speed sensor, an air flow sensor (AFS), an intake temperature sensor (ATS), a water temperature sensor (WTS), and a throttle position.
  • the sensor may further include a TPS, a TDC sensor, a crank angle sensor, and the like.
  • the sensing unit 160 may include a biometric information sensing unit.
  • the biometric information detector detects and acquires biometric information of the occupant.
  • Biometric information includes fingerprint information, iris-scan information, retina-scan information, hand geo-metry information, facial recognition information, voice recognition ( Voice recognition) information.
  • the biometric information detecting unit may include a sensor for sensing biometric information of the occupant.
  • the camera 122 and the microphone 123 may operate as a sensor.
  • the biometric information sensing unit may acquire hand shape information and face recognition information through the camera 122.
  • the sensing unit 160 may include at least one camera 161 for photographing the outside of the vehicle 100.
  • the camera 161 may be referred to as an external camera.
  • the sensing unit 160 may include a plurality of cameras 161 disposed at different positions of the exterior of the vehicle.
  • the camera 161 may include an image sensor and an image processing module.
  • the camera 161 may process a still image or a moving image obtained by an image sensor (for example, CMOS or CCD).
  • the image processing module may process the still image or the video obtained through the image sensor, extract necessary information, and transfer the extracted information to the controller 170.
  • the camera 161 may include an image sensor (eg, CMOS or CCD) and an image processing module. In addition, the camera 161 may process a still image or a moving image obtained by the image sensor. The image processing module may process a still image or a video obtained through the image sensor. In addition, the camera 161 may acquire an image including at least one of a traffic light, a traffic sign, a pedestrian, another vehicle, and a road surface.
  • an image sensor eg, CMOS or CCD
  • the image processing module may process a still image or a video obtained through the image sensor.
  • the camera 161 may acquire an image including at least one of a traffic light, a traffic sign, a pedestrian, another vehicle, and a road surface.
  • the output unit 140 outputs the information processed by the controller 170 and may include a display unit 141, a sound output unit 142, and a haptic output unit 143.
  • the display unit 141 may display information processed by the controller 170.
  • the display unit 141 may display vehicle related information.
  • the vehicle related information may include vehicle control information for direct control of the vehicle, or driving assistance information for driving guide to the vehicle driver.
  • the vehicle related information may include vehicle state information indicating a current state of a vehicle or vehicle driving information related to driving of the vehicle.
  • the display unit 141 may include a liquid crystal display (LCD), a thin film transistor-liquid crystal display (TFT LCD), an organic light-emitting diode (OLED), and a flexible display (flexible). display, a 3D display, or an e-ink display.
  • LCD liquid crystal display
  • TFT LCD thin film transistor-liquid crystal display
  • OLED organic light-emitting diode
  • flexible display flexible display
  • display a 3D display, or an e-ink display.
  • the display unit 141 forms a layer structure with or is integrally formed with the touch sensor, thereby implementing a touch screen.
  • the touch screen may function as a user input unit 124 that provides an input interface between the vehicle 100 and the user, and may provide an output interface between the vehicle 100 and the user.
  • the display unit 141 may include a touch sensor that senses a touch on the display unit 141 so as to receive a control command by a touch method. Using this, when a touch is made to the display unit 141, the touch sensor may sense the touch, and the controller 170 may generate a control command corresponding to the touch based on the touch sensor.
  • the content input by the touch method may be letters or numbers or menu items that can be indicated or designated in various modes.
  • the display unit 141 may include a cluster so that the driver can check the vehicle status information or the vehicle driving information while driving.
  • the cluster can be located on the dashboard. In this case, the driver may check the information displayed on the cluster while keeping the gaze in front of the vehicle.
  • the display unit 141 may be implemented as a head up display (HUD).
  • HUD head up display
  • information may be output through a transparent display provided in the wind shield.
  • the display unit 141 may include a projection module to output information through an image projected on the wind shield.
  • the sound output unit 142 converts the electric signal from the control unit 170 into an audio signal and outputs the audio signal. To this end, the sound output unit 142 may be provided with a speaker. The sound output unit 142 may output a sound corresponding to the operation of the user input unit 124.
  • the haptic output unit 143 generates a tactile output.
  • the haptic output unit 143 vibrates the steering wheel, the seat belt, and the seat so that the user can recognize the output.
  • the vehicle driver 150 may control operations of various vehicles.
  • the vehicle driver 150 includes a power source driver 151, a steering driver 152, a brake driver 153, a lamp driver 154, an air conditioning driver 155, a window driver 156, an airbag driver 157, and a sunroof. At least one of the driver 158 and the wiper driver 159 may be included.
  • the power source driver 151 may perform electronic control of the power source in the vehicle 100.
  • the power source driver 151 may include an acceleration device for increasing the speed of the vehicle 100 and a braking device for decreasing the speed of the vehicle 100.
  • the power source driver 151 may perform electronic control of the engine. Thereby, the output torque of an engine, etc. can be controlled.
  • the power source driver 151 is the engine, the speed of the vehicle may be limited by limiting the engine output torque under the control of the controller 170.
  • the power source driver 151 may control the motor. Thereby, the rotation speed, torque, etc. of a motor can be controlled.
  • the steering driver 152 may include a steering apparatus. Accordingly, the steering driver 152 may perform electronic control of the steering apparatus in the vehicle 100.
  • the steering driver 152 may include a steering torque sensor, a steering angle sensor, and a steering motor, and the steering torque applied by the driver to the steering wheel may be sensed by the steering torque sensor.
  • the steering driver 152 may control the steering force and the steering angle by changing the magnitude and direction of the current applied to the steering motor based on the speed and the steering torque of the vehicle 100.
  • the steering driver 152 may determine whether the driving direction of the vehicle 100 is properly adjusted based on the steering angle information obtained by the steering angle sensor. Thereby, the running direction of a vehicle can be changed.
  • the steering drive unit 152 increases the steering force of the steering motor when the vehicle 100 runs at a low speed to lower the weight of the steering wheel, and reduces the steering force of the steering motor when the vehicle 100 runs at high speed, You can increase the weight.
  • the steering driver 152 outputs the sensing unit 160 even when the driver operates the steering wheel (for example, when the steering torque is not detected). Based on the sensing signal or the control signal provided by the controller 170, the steering motor may be controlled to generate an appropriate steering force.
  • the brake driver 153 may perform electronic control of a brake apparatus (not shown) in the vehicle 100.
  • the speed of the vehicle 100 may be reduced by controlling the operation of the brake disposed on the wheel.
  • the traveling direction of the vehicle 100 may be adjusted to the left or the right.
  • the lamp driver 154 may control turn on / off of at least one lamp disposed in or outside the vehicle.
  • the lamp driver 154 may include a lighting device.
  • the lamp driver 154 may control the intensity, direction, etc. of the light output from each lamp included in the lighting device. For example, the control of the direction indicator lamp, the head lamp, the brake lamp and the like can be performed.
  • the air conditioning driver 155 may perform electronic control of an air cinditioner (not shown) in the vehicle 100. For example, when the temperature inside the vehicle is high, the air conditioner may be operated to control cold air to be supplied into the vehicle.
  • the window driver 156 may perform electronic control of a window apparatus in the vehicle 100. For example, the opening or closing of the left and right windows of the side of the vehicle can be controlled.
  • the airbag driver 157 may perform electronic control of an airbag apparatus in the vehicle 100. For example, in case of danger, the airbag can be controlled to burst.
  • the sunroof driver 158 may perform electronic control of a sunroof apparatus (not shown) in the vehicle 100. For example, the opening or closing of the sunroof can be controlled.
  • the wiper driver 159 may control the wipers 14a and 14b provided in the vehicle 100. For example, when the wiper driver 159 receives a user input for driving the wiper through the user input unit 124, the wiper driver 159 electronically controls the number of driving of the wipers 14a and 14b and the driving speed according to the user input. Can be performed. For another example, the wiper driver 159 determines the amount or intensity of the rain water based on the sensing signal of the rain sensor included in the sensing unit 160, so that the wiper 14a and 14b may be removed without a user input. Can be driven automatically.
  • the vehicle driver 150 may further include a suspension driver (not shown).
  • the suspension driver may perform electronic control of a suspension apparatus (not shown) in the vehicle 100. For example, when there is a curvature on the road surface, the suspension device may be controlled to control the vibration of the vehicle 100 to be reduced.
  • the memory 130 is electrically connected to the controller 170.
  • the memory 170 may store basic data for the unit, control data for controlling the operation of the unit, and input / output data.
  • the memory 190 may be hardware, and various storage devices such as a ROM, a RAM, an EPROM, a flash drive, a hard drive, and the like.
  • the memory 130 may store various data for overall operation of the vehicle 100, such as a program for processing or controlling the controller 170.
  • the interface unit 180 may serve as a path to various types of external devices connected to the vehicle 100.
  • the interface unit 180 may include a port that can be connected to the portable terminal, and can be connected to the portable terminal through the port. In this case, the interface unit 180 may exchange data with the portable terminal.
  • the interface unit 180 may receive turn signal information.
  • the turn signal information may be a turn on signal of a turn signal for turning left or right input by a user.
  • the interface unit 180 may receive left or right turn signal information.
  • the interface unit 180 may receive vehicle speed information, rotation angle information of the steering wheel, or gear shift information.
  • the interface unit 180 may receive vehicle speed information, steering wheel rotation angle information, or gear shift information sensed through the sensing unit 160 of the vehicle.
  • the interface unit 180 may receive vehicle speed information, steering wheel rotation angle information, or gear shift information from the controller 170 of the vehicle.
  • the gear shift information may be information regarding which state the shift lever of the vehicle is in.
  • the gear shift information may be information about any one of the shifting lever (P), the reverse (R), the neutral (N), the driving (D), and one to multiple gear states. .
  • the interface unit 180 may receive a user input received through the user input unit 124 of the vehicle 100.
  • the interface unit 180 may receive a user input from the input unit 120 of the vehicle 100 or may receive the input via the controller 170.
  • the interface unit 180 may receive information obtained from an external device. For example, when traffic light change information is received from an external server through the communication unit 110 of the vehicle 100, the interface unit 180 may receive the traffic light change information from the controller 170.
  • the controller 170 may control the overall operation of each unit in the vehicle 100.
  • the controller 170 may be referred to as an electronic control unit (ECU).
  • ECU electronice control unit
  • the controller 170 is hardware, such as application specific integrated circuits (ASICs), digital signal processors (DSPs), digital signal processing devices (DSPDs), programmable logic devices (PLDs), field programmable gate arrays (FPGAs), and controllers (processors). ), Controllers, micro-controllers, microprocessors, and other electrical units for performing other functions.
  • ASICs application specific integrated circuits
  • DSPs digital signal processors
  • DSPDs digital signal processing devices
  • PLDs programmable logic devices
  • FPGAs field programmable gate arrays
  • controllers processors
  • Controllers micro-controllers, microprocessors, and other electrical units for performing other functions.
  • the power supply unit 190 may supply power required for the operation of each component under the control of the controller 170.
  • the power supply unit 170 may receive power from a battery (not shown) in the vehicle.
  • the AVN device 400 may exchange data with the controller 170.
  • the controller 170 may receive navigation information from an AVN device or a separate navigation device (not shown).
  • the navigation information may include set destination information, route information according to the destination, map information or vehicle location information related to driving of the vehicle.
  • the vehicle 100 described herein may have more or fewer components than the components listed above.
  • FIG. 2 illustrates an exemplary appearance of the vehicle 100 shown in FIG. 1.
  • the vehicle 100 is a four-wheeled vehicle.
  • the vehicle 100 includes tires 11a-11d that are rotated by a power source, a steering wheel 12 for adjusting a traveling direction of the vehicle 100, headlamps 13a, 13b, and the like. can do.
  • the height H of the vehicle 100 is a length from the ground plane to the highest point of the vehicle body, and may be changed within a predetermined range according to the weight or position of the occupant or the load of the vehicle 100.
  • the vehicle 100 may be spaced apart from the lowest point of the vehicle body and the road surface by the minimum ground clearance (G). Accordingly, it is possible to prevent damage to the vehicle body by an object having a height lower than the minimum ground clearance G.
  • the full width O of the vehicle 100 may be defined as the maximum distance between the left end and the right end of the vehicle body of the vehicle 100 except for the side mirror (eg, the electric folding side mirror).
  • a camera 195 separate from the camera 161 illustrated in FIG. 1 may be mounted on one side of the wind shield of the vehicle 100.
  • the camera 195 may be included in the driving assistance apparatus 700 to be described later.
  • the camera 195 may be a stereo camera that provides three-dimensional data about the front of the vehicle 100.
  • the processor 170 of the vehicle 100 or the processor 770 of the driving assistance apparatus 700 may acquire information related to an external environment of the vehicle 100 based on the front image provided from the camera 195.
  • the information related to the external environment may include data about various objects (eg, a pedestrian, a traffic light, an opposing vehicle, and a wall) located within the photographing range of the camera 195.
  • the controller 170 of the vehicle 100 or the processor 770 of the driving assistance apparatus 700 may receive a control signal for executing at least one preset operation based on the obtained information related to the external environment. It may be output to the driver 150.
  • the processor 170 of the vehicle 100 or the processor 770 of the driving assistance apparatus 700 may control at least one of steering, acceleration, braking, and lighting of the vehicle 100.
  • FIG. 3 illustrates an example of the vehicle 100 described above with reference to FIG. 1.
  • the vehicle 100 may include at least one radar 162, a lidar 163, and an ultrasonic sensor 164.
  • the radar 162 may be mounted on one side of the vehicle 100 to transmit electromagnetic waves toward the periphery of the vehicle 100, and receive electromagnetic waves reflected from various objects existing in the periphery of the vehicle 100. For example, the radar 162 may measure the time of electromagnetic waves reflected and returned by any one object, and may acquire information related to a distance, direction, altitude, etc. of the corresponding object.
  • the lidar 163 may be mounted at one side of the vehicle 100 to emit a laser toward the periphery of the vehicle 100.
  • the laser fired by the lidar 163 may be scattered or reflected and returned to the vehicle 100, and the lidar 163 is based on the time, intensity, frequency change, and polarization state change of the laser return.
  • information on physical characteristics such as a distance, a speed, and a shape of a target located near the vehicle 100 may be obtained.
  • the ultrasonic sensor 164 is mounted on one side of the vehicle 100 to generate ultrasonic waves toward the periphery of the vehicle 100.
  • Ultrasound generated by the ultrasonic sensor 164 has a high frequency (about 20 KHz or more) and a short wavelength.
  • the ultrasonic sensor 164 may be mainly used for recognizing obstacles, etc., in proximity to the vehicle 100.
  • the radar 162, the lidar 163 and the ultrasonic sensor 164 may be mounted in a different number than the position shown in FIG.
  • at least one of the radar 162, the lidar 163, and the ultrasonic sensor 164 may not be provided in the vehicle 100.
  • 4A illustrates a state in which a plurality of cameras are mounted at different positions of the vehicle 100. For convenience of description, it is assumed that four cameras 161a, 161b, 161c, and 161d are mounted.
  • each of the four cameras 161a, 161b, 161c, and 161d may be the same as the camera 161 described above.
  • the plurality of cameras 161a, 161b, 161c, and 161d may be disposed in front, left, right, and rear of the vehicle 100, respectively.
  • Each of the plurality of cameras 161a, 161b, 161c, and 161d may be included in the camera 161 illustrated in FIG. 1.
  • the front camera 161a may be disposed near the wind shield, near the emblem, or near the radiator grille.
  • the left camera 161b may be disposed in a case surrounding the left side mirror. Alternatively, the left camera 161b may be disposed outside the case surrounding the left side mirror. Alternatively, the left camera 161b may be disposed in one area outside the left front door, the left rear door, or the left fender.
  • the right camera 161c may be disposed in a case surrounding the right side mirror. Alternatively, the right camera 161c may be disposed outside the case surrounding the right side mirror. Alternatively, the right camera 161c may be disposed in one area outside the right front door, the right rear door, or the right fender.
  • the rear camera 161d may be disposed near the rear license plate or the trunk switch.
  • Each image photographed by the plurality of cameras 161a, 161b, 161c, and 161d is transferred to the controller 170, and the controller 170 may synthesize the respective images to generate a vehicle surrounding image.
  • FIG. 4A illustrates that four cameras are mounted on the exterior of the vehicle 100
  • the present invention is not limited to the number of cameras, and fewer or more cameras are different from those shown in FIG. 4A. It may be mounted on the
  • 4B shows an exemplary composite image 400 in which a scene in a 360 degree direction is displayed based on the vehicle 100.
  • the composite image 400 may include a first image area 401 corresponding to the external image captured by the front camera 161a and a second image corresponding to the external image captured by the left camera 161b.
  • the image area 402, the third image area 403 corresponding to the external image captured by the right camera 161c, and the fourth image area 404 corresponding to the external image captured by the rear camera 161d are displayed. It may include.
  • the composite image 400 may be referred to as an around view monitoring image.
  • boundary lines 411, 412, 413, and 414 are generated between any two external images included in the synthesized image 400.
  • the controller 170 may naturally display the boundary between the external images by image blending.
  • boundary lines 411, 412, 413, and 414 may be displayed on the boundary between the plurality of images. Also, an image preset to point to the vehicle 100 may be included in the center of the composite image 400.
  • controller 170 may display the composite image 400 on the display device mounted in the interior of the vehicle 100.
  • FIG. 5 is an exemplary block diagram of a lighting device 500 according to an embodiment of the present invention.
  • the lighting apparatus 500 may include a light source unit 510, a memory 520, an interface unit 530, a processor 540, and a power supply unit 550.
  • the light source unit 510 may include at least one light emitting device.
  • each light emitting device may convert electrical energy into light.
  • the light emitting device may include metal filament lamps, halogen bulbs, HID lamps, neon gas discharge lamps, light emitting diodes (LEDs), and laser diodes. It may be any one of a laser diode.
  • the light source unit 510 may output at least one of visible light for detecting an object, visible light for securing a view, and visible light for driving information guide, under the control of the processor 540.
  • the visible light for detecting the object may be output to detect various objects located in the vicinity of the vehicle 100.
  • Visible light for securing the field of view may be output to enable the driver to secure the front field of view, like a general head rate.
  • the driving information guiding visible light may be output toward the ground to guide the driving information such as a lane to the driver.
  • the light source unit 510 may include a first light source module, a second light source module and a third light source module.
  • the first light source module may output visible light for detecting an object toward the front of the vehicle 100 using the laser diode as a light emitting element.
  • the second light source module may output visible light for securing a line of sight toward the front of the vehicle 100 by using LEDs arranged in a matrix form as light emitting elements.
  • the third light source module may output visible light for guiding driving information for forming various marks for guiding driving information on the ground using a laser diode or an LED as a light emitting device. A detailed description of the shape of the light source unit 510 will be described later with reference to FIG. 6.
  • the memory 520 may store basic data for each component included in the lighting device 500, instructions and control data for controlling the operation of each component, and data input and output to the lighting device 500.
  • the memory 520 may be hardware, and various storage devices such as a ROM, a RAM, an EPROM, a flash drive, a hard drive, and the like.
  • the memory 520 may store various data for operating the entire lighting device 500, such as a program for processing or controlling the processor 540.
  • the processor 540 may control the overall operation of each component in the lighting device 500.
  • the processor 540 in hardware, may include application specific integrated circuits (ASICs), digital signal processors (DSPs), digital signal processing devices (DSPDs), programmable logic devices (PLDs), field programmable gate arrays (FPGAs), and processors ( 540 (processors), controllers (controllers), micro-controllers (micro-controllers), microprocessors (microprocessors), may be implemented using at least one of the electrical unit for performing other functions.
  • ASICs application specific integrated circuits
  • DSPs digital signal processors
  • DSPDs digital signal processing devices
  • PLDs programmable logic devices
  • FPGAs field programmable gate arrays
  • processors 540
  • controllers controllers
  • micro-controllers micro-controllers
  • microprocessors microprocessors
  • the driving assistance apparatus 700 may be directly or indirectly connected to the controller, and the processor 540 may be controlled by the controller 170.
  • the processor 540 may control the light source unit 510 to output visible light of the first pattern.
  • a plurality of marking regions may be formed in front of the vehicle 100.
  • the visible light of the first pattern may include a plurality of beams. In this case, the same angle difference may be formed between beams adjacent to each other. At this time, each beam may be irradiated forward in a predetermined shape and size.
  • the plurality of marking regions may be formed.
  • the plurality of marking areas formed by the visible light of the first pattern may be photographed by the camera 710 of the driving assistance apparatus 700.
  • the processor 540 may control the light source unit 510 to output visible light of the second pattern.
  • the visible light of the second pattern may be denser than the visible light of the first pattern toward the front of the vehicle 100.
  • the visible light of the second pattern may include a plurality of beams.
  • An angle formed by beams adjacent to each other included in the visible light of the second pattern may be smaller than an angle formed by beams adjacent to each other included in the visible light of the first pattern. Accordingly, the visible light of the second pattern may be densely output toward the front of the vehicle 100 than the visible light of the first pattern.
  • the plurality of marking areas formed by the visible light of the second pattern may be photographed by the camera 710 of the driving assistance apparatus 700.
  • the driving assistance apparatus 700 may detect an object located around the vehicle 100 based on the plurality of marking regions formed by the lighting apparatus 500.
  • the processor 540 may adjust the amount of visible light output from the light source 510.
  • the processor 540 may adjust the amount of visible light output from the light source unit 510 by adjusting the amount of electrical energy supplied to the light source unit 510.
  • the light source unit 510 may include a plurality of light source modules. In this case, the processor 540 may individually adjust the amount of electric energy supplied for each light source module.
  • the processor 540 may output visible light having a light amount corresponding to the type of the object detected by the driving assistance apparatus 700 in response to a request of the driving assistance apparatus 700.
  • the processor 540 may reduce or block the amount of visible light directed to at least a portion (eg, a face) of the pedestrian to a predetermined value or less.
  • the processor 540 may reduce the amount of visible light directed to at least a portion (eg, windshield) of the opposite vehicle to a predetermined value or less. You can block.
  • the processor 540 may increase the amount of visible light directed toward the traffic sign.
  • the processor 540 may increase the amount of visible light directed to the falling object.
  • the processor 540 may adjust the amount of visible light directed toward the object based on the traveling speed of the vehicle 100. For example, as the driving speed of the vehicle 100 is faster, the amount of visible light directed to the object may be increased. Accordingly, the driver can easily check the object around the vehicle 100 even at a high driving speed.
  • the processor 540 may adjust the amount of visible light directed to the object based on the distance between the vehicle 100 and the object. For example, the shorter the distance between the vehicle 100 and the object, the greater the risk of collision, so that the amount of visible light directed to the object may be increased. Accordingly, the driver can quickly identify the object at risk of potential collision.
  • the information about the aforementioned object may be provided to the processor 540 after being received by the interface unit 530.
  • the information about the object may include the size, speed, location, type, and the like of the object.
  • the interface unit 530 may be connected to at least one of the sensing unit 160, the control unit 170, and the driving assistance apparatus 700 of the vehicle 100 by wire or wirelessly to exchange data with each other.
  • the interface unit 530 may receive vehicle-related data or a user input, or transmit a signal processed or generated by the processor 540 to the outside. To this end, the interface unit 530 may perform data communication with the controller 170, the sensing unit 160, the driving assistance apparatus 700, or the like by a wired or wireless communication method.
  • the interface unit 530 may receive sensing data from the control unit 170 or the sensing unit 160.
  • the sensing data includes vehicle direction information, vehicle position information (GPS information), vehicle angle information, vehicle speed information, vehicle acceleration information, vehicle tilt information, vehicle forward / reverse information, battery information, fuel information, tire information, vehicle lamp It may include at least one of information, vehicle interior temperature information, vehicle interior humidity information.
  • the sensing data may include a heading sensor, a yaw sensor, a gyro sensor, a position module, a vehicle forward / reverse sensor, a wheel sensor, a vehicle speed sensor, It may be obtained from a vehicle body tilt sensor, a battery sensor, a fuel sensor, a tire sensor, a steering sensor by steering wheel rotation, a vehicle interior temperature sensor, a vehicle interior humidity sensor, and the like.
  • the position module may include a GPS module for receiving GPS information.
  • driving information information related to driving of the vehicle such as direction information, position information, angle information, speed information, and tilt information of the vehicle 100 may be referred to as driving information.
  • the interface unit 530 may receive the object information detected by the driving assistance apparatus 700 from the driving assistance apparatus 700. Alternatively, the interface unit 530 may receive information about the object detected by the driving assistance apparatus 700 via the control unit 170.
  • the driving assistance apparatus 700 may detect lane detection (LD), vehicle detection (VD), pedestrian detection (PD), and light detection based on an image provided from the camera 710. Detection (BD), Traffic Sign Recognition (TSR), and Road Surface Detection. The driving assistance apparatus 700 may generate distance information with the detected object.
  • LD lane detection
  • VD vehicle detection
  • PD pedestrian detection
  • BD Detection
  • TSR Traffic Sign Recognition
  • RSR Road Surface Detection
  • the interface unit 530 may receive information on the wind shield of the opposing vehicle from the driving assistance device 700. In addition, the interface unit 530 may receive information about a portion of the face of the driver of the opposite vehicle from the entire area of the windshield of the opposite vehicle from the driving assistance apparatus 700.
  • the interface unit 530 may receive the information on the pedestrian detected by the driving assistance apparatus 700 from the driving assistance apparatus 700.
  • the interface unit 530 may receive lane information of a route on which the vehicle is currently driving.
  • the lane information may be obtained by computer processing the lane detected by the driving assistance apparatus 700.
  • the interface unit 530 may receive curvature and / or slope information of a road on which the vehicle 100 is currently driving.
  • the driving assistance apparatus 700 may calculate the curvature of the road on which the vehicle 100 is currently driving, based on the image provided from the camera 195, and provide the calculated curvature to the interface unit 530. .
  • the interface unit 530 may receive information about an object located in front of the vehicle 100 and information about an object located behind the vehicle 100 from the driving assistance apparatus 700.
  • the processor 540 may change the pattern of visible light to be output through the light source unit 510 based on the information about the object received by the interface unit 530.
  • the power supply unit 550 may supply power required for the operation of each component included in the lighting device 500 under the control of the processor 540.
  • the power supply unit may receive power from a battery mounted in the vehicle 100.
  • the power supply may itself include a separate battery.
  • the lighting device 500 may be included in at least one of the left headlamp 13a and the right headlamp 13b shown in FIG. 2.
  • 6A is a diagram illustrating a structure of a first light emitting module 511 according to an embodiment of the present invention.
  • the first light emitting module 511 may include a light emitting device 611, a light conversion device 612, a first lens 613, a reflector 614, and a second lens 615. .
  • the light emitting element 611 may convert electrical energy into light.
  • the light emitting element 611 may include a light emitting diode (LED) or a laser diode.
  • LED light emitting diode
  • the laser beam of the light emitting element 611 may have a blue wavelength (about 450 nm). In the following, it is assumed that a laser diode is used as the light emitting element 611.
  • the light conversion element 612 converts the laser beam emitted from the light emitting element 611 into a predetermined color. That is, the laser beam emitted from the light emitting element 611 may be converted into light of various wavelength bands while passing through the light conversion element 612. The light of various wavelengths may be synthesized and converted into visible light of a predetermined color (eg, white).
  • a predetermined color eg, white
  • the light conversion element 612 may include at least one kind of fluorescent material.
  • the light conversion element 612 may include a phosphorous.
  • the first lens 613 may be provided to the reflector 614 by refracting the visible light emitted from the light conversion element 612. That is, the first lens 613 may refract the visible light emitted from the light conversion element 612 so that the visible light emitted from the light conversion element 612 is transmitted to the reflector 614.
  • the reflector 614 may reflect visible light emitted from the first lens 613.
  • the reflector 614 may include a digital micromirror device (DMD) 614a, as shown.
  • the DMD 614a may include a plurality of micro mirrors M arranged in a predetermined form.
  • the DMD 614a may include hundreds of thousands of micro mirrors (M).
  • M micro mirrors
  • the processor 540 may individually control the tilt angle of each of the micro mirrors M to adjust the projection angle and / or reflectance of the visible light emitted from the first lens 613 in units of pixels.
  • each micromirror M can change the tilt angle thousands of times per second by the magnetic field.
  • the projection angle of at least a portion of the visible light emitted from the first lens 613 to the reflector 614 may be changed. Accordingly, projection of the visible light emitted from the first lens 613 to the front of the vehicle 100 may be blocked.
  • the DMD 614a By the DMD 614a, at least a portion of the visible light emitted from the first lens 613 may pass through the second lens 615, and then projected toward the front of the vehicle 100. In some embodiments, the second lens 615 may be omitted.
  • the processor 540 controls the tilt angle of at least some of the micro mirrors M included in the DMD 614a based on the object information provided from the driving assistance apparatus 700, thereby projecting the vehicle 100 in front of the vehicle 100.
  • Various patterns of visible light can be realized.
  • the first light emitting module 511 illustrated in FIG. 6A may simultaneously output visible light for detecting an object and visible light for securing a view.
  • the first light emitting module 511 may output visible light for detecting an object and visible light for securing a view with a time difference. For example, when the first light emitting module 511 is outputting the visible light for detecting the object, the output of the visible light for securing the view may be stopped. In this case, the second light emitting module 512 to be described later may be omitted.
  • visible light for securing a view may be output by the second light emitting module 512 or the third invention module 513.
  • the visible light for detecting the object may be output with a greater amount or intensity of light than the visible light for securing the field of view. Accordingly, the visible light for detecting the object may reach a far position in front of the vehicle 100 than the visible light for securing the field of view.
  • FIG. 6B is a view showing the structure of a second light emitting module 512 according to an embodiment of the present invention
  • Figure 6c is a view showing the structure of a third light emitting module 513 according to an embodiment of the present invention.
  • the second light emitting module 512 may include a plurality of light emitting devices 621 arranged in a predetermined form. Each light emitting device 621 may be an LED that is individually turned on or off, or the color and brightness are adjusted. The second light emitting module 512 may individually control the plurality of light emitting devices 621 under the control of the processor 540 to output various patterns of visible light for securing the view toward the front of the vehicle 100. .
  • the third light emitting module 513 may include a light emitting element 631, a reflector 632, a transparent display 633, and a lens 634.
  • the light emitting element 631 converts electrical energy into light
  • the reflector 632 reflects the light output from the light emitting element 631 toward the transparent display 633.
  • the reflector 632 may include a material having a reflectance of a predetermined value or more, such as aluminum or silver.
  • the transparent display 633 may block at least a portion of the light output from the light emitting element 631 or change at least one of brightness and color.
  • the transparent display 633 may display various images under the control of the processor 540. At least a portion of the light output from the light emitting element 631 may be blocked from projecting toward the front of the vehicle 100 by the image displayed on the transparent display 633, or the brightness or the color may be changed. For example, when the image displayed on the transparent display 633 is red, the light output from the light emitting element 631 may be changed to red while passing through the transparent display 633. As another example, the light output from the light emitting element 631 may change the brightness or the amount of light according to the transmittance of the image area displayed by the transparent display 633.
  • Light passing through the transparent display 633 may be refracted by the lens 634 and projected toward the ground in front of the vehicle 100.
  • the third light emitting module 513 may not include the lens 634.
  • FIG. 7 shows a block diagram of a driving assistance apparatus 700 according to an embodiment of the present invention.
  • the driving assistance apparatus 700 includes a camera 710, an input unit 720, a memory 730, a sound output unit 740, a display unit 750, an interface unit 760, and a processor 770. ) And a power supply unit 780.
  • the camera 710 may photograph the front of the vehicle to acquire an image corresponding to the foreground of the front.
  • the camera 710 may be a single view camera or a stereo camera.
  • the camera 710 may include an image sensor (eg, CMOS or CCD) and an image processing module.
  • an image sensor eg, CMOS or CCD
  • an image processing module e.g., CMOS or CCD
  • the camera 710 may process a still image or a video obtained by the image sensor.
  • the image processing module may process a still image or a video obtained through the image sensor.
  • the image processing module included in the camera 710 may be configured separately from or integrated with the processor 770.
  • a zoom may be set according to the control of the processor 770.
  • the zoom of the camera 710 may be set based on the distance to the object closest to the vehicle among the plurality of objects detected by the processor 770.
  • the camera 710 may be set to focus under the control of the processor 770.
  • a focus barrel (not shown) included in the camera 710 may move to set focus.
  • the focus may be set automatically based on the zoom setting.
  • the object in the image may be detected by the processor 770, and the type of the detected object may be identified.
  • the input unit 720 may include a plurality of buttons or a touch screen for receiving a user input to the driving assistance apparatus 700. It is possible to turn on the power of the driving assistance apparatus 700 through a plurality of buttons or a touch screen. In addition, various input operations may be performed.
  • the memory 730 may store various data for operating the overall driving assistance apparatus 700, such as a program for processing or controlling the processor 770.
  • the memory 730 may store data for identifying an object.
  • the processor 770 may detect a predetermined object based on the image provided from the camera 710, the memory 730 may store data for identifying what kind of the detected object is. For example, a template image for each type of a predetermined object may be stored in the memory 730.
  • the processor 770 may identify the type of the detected object by determining a template image having the highest similarity with the detected object among various template images stored in the memory 730.
  • the memory 730 may store data about traffic information.
  • the memory 730 may store data for identifying what the traffic information corresponds to by a predetermined algorithm when predetermined traffic information is detected based on the image provided from the camera 710. have.
  • the memory 730 may be hardware, or various storage devices such as a ROM, a RAM, an EPROM, a flash drive, a hard drive, and the like. Meanwhile, although the memory 730 and the processor 770 are illustrated in FIG. 7, the memory 730 may be included in the processor 770 according to an embodiment.
  • the sound output unit 740 may output a predetermined sound to the outside based on the audio signal processed by the processor 770. To this end, the sound output unit 740 may include at least one speaker.
  • the display 750 may display various types of information processed by the processor 770.
  • the display unit 750 may display various images related to the operation of the driving assistance apparatus 700.
  • the display unit 750 may include a cluster or a head up display (HUD) mounted on the front of the driver's seat of the vehicle.
  • the HUD may include a projection module that projects an image on the wind shield of the vehicle 100.
  • the power supply unit 190 may supply power required for the operation of each component under the control of the processor 770.
  • the power supply unit 190 may receive power from a battery inside the vehicle.
  • the interface unit 760 may receive vehicle-related data from an external device or transmit a signal processed or generated by the processor 770 to the outside. To this end, the interface unit 760 may perform data communication with at least one component and / or the lighting device 500 included in the vehicle by wired or wireless communication.
  • the interface unit 760 may receive navigation information by data communication with the control unit 170 and / or the communication unit 110.
  • the navigation information may include preset destination information, route information to the destination, map data, and current location information of the vehicle 100.
  • the interface unit 760 may receive sensing data provided from the sensing unit 160.
  • the sensing data includes vehicle direction information, vehicle position information (GPS information), vehicle angle information, vehicle speed information, vehicle acceleration information, vehicle tilt information, vehicle forward / reverse information, battery information, fuel information, tire information, vehicle lamp It may include at least one of information, vehicle interior temperature information, vehicle interior humidity information.
  • the sensing data may include a heading sensor, a yaw sensor, a gyro sensor, a position module, a vehicle forward / reverse sensor, a wheel sensor, a vehicle speed sensor, It may be obtained by the vehicle body tilt sensor, the battery sensor, the fuel sensor, the tire sensor, the steering sensor by the steering wheel rotation, the vehicle internal temperature sensor, the vehicle internal humidity sensor.
  • the position module may include a GPS module for receiving GPS information.
  • the interface unit 760 may provide the lighting device 500 with information about the object detected by the processor 770.
  • the object may be a pedestrian, an opposing vehicle, a traffic sign, or the like.
  • the interface unit 760 may provide distance information with respect to the object to the lighting device 500.
  • the interface unit 760 may provide the lighting device 500 with information about the change in the relative position of the object with respect to the vehicle 100.
  • the interface unit 760 may provide the lighting device 500 with information about a speed, a position, or a size change of the detected object over time.
  • the interface unit 760 may provide the lighting device 500 with information about the detected wind shield of the opposite vehicle.
  • the interface unit 760 may provide the lighting device 500 with information about a portion of the wind shield in which the face of the driver of the opposite vehicle is located.
  • the portion where the driver's face of the opposite vehicle is located may be a windshield area on the driver's side of the opposite vehicle.
  • the interface unit 760 may provide the lighting device 500 with information about the pedestrian face. For example, the processor 770 may determine that the area corresponding to 1/7 down from the uppermost point of the detected pedestrian is the pedestrian's face.
  • the processor 770 controls the overall operation of each of the components included in the driving assistance apparatus 700.
  • the processor 770 includes application specific integrated circuits (ASICs), digital signal processors (DSPs), digital signal processing devices (DSPDs), programmable logic devices (PLDs), field programmable gate arrays (FPGAs), controllers, and microcontrollers. It may be implemented using at least one of a controller (micro-controllers), microprocessors (microprocessors).
  • the processor 770 may process an image provided from the camera 710.
  • the processor 770 may perform computer vision-based signal processing. Accordingly, the processor 770 may detect the object, identify the type of the detected object, and track the detected object based on the image provided from the camera 710. When the object is detected, the processor 770 detects lane detection (LD), vehicle detection (VD), pedestrian detection (PD), light spot detection (BD), and traffic sign detection. (Traffic Sign Recognition, TSR), road surface detection, and the like.
  • LD lane detection
  • VD vehicle detection
  • PD pedestrian detection
  • BD light spot detection
  • TSR Traffic Sign Recognition
  • the traffic sign may mean predetermined information that can be transmitted to the driver of the vehicle 100.
  • Representative examples of traffic signs include traffic lights, traffic signs, and lanes.
  • the traffic sign may be a Go or Stop signal of a vehicle or a pedestrian output from a traffic light.
  • the traffic sign may be various patterns or texts displayed on the traffic sign.
  • the traffic sign may be various drawings or text drawn on the ground.
  • the processor 770 may detect an object based on the image provided from the camera 710, and may provide the lighting device 500 with information about the detected object.
  • the processor 770 may control a zoom of the camera 710.
  • the processor 770 may control the zoom of the camera 710 according to the object detection result. For example, when a traffic sign is detected, but the content displayed on the traffic sign is not detected, the processor 770 may control the camera 710 to zoom in.
  • the processor 770 may receive sensing data provided from the sensing unit through the interface unit 760.
  • the sensing data includes vehicle direction information, vehicle position information (GPS information), vehicle angle information, vehicle speed information, vehicle acceleration information, vehicle tilt information, vehicle forward / reverse information, battery information, fuel information, tire information, vehicle It may include at least one of lamp information, vehicle internal temperature information, vehicle internal humidity information, steering wheel rotation information, external illuminance information, and vehicle external weather information.
  • the processor 770 may calculate a relative position of the detected object based on the vehicle based on the detected change in the size of the object.
  • the processor 770 may detect the relative speed with the detected object based on the calculated position and the traveling speed of the vehicle.
  • the processor 770 may detect a front object.
  • the processor 770 may detect a relative distance with the front object based on the detected change in the size of the front object over time.
  • the front object may be an opposite vehicle.
  • the processor 770 may detect the wind shield of the opposite vehicle.
  • the processor 770 may detect the wind shield of the opposite vehicle through the detection of a feature point (eg, each corner of the windshield in the opposite vehicle).
  • the processor 770 may calculate the curvature and / or the slope of the road on which the vehicle 100 is currently driving, based on the image provided from the camera 710.
  • the processor 770 may determine whether the road ahead is uphill or downhill based on the vanishing point appearing in the stereo image. For example, when the vanishing point is located above the reference line in the stereo image, it may be determined to be uphill. Alternatively, when the vanishing point is located below the reference line in the image, it may be determined as the downhill.
  • the processor 770 may detect a lane based on an image provided from the camera 710 and calculate a curvature of a road on which the vehicle 100 is currently driving, based on the detected shape of the lane. Can be.
  • the processor 770 may detect an object fixed to the front of the vehicle 100 based on the stereo image.
  • the fixed object may be a street lamp, a roadside tree, a guide rail, a speed bump, a wall, a power pole, and the like.
  • the processor 770 may be controlled by the controller 170 or may request the controller 170 to execute a specific operation.
  • the processor 770 may request execution of a specific operation from the processor 540 of the lighting device 500.
  • the lighting apparatus 500 and the driving assistance apparatus 700 are illustrated as separate, but the present disclosure is not limited thereto.
  • the driving assistance device 700 may include up to the lighting device 500.
  • the processor 540 of the lighting apparatus 500 may be implemented as a subprocessor included in the processor 770 of the driving assistance apparatus 700.
  • the camera 710 included in the driving assistance apparatus 700 is a stereo camera.
  • the camera 710 may include a first camera module 310 having a first lens 311 and a second camera module 320 having a second lens 321.
  • the first lens 311 and the second lens 312 may be spaced apart by a predetermined interval to obtain two different images of the same subject at a common time point.
  • the camera 710 may include a first light shield 312 and a second light shield for shielding light incident on the first camera module 310 and the second camera module 321. 322 may be further included.
  • the first camera module 310 may generate an image by converting light incident through the first lens 311 into an electrical image signal.
  • the second camera module 320 may generate an image by converting light incident through the second lens 321 into an electrical image signal.
  • the camera 710 may have a structure detachable from the windshield.
  • the camera 710 may obtain a stereo image of the front of the vehicle from the first and second camera modules 310 and 320.
  • an image acquired by the first image sensor of the first camera module 310 may be referred to as a right image
  • an image acquired by the second image sensor of the second camera module 320 may be referred to as a left image.
  • the processor 770 may calculate disparity information about the periphery of the vehicle 100 based on the stereo image (ie, the left image and the right image) provided from the camera 710.
  • the processor 770 may compare the image acquired by the first image sensor with the second image obtained by the second image sensor, and calculate disparity information for the plurality of marking areas.
  • the processor 770 may detect at least one object (eg, a pedestrian, a traffic light, a road, a lane, or another vehicle) appearing in at least one stereo image based on the disparity information.
  • the processor 770 may periodically track the movement of the object until the detected object no longer appears in the stereo image provided from the camera 710.
  • FIG. 9 shows an example of an internal block diagram of the processor 770 shown in FIG. 7.
  • the processor 770 may include an image preprocessor 910, a disparity calculator 920, an object detector 934, an object tracking unit 940, and an application unit 950. .
  • the image preprocessor 910 may receive an image provided from the camera 710 illustrated in FIG. 7 and perform preprocessing.
  • the image provided from the camera 710 may be a stereo image.
  • the image preprocessing unit 910 may perform noise reduction, rectification, calibration, color enhancement, and color space conversion on the received image. , Interpolation, camera gain control, and the like. Accordingly, a sharper image may be obtained than the stereo image photographed by the camera 710.
  • the disparity calculator 920 may receive an image processed by the image preprocessor 910.
  • the disparity calculator 920 performs stereo matching on two images generated by the first camera module 310 and the second camera module 320 at a common time point, and performs stereo matching. According to the matching, a disparity map may be obtained. That is, disparity information on the stereo image of the front of the vehicle 100 may be obtained.
  • the stereo matching may be performed in units of pixels of stereo images or in units of predetermined blocks.
  • the disparity map may mean a stereo image, that is, a map representing numerically parallax information between a left image and a right image.
  • the segmentation unit 932 may perform segmentation and clustering on at least one of the images based on the disparity information from the disparity calculator 920.
  • the segmentation unit 932 may separate a background and a foreground from at least one of the stereo images based on the disparity information. For example, an area in which the disparity information is equal to or less than a predetermined value in the disparity map may be calculated in the background, and the portion may be excluded. Thereby, the foreground can be relatively separated.
  • an area in which the disparity information is greater than or equal to a predetermined value in the disparity map may be calculated in the foreground and a corresponding portion may be extracted. Thereby, the foreground can be separated.
  • the signal processing speed, the signal processing amount, and the like can be shortened in the subsequent object detection.
  • an object detector 934 may detect the object based on the image segment from the segmentation unit 932.
  • the object detector 934 may detect an object with respect to at least one of the images based on the disparity information information.
  • the object detector 934 may detect an object with respect to at least one of the images.
  • an object can be detected from the foreground separated by image segments.
  • the object verification unit 936 may classify the separated object and verify the type of the classified object.
  • the object identification unit 936 may identify by using a neural network, support vector machine (SVM), identify by AdaBoost using a haar-like feature, or histograms of oriented gradients (HOG). Etc. can be used.
  • SVM support vector machine
  • AdaBoost identify by AdaBoost using a haar-like feature
  • HOG histograms of oriented gradients
  • the object checking unit 936 may compare the objects stored in the memory 130 with the detected objects to check the type of the detected objects.
  • the object checking unit 936 may check the surrounding vehicles, lanes, road surfaces, signs, danger areas, tunnels, and the like, which are located around the vehicle.
  • the object tracking unit 940 may perform tracking on the identified object. For example, in stereo images provided sequentially from the camera 710, the object is identified, the motion or motion vector of the identified object is calculated, and based on the calculated motion or motion vector, the movement of the object. Etc. can be tracked. Accordingly, it is possible to track pedestrians, other vehicles, lanes, road surfaces, traffic signs, danger zones, tunnels, and the like located in the vicinity of the vehicle 100.
  • the application unit 950 calculates a risk of the vehicle 100 based on data (eg, speed, distance from the vehicle 100, and size) associated with each object located around the vehicle 100. can do. For example, the application unit 950 may calculate a possibility of collision between the vehicle 100 and another vehicle, whether the vehicle 100 is slipped, or the like.
  • data eg, speed, distance from the vehicle 100, and size
  • the application unit 950 may calculate a possibility of collision between the vehicle 100 and another vehicle, whether the vehicle 100 is slipped, or the like.
  • the application unit 950 may provide the driver assistance apparatus 700 with a signal for notifying the driver of an imminent danger, based on the calculated risk, the likelihood of collision, the slip state, or the like.
  • the application unit 950 may generate a control signal for attitude control or driving control of the vehicle 100.
  • the processor 770 may include an image preprocessor 910, a disparity calculator 920, a segmentation unit 932, an object detector 934, an object checker 936, and an object tracking unit ( Only a portion of the 940 and the application unit 950 may be included. For example, when the camera 710 is a camera that provides only a 2D image, the disparity calculator 920 may be excluded.
  • FIG. 10A and 10B are views for explaining an operation of the processor 770 illustrated in FIG. 9.
  • FIGS. 10A and 10B are diagrams for explaining an operation method of the processor 770 based on stereo images obtained in the first and second frame sections, respectively.
  • the camera 710 when the camera 710 is a stereo camera as shown in FIG. 8, the camera 710 acquires a stereo image during the first frame period.
  • the disparity calculator 920 in the processor 770 receives the stereo images FR1a and FR1b signal-processed by the image preprocessor 910 and performs stereo matching on the received stereo images FR1a and FR1b. Obtain a disparity map 1020.
  • the disparity map 1020 is a leveling of the disparity between the stereo images FR1a and FR1b. The larger the disparity level is, the closer the distance is to the vehicle 100, and the disparity level. The smaller this point is, the farther the distance from the vehicle 100 can be calculated.
  • the disparity map when displaying such a disparity map, the disparity map may be displayed such that the larger the disparity level, the higher the luminance, and the smaller the disparity level, the lower the luminance.
  • the reverse is also possible.
  • the first to fourth lanes 1028a, 1028b, 1028c, and 1028d, the construction area 1022, the first front vehicle 1024, and the second front vehicle 1026 are each other. Illustrate having different disparity levels.
  • the segmentation unit 932, the object detection unit 934, and the object identification unit 936 based on the disparity map 1020, segment, object detection, and object for at least one of the stereo images FR1a and FR1b. Perform the check.
  • a result image 1030 in which object-specific detection and identification shown in the second stereo image FR1b is performed is illustrated.
  • the first to fourth lanes 1038a, 1038b, 1038c, 1038d, construction area 1032, first front vehicle 1034, and second front vehicle 1036 are distinguished from the background. May be displayed.
  • the stereo camera 710 acquires a stereo image.
  • the disparity calculator 920 in the processor 770 receives the stereo images FR2a and FR2b signal-processed by the image preprocessor 910 and performs stereo matching on the received stereo images FR2a and FR2b. Obtain a disparity map 1040.
  • the first to fourth lanes 1048a, 1048b, 1048c, and 1048d, the construction area 1042, the first front vehicle 1044, and the second front vehicle 1046 are each other. Illustrate having different disparity levels.
  • the segmentation unit 932, the object detection unit 934, and the object confirmation unit 936 based on the disparity map 1040, segment, object detection, and object for at least one of the stereo images FR2a and FR2b. Perform the check.
  • the first to fourth lanes 1058a, 1058b, 1058c, and 1058d, the construction area 1052, the first front vehicle 1054, and the second front vehicle 1056 are separated from the background. Can be displayed.
  • the object tracking unit 940 may perform tracking on each object by comparing the result images 1030 and 1050 sequentially generated.
  • the object tracking unit 940 may track the movement of the corresponding object based on the motion or the motion vector of each object identified in FIGS. 10A and 10B. Accordingly, tracking of a lane, a construction area, a first front vehicle, a second front vehicle, and the like located around the vehicle 100 may be performed.
  • FIG. 11 is a flowchart of a process S1100 in which the driving assistance apparatus 700 controls the lighting apparatus 500 and detects an object according to an embodiment of the present invention.
  • the driving assistance apparatus 700 may determine whether a preset event occurs.
  • the processor 770 may determine whether a predetermined event currently occurs for outputting visible light for detecting an object based on the information received by the interface unit 760.
  • the preset event may include an event for receiving a driver's request for commanding the output of the visible light for detecting the object. For example, when the driver clicks on a specific button included in the input unit 720, the processor 770 may determine that a preset event has occurred.
  • the preset event may include an event in which the external illuminance is lowered below the threshold only.
  • the external illuminance may be measured by an illuminance sensor included in the sensing unit 160 of the vehicle 100. For example, when the vehicle 100 travels on a dark road such as at night or inside a tunnel, the processor 770 may determine that a predetermined event has occurred.
  • the preset event may include an event in which the maximum distance to the object detected based on the stereo image provided from the camera 710 is less than the reference distance.
  • the camera 710 may acquire a stereo image
  • the processor 770 may determine that a predetermined event has occurred when only an object within a reference distance (for example, about 50 m) is detected in the stereo image. can do. That is, it may be determined that another object located farther than the reference distance is not detected.
  • the reference distance may increase in proportion to the traveling speed of the vehicle 100. Accordingly, the risk of collision with the object due to the increase in the speed of the vehicle 100 can be reduced.
  • the lighting apparatus 500 may be in a state of performing an operation of projecting visible light for securing a view toward the front of the vehicle 100.
  • the driving assistance apparatus 700 may output visible light having a first pattern toward a predetermined range in front of the vehicle 100 through the lighting apparatus 500.
  • the visible light of the first pattern may be visible light for object detection. That is, the visible light for detecting an object may have various patterns, and one of the various patterns may be the first pattern.
  • the visible light for detecting the object may be emitted to a far place than the visible light for securing the line of sight. Thereby, the object detection visible light can reach the object located in the area
  • the visible light of the first pattern may include a plurality of beams. Each beam included in the visible light of the first pattern may be projected in a direction different from that of the other beams. Each beam included in the visible light of the first pattern may be projected to have the same shape and size. In this case, the beams adjacent to each other may have a predetermined interval or a predetermined angle.
  • the lighting device 500 may temporarily stop the output of the gaze securing visible light from the time point at which the output of the visible light of the first pattern is started to the end point in step S1120. At the same time as or after the output of the visible light of the first pattern is terminated, the lighting device 500 may restart the output of the gaze securing visible light that has been suspended.
  • the processor 770 may control the lighting device 500 to output visible light of the first pattern only for a short time that the driver can recognize. For example, in operation S1120, the visible light of the first pattern may be output only for about 1/60 second.
  • each marking area may be an area in which an object in front of the vehicle 100 is illuminated by a beam included in the visible light of the first pattern.
  • the size of the marking area in which the two objects are illuminated may be the same.
  • the size of the marking area reflected by the object farther from the vehicle 100 among the two objects is the marking area reflected by the closer object. It may be less than the size of.
  • the driving assistance apparatus 700 may acquire an image by using the camera 710.
  • the processor 770 may activate the camera 710 in response to the output of the visible light of the first pattern. Accordingly, the camera 710 may capture a still image or a moving image of the foreground of the front of the vehicle 100 at a predetermined angle of view.
  • the driving assistance apparatus 700 includes at least one of the camera 710 and the lighting apparatus 500 such that (i) an image acquisition time point of the camera 710 and (ii) an output time point of the visible light of the first pattern are synchronized with each other. Can be controlled.
  • the processor 770 may adjust an image acquisition time point of the camera 710 according to an output time point of the visible light of the first pattern.
  • the processor 770 may adjust an output time point of the visible light of the first pattern according to an image acquisition time point of the camera 710.
  • the driving assistance apparatus 700 may detect a plurality of marking areas from the image acquired by the camera 710.
  • the processor 770 acquires (i) a first image obtained in a first frame immediately before the first pattern of visible light is output and stored in the memory 730 in (ii) a second frame in which the visible light of the first pattern is output. In comparison with the obtained second image, a plurality of marking regions formed by the visible light of the first pattern may be extracted.
  • a plurality of marking regions are not captured in the first image, whereas a plurality of marking regions are captured in the second image. Therefore, a plurality of marking regions can be detected by removing regions having similarity with the first image or more among the entire regions of the second image. For example, a difference image of the first image and the second image may be obtained, and the plurality of marking regions may be detected based on the obtained difference image.
  • the processor 770 may detect that some regions having a predetermined shape among the entire regions of the image acquired by the camera 710 are the plurality of marking regions. That is, the processor 770 may detect that the areas corresponding to the shapes of the beams included in the visible light of the first pattern among the images acquired by the camera 710 are the plurality of marking areas. For example, when the shapes of the beams included in the visible light of the first pattern are triangular, the processor 770 may include the plurality of regions having similarity with the triangle or more than a threshold value among the entire regions of the image acquired by the camera 710. It can be recognized that the marking area of.
  • the driving assistance apparatus 700 may detect an object in front of the vehicle 100 based on the detected plurality of marking areas.
  • the processor 770 may detect an object around the vehicle 100 based on the detected marking area, and calculate at least one of a size, a distance, a position, and a speed of each detected object.
  • the processor 770 may calculate the distance from the vehicle 100 to the object based on the size of each detected marking area.
  • the processor 770 may determine that the first object is located at a first distance corresponding to the first size.
  • the processor 770 may determine that the second object is located at a second distance corresponding to the second size. If the first size is larger than the second size, the first distance may be shorter than the second distance. That is, the processor 770 may determine that the first object is closer to the vehicle 100 than the second object.
  • the processor 770 detects the object based on the disparity level of each detected marking area, and then detects the object from the vehicle 100 to the detected object.
  • the distance of can be calculated.
  • the processor 770 performs stereo matching on the left image and the right image included in the stereo image to calculate a disparity level of each of the plurality of marking regions common to the left image and the right image, and calculates the calculated disc. Based on the parity level, the distance to the object may be calculated.
  • the processor 770 may further calculate the position, velocity, shape or size of the object, together with the distance to the object.
  • the processor 770 may identify the type of the detected object. For example, the processor 770 may identify whether the detected object is another vehicle, a pedestrian, a falling object, or a traffic sign. When a plurality of objects is detected, the processor 770 may identify the type of each object. In detail, the processor 770 may identify the type of the detected object by comparing characteristics of the object such as the position, speed, shape, and size with reference values previously stored in the memory 730. In this case, each reference value pre-stored in the memory 730 may be predetermined based on the characteristic of the specific object.
  • the processor 770 may control the lighting device 500 to stop the output of the visible light of the first pattern. have.
  • the lighting apparatus 500 may periodically output visible light of the first pattern at predetermined time intervals until object detection by the processor 770 is completed.
  • the driving assistance apparatus 700 may determine whether there is an undetected region among front regions corresponding to the angle of view of the camera 710.
  • the undetected area may be an area in which a distance between two adjacent marking areas among the plurality of marking areas is greater than or equal to a predetermined threshold distance (for example, about 5 m).
  • the processor 770 may detect an undetected area between the first object and the second object. Can be judged to exist.
  • the threshold distance may be adjusted according to a user's input or driving speed of the vehicle 100.
  • the processor 770 may reduce the threshold distance in proportion to the traveling speed of the vehicle 100. That is, as the running speed of the vehicle 100 increases, the threshold distance may be reduced, thereby reducing the risk of an accident.
  • the processor 770 may perform step S1170 when it is determined that there is an undetected area in front of the vehicle 100, and may perform step S1180 when it is determined that there is no undetected area.
  • the driving assistance apparatus 700 may output visible light having a second pattern toward the undetected area.
  • the visible light of the second pattern may include a plurality of beams projected more densely than the visible light of the first pattern.
  • an interval between beams included in the visible light of the second pattern may be shorter than an interval between beams included in the visible light of the first pattern.
  • the lighting device 500 may change the tilt angle of at least some of the plurality of macro mirrors included in the DMD 614a according to the control of the driving assistance device 700 to implement visible light of the second pattern.
  • the visible light of the second pattern As the visible light of the second pattern is projected onto the undetected region, a plurality of marking regions may be formed in the undetected region.
  • the marking area formed by the visible light of the second pattern may be photographed by the camera 710, and the processor 770 may select the marking area formed by the visible light of the second pattern based on the image provided from the camera 710. Can be detected. Accordingly, an object in the undetected area can be newly detected.
  • steps S1130 to S1170 may be repeated until it is determined that there is no undetected area.
  • the driving assistance apparatus 700 may execute a preset operation based on the detected object.
  • the preset operation may be an operation of controlling at least one of steering, acceleration, braking, and lighting of the vehicle 100.
  • the processor 770 may control the amount of light of the lighting apparatus 500 according to the type of the detected object. That is, the processor 770 may control the lighting apparatus 500 such that visible light having a light amount corresponding to the detected object type is projected onto the detected object.
  • the lighting apparatus 500 may increase or decrease the amount of visible light directed to the detected object by individually adjusting the tilt angle of the micromirrors included in the DMD 614a.
  • data indicating an output of a light amount corresponding to each object type may be stored in advance.
  • the processor 770 may acquire data corresponding to the detected object type from the memory 730, and control the lighting apparatus 500 to output visible light having different amounts of light for each type of object using the acquired data. have.
  • the processor 770 may increase the amount of visible light projected onto the traffic sign. Accordingly, the occupant of the vehicle 100 can easily check the traffic sign.
  • the processor 770 may increase the amount of visible light projected by the falling object. Accordingly, the occupant of the vehicle 100 may help to avoid falling objects.
  • the processor 770 may reduce the amount of visible light projected by at least a portion of the opposite vehicle.
  • the processor 770 may control the lighting device 500 to block visible light projected by the eyes of the driver in the opposite vehicle.
  • the lighting apparatus 500 turns off the micro mirrors reflecting the beam toward the driver's face in the opposing vehicle among the plurality of micro mirrors included in the DMD 614a, thereby changing the tilt angle. A part of the visible light directed to the face of the driver who boards the vehicle may be selectively blocked.
  • the processor 770 estimates the face position or the wind shield position of the driver of the opposing vehicle based on the position, the shape and the size of the opposing vehicle, and illuminates a control signal for instructing the blocking of the visible light toward the estimated position. 500 may be provided. Accordingly, it is possible to prevent the driver of the opposing vehicle from being disturbed by driving by the visible light of the vehicle 100.
  • the processor 770 may reduce the amount of visible light projected onto the face of the pedestrian.
  • the processor 770 may control the lighting device 500 to block visible light projected by the eyes of the pedestrian.
  • the lighting device 500 turns off the micromirrors reflecting the beam toward the pedestrian's face among the plurality of micromirrors included in the DMD 614a, and changes the tilt angle, thereby causing visible light components toward the pedestrian's face. Only bays can be blocked selectively.
  • the processor 770 may estimate the position of the pedestrian's face or the eye based on the position and size of the pedestrian, and may provide the control device 500 with a control signal for commanding the blocking of the visible light toward the estimated position. have.
  • the processor 770 may determine whether there is a space through which the vehicle 100 can pass in front of the vehicle 100, based on at least one of the detected position, size, speed, and shape of the object. If there is a space in which the vehicle 100 can pass in front of the vehicle 100, the lighting device calculates a path for passing the space and outputs visible light for guiding the calculated path toward the ground. 500 can be controlled.
  • 12A to 12C are diagrams for describing an operation of photographing a plurality of marking areas formed by the driving assistance apparatus 700 according to an embodiment of the present invention by visible light for detecting an object.
  • the lighting device 500 moves visible light for detecting an object including the first to third beams 1a, 1b, and 1c in front of the vehicle 100. Can be output towards.
  • a pattern of visible light for detecting an object may be determined according to the projection direction, size, and shape of each of the first to third beams 1a, 1b, and 1c. It is assumed that the first to third beams 1a, 1b, 1c have the same shape and size. In this case, the first to third beams 1a to c may be output such that adjacent ones have an equal interval or an equiangular angle.
  • first to third objects 1201a-1201c having the same shape and size as each other in front of the vehicle 100.
  • the first to third objects 1201a-1201c may be located at the same distance in the longitudinal direction with respect to the vehicle 100.
  • first to third markings are performed on the image 1210 captured by the camera 710. Regions 11a-11c may be included.
  • the processor 770 detects the first to third marking areas 11a-11c in the image 1210, calculates the size of each of the detected first to third marking areas 11a-11c, and calculates the calculated size. Based on the above, distances to the first to third objects 1201a-1201c may be calculated. Since the longitudinal distances to the first to third objects 1201a-1201c are all the same with respect to the vehicle 100, the sizes of the first to third marking areas 11a-11c are the same or within a preset error range. Only difference can be made. Accordingly, the processor 770 may determine that the first to third objects 1201a-1201c are all at the same distance in the longitudinal direction with respect to the vehicle 100.
  • the processor 770 may transverse the first to third objects 1201a-1201c with respect to the vehicle 100 based on the coordinates in the image 1210 of each of the first to third marking areas 11a-11c. The direction distance can also be calculated.
  • FIG. 12B illustrates a situation in which the longitudinal distances to the first to third objects 1202a-1202c for the vehicle 100 are all different from those of FIG. 12A. It is assumed that the first to third objects 1202a-1202c have the same shape and size. For example, as shown, the longitudinal distance of the first object 1202a may be the shortest, and the longitudinal distance of the third object 1202c may be the longest.
  • first to third markings are performed on the image 1220 captured by the camera 710. Regions 12a-12c may be included.
  • the sizes of the first to third marking areas 12a-12c in the image 1220 may be different from each other. have. That is, the size of the first marking region 12a may be the largest and the size of the third marking region 12c may be the smallest. Accordingly, the processor 770 may determine that the longitudinal distances to the first to third objects 1202a-1202c are different based on the vehicle 100.
  • the lighting apparatus 500 forms marking areas having the same size for each of the first to third objects 1202a-1202c as illustrated in FIG. 12B. Visible light including the first to third beams 2a-2c may be output.
  • the processor 770 may include the first to the first based on at least one of (i) the traveling speed of the vehicle 100 and (ii) the distance between the vehicle 100 and the first to third objects 1202a-1202c.
  • the lighting apparatus 500 may be controlled to output visible light including the third beams 2a-2c.
  • the size of the first beam 2a may be the smallest and the size of the third beam 2c may be the largest.
  • the size of each of the first to third beams 2a-2c may be inversely proportional to the longitudinal distance to the first to third objects 1202a-1202c.
  • first to third markings are performed on the image 1230 captured by the camera 710.
  • Regions 13a-13c may be included. Since the sizes of the first to third beams 2a-2c are individually adjusted and projected according to the distance in the longitudinal direction of the first to third objects 1202a-1202c, the first to third markings in the image 1230. The sizes of the regions 13a-13c may be the same or may have only a very small difference within a preset error range. Accordingly, the processor 770 outputs visible light for detecting the object with a time difference to the same object, thereby ensuring the reliability of the information about the detected object.
  • 13A to 13C illustrate an operation of acquiring distance information in front of the vehicle 100 by the driving assistance apparatus 700 according to an exemplary embodiment of the present invention using visible light having a first pattern.
  • the first object 1311 may be on the left side of the vehicle 100
  • the second object 1312 may be on the right side of the vehicle 100
  • the third object 1313 may be on the front side of the vehicle 100.
  • the first object 1311 and the second object 1312 may be guide rails
  • the third object 1313 may be an opposite vehicle.
  • the processor 770 of the driving assistance apparatus 700 may output visible light of a first pattern including the plurality of beams 3a-3j toward the front of the vehicle 100 for a predetermined time.
  • the visible light of the first pattern may be output for a very short time (eg, 1/60 second) that humans cannot perceive. Accordingly, since the visible light of the first pattern is projected forward only for a very short time, it is possible to prevent the driver of the opposing vehicle from being dazzled by the visible light of the first pattern having a larger amount or intensity than the visible light for securing the line of sight.
  • FIG. 13B illustrates a plurality of marking areas 21a-21j formed by the plurality of beams 3a-3j shown in FIG. 13A.
  • the number of marking areas 21a-21j may be equal to the number of beams 3a-3j included in the visible light of the first pattern.
  • any one of the plurality of marking areas 21a-21j may be an area formed on an object that is the same as or different from the other marking areas.
  • the first to fourth marking areas 21a-21d are formed in the third object 1313
  • the fifth and sixth marking areas 21e-21f are formed on the ground
  • 21g-21j may be formed in the second object 1312.
  • the plurality of marking areas 21a-21j formed by the plurality of beams 3a-3j may be photographed by the stereo camera 710.
  • FIG. 13C illustrates that the processor 770 calculates distance information in front of the vehicle 100 based on the plurality of marking areas 21 illustrated in FIG. 13B. Specifically, the processor 770 calculates a disparity level for each of the plurality of marking areas 21a-21j based on the image provided from the stereo camera 710, and based on the calculated disparity level, The coordinates Pa-Pj of the points corresponding to the positions of the marking areas 21a-21j may be calculated.
  • the x-axis component of each coordinate may mean a lateral distance with respect to the vehicle 100, and the y-axis component may mean a longitudinal distance with respect to the vehicle 100.
  • the processor 770 may determine whether there is an undetected area among the entire areas photographed by the stereo camera 710. For example, as shown in the drawing, when the distance between the point corresponding to the fourth coordinate Pd and the point corresponding to the fifth coordinate Pe is equal to or greater than the reference distance, the processor 770 may include the fourth marking area 21d and the fourth marking region 21d. It can be determined that the region N between the five marking regions 21e is an undetected region.
  • 14A and 14B illustrate an operation in which the driving assistance apparatus 700 according to an embodiment of the present invention acquires distance information of the undetected area N shown in FIG. 13B using the visible light of the first pattern. It is a figure.
  • the lighting apparatus 500 may output visible light having a second pattern toward the undetected area N under the control of the driving assistance apparatus 700.
  • the visible light of the second pattern may include a plurality of beams 4a and 4b.
  • Two marking regions 31a and 31b may be formed in the second object 1313 by the two beams 4a and 4b.
  • the two marking areas 31a and 31b are photographed by the stereo camera 710, and the processor 770 may detect the two marking areas 31a and 31b based on the image provided from the stereo camera 710. .
  • the processor 770 calculates a disparity level for each of the two marking regions 31a and 31b detected, and based on the calculated disparity level, the processor 770 corresponds to a position of each of the two marking regions 31a and 31b.
  • the coordinates (Na, Nb) of the point can be calculated.
  • the processor 770 may update the distance information to the previously detected object by using the visible light of the first pattern by controlling the lighting device 500 to output visible light of the second pattern.
  • the processor 7777 may generate a new object located in the undetected area N, which is an area between the fourth marking area 21d and the fifth marking area 21e, based on the two marking areas 31a and 31b. Can be additionally detected.
  • 15A to 15D are diagrams for describing an operation performed by the driving assistance apparatus 700 according to an embodiment of the present invention based on object information.
  • first to third objects 1511-1513 may be in front of the vehicle 100.
  • first to third objects 1511-1513 are pedestrians, traffic signs, and opposing vehicles in order.
  • both sides of the vehicle 100 may include a first curb 1514 and a second curb 1515 that guide the boundary of the road.
  • the processor 770 detects objects around the vehicle 100 by using the method described above with reference to FIGS. 12A through 14B, and displays characteristics (eg, size, position, distance, and shape) of each detected object. The type of each detected object can be identified.
  • the processor 770 may detect an area 1520 of the road 1510 that is not covered by the object, based on the detected distance to the object. When the width of the region 1520 is greater than or equal to a preset value, the processor 770 may calculate a path for passing through the region 1520.
  • FIG. 15B illustrates an operation of the driving assistance apparatus 700 when the width of the area 1520 is greater than or equal to a preset value.
  • the processor 770 calculates a driving route for passing through the region 1520 and illuminates the region 1520 with visible light 1153a and 1531b for guiding the left and right boundaries of the calculated driving route.
  • Device 500 can be controlled.
  • the visible light 1531a and 1531b may be output by at least one of the first to third light emitting modules 511 to 513.
  • the processor 770 may display an image 1541 on the display unit 750 to guide the user through the area 1520.
  • the processor 770 may control the lighting apparatus 500 to output visible light 1532 to the region 1520 for guiding that the region 1520 cannot pass through the region 1520. It may be output by at least one of the first to third light emitting modules 511 to 513.
  • the processor 770 may display an indicator 1542 on the display 750 to guide the user not to pass through the area 1520.
  • 15D is a diagram for describing an operation of the lighting apparatus 500 outputting visible light having different amounts of light for each type of object.
  • the processor 770 may identify that the first object 1511 is a pedestrian, the second object 1512 is a traffic sign, and the third object 1513 is an opposite vehicle. In this case, the processor 770 may provide the lighting device 500 with data regarding the position, size, shape, and type of each of the first to third objects 1511-1513.
  • the lighting device 500 may individually adjust the tilt angles of the plurality of micromirrors included in the DMD 614a based on the data provided from the driving assistance device 700. Accordingly, the amount of visible light directed to a specific kind of object may be increased or decreased.
  • the tilting angle of the micromirrors mounted on the remaining area 1554 except for the first to third areas 1551-1553 of the DMD 614a is the first to third objects 1151-1. 1513) can be kept constant before and after detection. Accordingly, an illumination region A may be formed in front of the vehicle 100 in which visible light for securing a view reflected from the remaining region 1554 of the DMD 614a is illuminated.
  • the lighting device 500 adjusts the tilt angles of the micromirrors mounted on the first and third regions 1551 and 1553 of the DMD 614a, so that the windshield 1513a and the pedestrian 1511 of the opposing vehicle 1513 are adjusted. It is possible to reduce or block the amount of visible light directed toward the face 1511a.
  • the illumination device 500 may adjust the tilt angle of the micromirrors mounted in the second area 1552 of the DMD 614a to increase the amount of visible light directed to the traffic sign 1512. . In this case, the amount of visible light directed toward the traffic sign 1512 may be greater than the amount of visible light shining on the illumination area A.
  • 16A and 16B are diagrams for describing an operation performed by the driving assistance apparatus 700 according to an embodiment of the present invention based on object information.
  • 16A shows a top view of a road on which the vehicle 100 is driving. It is assumed that the road has a first lane 1611 and a second lane 1611, and the vehicle 100 is driving in the second lane 1611.
  • the processor 770 detects the object 1620 in front of the vehicle 100 by using the method described above with reference to FIGS. 12A through 14B, and based on the detected characteristic of the object 1620, the detected object 1620. It can be determined that 1620 is a falling object.
  • the processor 770 calculates a collision risk level between the vehicle 100 and the falling object 1620 based on at least one of the distance between the vehicle 100 and the falling object 1620 and the traveling speed of the vehicle 100.
  • the illumination 1163 or 1632 for guiding a danger of collision with the falling object 1620 is illuminated to output visible light for displaying the falling object 1620 or an area 1630 of the road.
  • Device 500 can be controlled.
  • the information 1631 and 1632 may be displayed in one region 1630 of the second lane 1612 by the visible light output from the third light emitting module 513.
  • the first information 1631 may be displayed in the form of a sign indicating a danger of collision
  • the second information 1632 may be displayed in the form of a number or text indicating a remaining distance to the falling object 1620.
  • FIG. 16B illustrates that information 1641a and 1641b different from the information 1631 and 1632 shown in FIG. 16A is displayed on the ground.
  • the processor 770 generates a path for avoiding the drop 1620 from the current position of the vehicle 100 based on the relative position of the drop 1620 with respect to the vehicle 100, and generates the generated path.
  • the lighting apparatus 500 may be controlled to output visible light for displaying the guided information 1641a and 1641b on the ground.
  • the information 1641a and 1641b may be displayed on the ground by the visible light output from the third light emitting module 513.
  • the first information 1641a may guide the left boundary of the route
  • the second information 1641b may guide the right boundary of the route.
  • the driver of the vehicle 100 may operate the steering wheel of the vehicle 100 along the information 1641a and 1641b to safely avoid the falling object 1620.
  • 17 is a view for explaining an operation performed by the driving assistance apparatus 700 according to an embodiment of the present invention based on a state of a road.
  • the lighting apparatus 500 may output visible light for detecting an object toward the ground.
  • the first to fourth beams 5a-5d included in the visible light for detecting the object may be output with a distance in the longitudinal direction with respect to the vehicle 100.
  • the first to fourth marking areas 1711a-1711d may also be formed with a distance in the longitudinal direction with respect to the vehicle 100.
  • the first to fourth marking regions 1711a-1711d may be formed by the first to fourth beams 5a-5d in order.
  • the processor 770 may detect the porthole 1720 based on the distance information of the first to fourth marking areas 1711a-1711d. For example, the processor 770 may have a z-axis coordinate value of the third marking area 1711c among the first to fourth marking areas 1711a-1711d than a z-axis coordinate value of the remaining marking areas 1711a, 1711b, and 1711d. Based on the small value, it may be determined that the port hole 1720 is located at the position of the third marking region 1711c.
  • the processor 770 may provide the user of the vehicle 100 with information about the porthole 1720. For example, as shown, the processor 770 may display an indicator 1730 on the display unit 750 to guide the presence of the port hole 1720. Of course, when a cliff or a slope is detected in addition to the port hole 1720, an operation similar to or similar to the above-described operation may be performed.
  • FIG. 18 is a flowchart of a process S1800 in which the driving assistance apparatus 700 detects a lane using a camera 710 according to an embodiment of the present invention.
  • the driving assistance apparatus 700 may set an exposure value of the camera 710 based on the brightness of the outside of the vehicle 100.
  • the processor 770 may increase the exposure value of the camera 710 as the external brightness is lower (ie, darker).
  • the exposure value of the camera 710 may be determined by one of an aperture value and a shutter speed, or may be determined by a combination of the two. For example, as the aperture value is lowered, the amount of light passing through the lens of the camera 710 is reduced, thereby reducing the exposure value of the camera 710. As another example, the faster the shutter speed, the shorter the time that the camera 710 is exposed to light, and thus the exposure value of the camera 710 may be reduced.
  • the camera 710 of the driving assistance apparatus 700 may acquire an image using the exposure value set in operation S1810.
  • the processor 770 may detect the headlight region of the other vehicle based on the obtained image. For example, the processor 770 may convert an image provided from the camera 710 into a gray image, and detect a headlight area of another vehicle in the gray image. In this case, the headlight area of the other vehicle may be an area having a brightness value greater than or equal to a reference value among all areas of the gray image.
  • the processor 770 may determine whether a glare situation occurs based on the headlight region of the other vehicle. For example, the processor 770 may determine that a glare occurs when the size of the headlight area of the other vehicle is greater than or equal to a predetermined size or the brightness value of the headlight area is greater than or equal to the reference value.
  • the glare situation may be a situation in which the driver's view of the vehicle 100 is disturbed due to the headlight of another vehicle.
  • the processor 770 may set an exposure value previously stored in the memory 730 to the camera 710.
  • the processor 770 may change the exposure value set in operation S1810 to a previously stored exposure value.
  • the previously stored exposure value may be an exposure value that was set in the camera 710 at a specific time point before the glare situation occurs. That is, the processor 770 may set an exposure value equal to or greater than the exposure value set in step S1810 to the camera 710.
  • Steps S1820 to S1850 may be repeated until the glare situation ends.
  • the processor 770 may detect an object based on the acquired image, and determine whether there is a lane among the detected objects. If no lane is detected, the processor 770 may perform step S1870, and if a lane is detected, the processor 770 may perform step S1880.
  • the processor 770 may estimate the current lane based on the lane information previously stored in the memory 730.
  • the processor 770 may estimate the position and shape of the current lane based on the position and shape of the last lane detected before the glare situation occurs. Alternatively, the processor 770 may estimate the location and shape of the current lane based on the average value of the location and shape of the lane detected for a predetermined time before the glare occurs.
  • the processor 770 may estimate that the slope of the current lane is also the first value when the slope of the last detected lane before the glare situation is the first value. For another example, the processor 770 may estimate the curvature of the current lane based on the average curvature of the lane detected for a predetermined time before the glare situation occurs. The processor 770 may further estimate the position and shape of the current lane based on at least one of the speed and the direction of movement of the vehicle 100.
  • the processor 770 may output visible light for guiding the lane using the lighting apparatus 500. That is, the lighting device 500 may output visible light for lane guidance toward the ground in front of the vehicle 100 under the control of the processor 770. In this case, the visible light for guiding the lane may be guiding the actual lane detected in step S1860 or guiding the virtual lane estimated in step S1870.
  • the visible light for guiding the lane may be visible light that reflects at least a portion of the area in which the left lane or the right lane is drawn based on the vehicle 100.
  • the third light emitting module 513 may display an image having a shape and a predetermined color corresponding to the lane on the transparent display so that the visible light for guiding the lane is reflected on the ground.
  • the processor 770 may be visible light of a predetermined color (eg, green) toward the ground on which one lane, which is located farther from the headlight of the opposing vehicle, is drawn among the left and right lanes of the vehicle 100.
  • the lighting device 500 may be controlled to output the light.
  • 19A to 19C are diagrams for describing an operation performed by the driving assistance apparatus 700 according to an embodiment of the present invention when a glare situation occurs.
  • 19A illustrates a glare situation in which the driver's view of the vehicle 100 is disturbed due to the headlight area 1910 of the other vehicle 1900 while driving at night.
  • the camera 710 may acquire an image of the front of the vehicle 100, and the processor 770 may detect the headlight area 1910 from the image provided from the camera 710.
  • the processor 770 may determine whether a glare situation occurs based on the detected brightness value of the headlight region 1910. In detail, the processor 770 may compare the detected brightness of the headlight area 1910 with a reference value. For example, if the average brightness value of the headlight area 1910 is greater than or equal to the reference value and the size of the headlight area 1910 is greater than or equal to the predetermined size, the processor 770 may determine that a current glare situation has occurred.
  • the exposure value corresponding to the external brightness is automatically set in the camera 710
  • the headlight area 1910 is incorrectly recognized that the brightness of the outside of the vehicle 100 is actually brightened
  • the exposure value of the camera 710 Can be made smaller.
  • the brightness of the outside of the vehicle 100 is actually dark, when the exposure value of the camera 710 decreases, both lanes 1920a and 1920b may not clearly appear in an image captured by the camera 710. have.
  • FIG. 19B illustrates an operation in which the processor 770 adjusts the exposure value of the camera 710 in the glare situation as shown in FIG. 19A.
  • a first time point T1 is a time point at which a glare condition occurs
  • a second time point T2 is a time point at which the glare situation ends
  • the brightness outside the vehicle 100 is constant.
  • the first aperture value V11 and the second shutter speed V21 may be set in the camera 710.
  • the first aperture value V11 and the second shutter speed V21 may be exposure values corresponding to actual brightness of the outside of the vehicle 100, and may be stored in the memory 730.
  • the second aperture value may be set in the camera 710 from the first time point T1 to the second time point T2.
  • V12 and the second shutter speed V22 may be set. That is, due to the headlight area 1910 in the image taken by the camera 710, the light entering the lens of the camera 710 is erroneously recognized as sufficient, and the aperture value decreases from the first time point T1, Shutter speed can be increased. That is, the exposure value of the camera 710 may be reduced.
  • the exterior of the vehicle 100 is actually dark, when the exposure value of the camera 710 decreases, lanes 1920a and 1920b do not appear clearly in the image captured by the camera 710, and thus, the lane detection fails. You are more likely to do it.
  • the driving assistance apparatus 700 as shown, the first set point in the camera 710 from the first time point T1 to the second time point T2
  • the first aperture value V11 and the first shutter speed V21 may be maintained. Accordingly, even in a glare caused by the headlight area 1910, the lanes 1920a and 1920b on both sides of the vehicle 100 may be more accurately detected based on the image photographed by the camera 710. . In this case, the right lane 1920b relatively far from the headlight area 1910 may be detected more easily than the left lane 1920a.
  • the processor 770 may include a camera 710 in which a first aperture value V11 and a first shutter speed V21 are set from a first time point T1 to a second time point T2 where a glare condition occurs. ) Detect at least the right lane 1920b of the lanes 1920a and 1920b on both sides of the vehicle 100 based on the vehicle 100, and display visible light 1930 toward the area where the detected right lane 1920b is drawn.
  • the lighting device 500 may be controlled to output.
  • the visible light 1930 is projected from the right front with respect to the vehicle 100.
  • the driver of the vehicle 100 may safely drive along the road.
  • FIG. 20 is a flowchart of a process S2000 of estimating a lane based on map data when the driving assistance apparatus 700 according to an embodiment of the present invention fails to detect a lane.
  • the driving assistance apparatus 700 may acquire an image around the vehicle 100 using the camera 710.
  • the camera 710 may photograph the front of the vehicle 100 at a predetermined angle of view and provide the photographed image to the processor 770.
  • the camera 710 is a stereo camera 710, and may provide a stereo image captured at the request of the processor 770 to the processor 770.
  • the processor 770 may perform a lane detection operation based on the image provided from the camera 710.
  • the driving assistance apparatus 700 may determine whether a lane is detected based on the image photographed by the camera 710. If the lane is not detected, the processor 770 may perform step S2030. If the lane is detected, the processor 770 may skip step S2030 and perform step S2040.
  • the processor 770 may not detect a lane from an image captured by the camera 710. In this case, the processor 770 may perform step S2030.
  • the driving assistance apparatus 700 may estimate a lane on a driving route of the vehicle 100 based on the obtained image and map data.
  • the map data may be previously stored in the memory 730 or received from an external server by the communication unit 110 of the vehicle 100.
  • Map data may include information about the characteristics of the road.
  • the map data may include data indicating the shape of the road, the location and number of lanes drawn on the road, and the location of structures adjacent to the road.
  • the map data may include image data photographing a road.
  • the processor 770 obtains 3D spatial information outside the vehicle 100 based on the disparity information of the stereo image, and maps the obtained 3D spatial information to the current position of the vehicle 100. Match the data.
  • a map matching technique may be used, and the current position of the vehicle 100 may be obtained by the location information module 114.
  • the current position of the vehicle 100 may be obtained based on differential GPS (DGPS).
  • DGPS differential GPS
  • the processor 770 may calculate the position and driving direction of the vehicle 100 with respect to the road on which the vehicle 100 is currently driving. Subsequently, the processor 770 may estimate a lane corresponding to the current position and driving direction of the vehicle 100 based on the lane information included in the map data.
  • the processor 770 may output visible light for guiding the detected or estimated lane using the lighting apparatus 500. That is, the lighting device 500 may output visible light for lane guidance toward the ground in front of the vehicle 100 under the control of the processor 770.
  • the visible light for guiding the lane may be visible light that reflects at least a portion of the area in which the left lane or the right lane is drawn based on the vehicle 100.
  • the third light emitting module 513 may display an image having a shape and a predetermined color corresponding to the lane on the transparent display so that the visible light for guiding the lane is reflected on the ground.
  • the processor 770 provides an illumination control signal corresponding to the lane information included in the map data to the illumination device 500, and the illumination device 500 responds to the illumination control signal and thus, the area of the detected or estimated lane. Visible light can be output to illuminate.
  • 21A and 21B are diagrams for describing an operation of estimating a lane based on map data by the driving assistance apparatus 700 according to an exemplary embodiment of the present invention.
  • the first image 2110 may be photographed by the camera 710, and the second image 2120 may be included in map data.
  • the second image 2120 may correspond to the current position of the vehicle 100 among the images included in the map data previously stored in the memory 730.
  • the left lane 2121a and the right lane 2121b may appear in the second image 2120. However, in the first image 2110, the left lane 2121a and the right lane 2121b are covered by the foreign matter 2111 such as snow or soil, so that the processor 770 may detect the left lane 2121a from the first image 2110. ) And the right lane 2121b may not be detected.
  • the processor 770 may estimate the position and shape of the left lane 2121a and the right lane 2121b with respect to the vehicle 100 by comparing the first image 2110 and the second image 2120. have. For example, the processor 770 may calculate the current position and direction of the vehicle 100 based on the difference between the first image 2110 and the second image 2120. Subsequently, the processor 770 may estimate the position and shape of the left lane 2121a and the right lane 2121b with respect to the vehicle 100 based on the calculated current position and direction of the vehicle 100.
  • FIG. 21B illustrates a situation in which the lighting device 500 illuminates the ground with visible light 2131a and 2131b for guiding a lane estimated through the method described above with reference to FIG. 21A.
  • the visible light 2131a illuminated on the left side guides the estimated position of the left lane 2121a
  • the visible light 2131b illuminated on the right side guides the estimated position of the right lane 2121b. It may be.
  • the broken or hidden portion of the lane may be estimated, so that even if a part of the lane of the road on which the vehicle 100 is driving is suddenly lost, the driver may safely secure the vehicle 100. Can help you manipulate it.
  • 22A and 22B illustrate an example of an operation in which the driving assistance apparatus 700 according to an embodiment of the present invention displays a guidance lane in an intersection.
  • the processor 770 may predict which direction to move at the intersection 2200. For example, when the left turn signal is turned on, the processor 770 may predict that the vehicle 100 will turn left. In another example, when the right turn signal is turned on, the processor 770 may predict that the vehicle 100 will turn right. In another example, if both the left and right turn indicators are not turned on, the processor 770 may predict that the vehicle 100 will go straight ahead.
  • an induction lane that guides the position of the vehicle 100 when turning left and an induction lane that guides the position of the vehicle 100 when turning right are not drawn or may be covered by foreign matter. Can be.
  • FIG. 22B illustrates an operation of the driving assistance apparatus 700 when the vehicle 100 illustrated in FIG. 22A is predicted to turn left.
  • the processor 770 may draw a guidance lane for guiding both sides of the boundary at the left in the intersection 2200 based on the image provided from the camera 710. You can judge.
  • the processor 770 may use the intersection 2200 based on the vehicle 100 based on the map data previously stored in the memory 730. It is possible to estimate the position and shape of the guided lane within). Subsequently, the processor 770 may control the lighting apparatus 500 to shine the first and second visible light 2210a and 2210b toward an area corresponding to the estimated position and shape of the left and right guidance lanes. That is, the first visible light 2210a may illuminate the left guidance lane, and the second visible light 2210b may illuminate the right guidance lane.
  • the driver of the vehicle 100 turns left of the vehicle 100 so that the vehicle 100 safely passes through the intersection 2200 along the left and right guided lanes guided by the first and second visible lights 2210a and 2210b. Can be operated.
  • 23A and 23B illustrate another example of an operation in which the driving assistance apparatus 700 according to an embodiment of the present invention displays a guidance lane in an intersection.
  • FIG. 23A illustrates a top view of the vehicle 100 on its way towards the intersection 2200. Compared to FIG. 22A, there is a difference in that another vehicle 2310 is approaching the intersection 2200 in a direction opposite to the vehicle 100.
  • the processor 770 may determine whether the other vehicle 2310 opposite the vehicle 100 is entering the intersection 2200. Specifically, the processor 770 detects the other vehicle 2310 based on the stereo image provided from the camera 710, and the detected other vehicle 2310 is currently entering into the intersection 2200 or within a predetermined time. It may be determined whether to enter.
  • FIG. 23B illustrates an operation of the driving assistance apparatus 700 when the other vehicle 2310 illustrated in FIG. 23A is currently entering into the intersection 2200 or is determined to enter within a predetermined time.
  • the processor 770 may control the lighting apparatus 500 to not output the second visible light 2210b among the first and second visible lights 2210a and 2210b. have.
  • the lighting device 500 may stop the output of the second visible light 2210b until the vehicle 100 completely passes through the intersection 2310 under the control of the processor 770.
  • 24A and 24B illustrate an operation performed by the driving assistance apparatus 700 according to an embodiment of the present invention to prevent lane departure of the vehicle 100.
  • FIG. 24A illustrates a top view of a situation of driving in the second lane 2402 among the first lane 2401 and the second lane 2402 divided by the center line 2400.
  • the lighting apparatus 500 may be outputting first and second visible lights 2410a and 2410b guiding both sides of the second lane 2402 under the control of the processor 770.
  • the first and second visible lights 2410a and 2410b may be output by the lighting apparatus 500 in the same manner as the visible lights 1531a and 1531b illustrated in FIG. 15B.
  • the first and second visible lights 2410a and 2410b may be output by the lighting apparatus 500 in the same manner as the visible lights 2131a and 2131b illustrated in FIG. 21B.
  • the first and second visible lights 2410a and 2410b may have a predetermined color (eg, green color). ) Can be output.
  • a predetermined color eg, green color
  • the processor 770 may detect the other vehicle 2420 driving in the direction opposite to the vehicle 100 in the first lane 2401. For example, the processor 770 photographs an image including a plurality of marking areas formed by the visible light for detecting the object described above with reference to FIGS. 13A through 14B using the camera 710 and based on the captured image. The other vehicle 2420 can be detected.
  • the processor 770 may determine whether the vehicle 100 leaves the second lane 2402 guided by the first and second visible lights 2410a and 2410b.
  • FIG. 24B is a diagram for describing an operation of the driving assistance apparatus 700 when the vehicle 100 leaves the second lane 2402 guided by the first and second visible lights 2410a and 2410b.
  • the vehicle 100 may leave the second lane 2402 and travel toward the first lane 2401 due to a misoperation of the driver. In this case, there is a risk of collision with another vehicle 2401 coming in the opposite direction from the first lane 2401.
  • the processor 770 outputs the first visible light 2410a in a different color or blinking cycle than the second visible light 2410b.
  • the lighting apparatus 500 may output the first visible light 2410a in red and the second visible light 2410b in blue under the control of the processor 770.
  • the lighting device 500 may blink the first visible light 2410a faster than the second visible light 2410b under the control of the processor 770. Accordingly, the driver of the vehicle 100 quickly confirms that the vehicle is out of the lane by changing the color of the first visible light 2410a or blinks, and manipulates the steering of the vehicle 100 to be located in the second lane 2402. can do.
  • the processor 770 may display an indicator 2420 on the display unit 750 indicating that the vehicle 100 has now left the second lane 2402.
  • 25A and 25B are diagrams for describing an operation of outputting visible light for driving the vehicle 100 by the driving assistance apparatus 700 according to an exemplary embodiment of the present invention.
  • 25A shows a top view of a vehicle 100 entering an intersection 2500.
  • the processor 770 may photograph an intersection of the front of the vehicle 100 using the camera 710. Subsequently, the processor 770 may detect a traffic sign based on the image provided from the camera 710. For example, the processor 770 determines whether the intersection 2500 is within a predetermined distance from the current position of the vehicle 100 based on the map data, and is installed near the intersection 2500 in the image photographed by the camera 710. Traffic light 2510 can be detected.
  • the processor 770 may display visible light having a predetermined shape and color on the road surface between the vehicle 100 and the traffic light 2510.
  • the lighting apparatus 500 may be controlled to output 2520.
  • the lighting device 500 may emit red visible light 2520 having a shape corresponding to a general stop line, and a part of the ground between the vehicle 100 and the traffic light 2510. Can be projected by If the traffic light 2510 is switched from red to blue, the processor 770 may control the lighting device 500 to stop the output of the visible light 2520.
  • FIG. 25B shows a top view of a situation in which another vehicle 2530 opposite to the vehicle 100 is turning left at the intersection 2500.
  • the processor 770 may photograph an intersection of the front of the vehicle 100 using the camera 710. Subsequently, the processor 770 may detect the other vehicle 2530 based on the image provided from the camera 710. For example, the processor 770 may calculate the position, the speed, and the driving direction of the other vehicle 2530 based on the stereo image.
  • the processor 770 is a red visible light 2520
  • the lighting apparatus 500 may be controlled to continuously project the vehicle 100 in front of the vehicle 100. Thereafter, when the other vehicle 2530 passes completely through the intersection 2500 and the other vehicle 2530 is no longer detected in the stereo image, the processor 770 may stop the output of the visible light 2520. 500) can be controlled.
  • 26A to 26E are diagrams for describing an operation performed by the driving assistance apparatus 700 according to an exemplary embodiment of the present invention in a section in which the lane in which the vehicle 100 is driving joins another lane.
  • FIG. 26A illustrates a top view of a road with a confluence section 2610.
  • the processor 770 may detect the joining section 2610 based on the image provided from the camera 710.
  • the processor 770 may change the inclination of the left lane 2611a and the right lane 2611b indicating the left and right boundaries of the first lane 2601.
  • the joining section 2610 may be detected. For example, as shown in the drawing, when the left lane 2611a is inclined toward the right lane 2611b, the first point P1 of which the slope of the left lane 2611a is changed among the entire areas of the first lane 2601. ), The confluence section 2610, which is an area between the second points P2 where the left and right lanes 2611a and 2011b meet.
  • the processor 770 may detect the arrow 2612 drawn on the first lane 2601, and detect the confluence section 2610 based on the position and the direction of the detected arrow 2612.
  • FIG. 26B shows that a pair of visible lights 2620a and 2620b guiding both sides of the confluence section 2610 shown in FIG. 26A are output by the lighting device 500.
  • the processor 770 provides the lighting device 500 with information about the left lane 2611a and the right lane 2611b of the joining section 2610, and the lighting device 500 provides the left lane provided from the processor 770.
  • a pair of visible lights 2620a and 2620b for guiding both sides of the confluence section 2610 may be projected to the front of the vehicle 100.
  • the pair of visible lights 2620a and 2620b may be projected to overlap on the left lane 2611a and the right lane 2611b, respectively.
  • the processor 770 first visible light.
  • the lighting apparatus 500 may be controlled to output 2620a in a first color (eg, red) and to output second visible light 2620b in a second color (eg, green). Accordingly, the driver of the vehicle 100 may intuitively recognize that it is necessary to move to the second lane 2602 guided by the second visible light 2620b.
  • FIG. 26C illustrates a situation in which the other vehicle 2630 is located on the right side of the joining section 2610, unlike FIG. 26B.
  • the other vehicle 2630 may be driven or stopped at a much slower speed than the traveling speed of the vehicle 100.
  • the processor 770 may display the second visible light 2620b in a predetermined color (eg, red) until the other vehicle 2630 passes through the second point P2.
  • a predetermined color eg, red
  • the processor 770 may control the braking device to reduce the traveling speed of the vehicle 100 before moving to the second lane 2602. In this case, as the longitudinal distance between the vehicle 100 and the other vehicle 2630 is shorter, the braking force by the braking device may increase.
  • FIG. 26D illustrates a situation in which the other vehicle 2640 is located at the right rear side of the vehicle 100, unlike FIG. 26C.
  • the processor 770 may receive the position and the traveling speed of the other vehicle 2640 from the sensing unit 160.
  • the traveling speed of the other vehicle 2640 may be greater than or equal to the traveling speed of the vehicle 100.
  • the other vehicle 2640 There is a risk of collision.
  • the processor 770 may display the second visible light 2620b in a first color (eg, red).
  • the driver of the vehicle 100 may quickly determine that the movement to the second lane 2602 is dangerous through the second visible light 2620b displayed in the first color.
  • FIG. 26E illustrates a situation in which the vehicle 100 is driving the second lane 2602 instead of the first lane 2601 having the confluence section 2610, unlike FIGS. 26A to 26D.
  • the processor 770 detects the confluence section 2610 based on the image provided from the camera 710 as described above with reference to FIG. 21A, and determines whether the detected confluence section 2610 is in the second lane 2602. You can judge. As shown, when the confluence section 2610 exists in the first lane 2601 instead of the second lane 2602, the processor 770 may provide at least one guide for locating the confluence section 2610. Visible light can be output.
  • the lighting device 500 may project the first visible light 2651a and the second visible light 2651b in the joining section 2610 under the control of the processor 770.
  • the first visible light 2651a and the second visible light 2651b may have a predetermined shape such as 'X'.
  • the processor 770 may adjust an interval or a size of the first visible light 2651a and the second visible light 2651b based on the traveling speed of the vehicle 100. For example, as the driving speed of the vehicle 100 increases, the distance between the first visible light 2651a and the second visible light 2651b may be narrowed. As another example, as the driving speed of the vehicle 100 increases, the magnitudes of the first visible light 2651a and the second visible light 2651b may be increased. Accordingly, the driver of the vehicle 100 easily checks the first visible light 2651a and the second visible light 2651b even at a high speed, and manipulates the steering of the vehicle 100 so as not to move to the first lane 2601. can do.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • General Engineering & Computer Science (AREA)
  • Traffic Control Systems (AREA)
  • Lighting Device Outwards From Vehicle And Optical Signal (AREA)

Abstract

La présente invention concerne un dispositif d'aide à la conduite et son procédé de commande, et le dispositif d'aide à la conduite selon un mode de réalisation de la présente invention comprend : une caméra pour obtenir une image dans laquelle une pluralité de régions de marquage, qui sont formées par la lumière visible d'un premier motif émise par un dispositif d'éclairage disposé dans un véhicule, apparaissent ; et un processeur connecté à la caméra et au dispositif d'éclairage, le processeur détectant la pluralité de régions de marquage de l'image fournie par la caméra et détectant un objet positionné près du véhicule sur la base de la pluralité de régions de marquage.
PCT/KR2016/006545 2016-01-04 2016-06-20 Dispositif d'aide à la conduite et son procédé de commande WO2017119557A1 (fr)

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CN112996694A (zh) * 2018-11-09 2021-06-18 法雷奥照明公司 用于机动车辆的车道识别
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KR102675030B1 (ko) * 2018-12-13 2024-06-13 에스엘 주식회사 차량용 램프 시스템
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CN109720267A (zh) * 2017-10-26 2019-05-07 株式会社小糸制作所 车辆用灯具系统
WO2019120930A1 (fr) * 2017-12-20 2019-06-27 Audi Ag Raccourcissement de fonctions d'éclairage
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US20210206316A1 (en) * 2018-09-28 2021-07-08 Koito Manufacturing Co., Ltd. Lamp system
CN112770936A (zh) * 2018-09-28 2021-05-07 株式会社小糸制作所 灯具系统
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WO2020087352A1 (fr) 2018-10-31 2020-05-07 SZ DJI Technology Co., Ltd. Procédé et appareil de commande d'un système d'éclairage d'un véhicule
CN111212756A (zh) * 2018-10-31 2020-05-29 深圳市大疆创新科技有限公司 用于控制载运工具的照明系统的方法和设备
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CN112996694A (zh) * 2018-11-09 2021-06-18 法雷奥照明公司 用于机动车辆的车道识别
CN113825669A (zh) * 2019-05-09 2021-12-21 株式会社小糸制作所 驾驶辅助系统、车辆、车辆用灯具
US11951903B2 (en) 2019-05-09 2024-04-09 Koito Manufacturing Co., Ltd. Driving assistance system
EP4108495A4 (fr) * 2020-02-17 2023-12-13 Koito Manufacturing Co., Ltd. Système de lampe
US11999295B2 (en) 2020-02-17 2024-06-04 Koito Manufacturing Co., Ltd. Vehicle lamp system for drawing road surface pattern
WO2021181375A1 (fr) * 2020-03-12 2021-09-16 Elbit Systems Ltd. Système et procédé pour la détermination d'un mouvement relatif entre deux ou plus de deux objets
IL273288B1 (en) * 2020-03-12 2023-06-01 Elbit Systems Ltd A system and method for detecting relative motion between two or more bodies
IL273288B2 (en) * 2020-03-12 2023-10-01 Elbit Systems Ltd A system and method for detecting relative motion between two or more bodies
US20220101022A1 (en) * 2020-09-29 2022-03-31 Rivian Ip Holdings, Llc Vehicle cliff and crevasse detection systems and methods

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