KR101995489B1 - Vehicle control system and method for controlling the same - Google Patents

Abstract

The present invention relates to a vehicle control system and a method for detecting an object located at an undetectable distance from a vehicle and avoiding collision with the object, the vehicle control system according to an embodiment of the present invention, the road and the road An object detecting apparatus for real-time capturing a surrounding image of the object, generating object detection information on the detected object, and transmitting the object detection information to a vehicle when a predetermined object is detected in the captured image; A communication unit installed in the vehicle and receiving the object detection information; And a control unit installed in the vehicle and generating notification information on the object based on the received object detection information, and displaying the notification information on a display unit of the vehicle.

Description

VEHICLE CONTROL SYSTEM AND METHOD FOR CONTROLLING THE SAME

The present invention relates to a vehicle control system and a control method thereof.

The vehicle is a device capable of moving in the direction desired by the user on board. An example is a car.

On the other hand, for the convenience of the user using the vehicle, various types of sensors, electronic devices, etc. are provided. In particular, research on the Advanced Driver Assistance System (ADAS) has been actively conducted for the convenience of the user's driving. In addition, development of autonomous vehicles is being actively conducted.

The vehicle may be equipped with various types of lamps. In general, a vehicle is equipped with a variety of vehicle lamps having a lighting function to easily check the objects located around the vehicle when driving at night and a signal function for notifying other vehicles or other road users of the driving condition of the vehicle. have.

For example, the vehicle operates by directly emitting light using a lamp, such as a headlight that illuminates the front to secure the driver's vision, a brake light that is turned on when the brake is applied, and a turn signal used when turning right or left. The device can be provided.

As another example, reflectors for reflecting light may be installed at the front and the rear of the vehicle so that the vehicle may be easily recognized from the outside.

Such vehicle lamps are regulated by laws and regulations for their installation standards and standards so as to fully exhibit their respective functions.

On the other hand, as the development of the ADAS (Advanced Driving Assist System) has been actively made in recent years, the necessity of the development of technology capable of maximizing user convenience and safety in vehicle driving has emerged.

As part of this, technology development for various UI / UX (User Interface / User Experience) between a mobile terminal and a vehicle, and technology development for autonomous driving in which a vehicle drives itself without a driver's operation is being actively performed.

Accordingly, there is a need to develop a control method and a technology for UI / UX that can more safely and conveniently switch between the autonomous driving mode in which the vehicle performs autonomous driving and the manual driving mode in which the vehicle is driven by the driver's operation. It is emerging.

In addition, a technique for detecting an object present on a road while the vehicle autonomously travels and avoiding the detected object is being developed.

One object of the present invention is to provide a vehicle control system and method for detecting an object located at a distance that cannot be detected in a vehicle and avoiding collision with the object. For example, the present invention provides a vehicle control system capable of preventing a collision with an object when a moving object (eg, a pedestrian, an animal, etc.) crosses a road at night and it is difficult to distinguish the object through a camera of the vehicle. To provide that method.

The objects of the present invention are not limited to the above-mentioned objects, and other objects that are not mentioned will be clearly understood by those skilled in the art from the following description.

In order to achieve the above object, the vehicle control system according to an embodiment of the present invention, the real-time image of the road and the surrounding image of the road, if a predetermined object is detected in the captured image object for the detected object An object detecting apparatus for generating detection information and transmitting the object detecting information to a vehicle; A communication unit installed in the vehicle and receiving the object detection information; And a control unit installed in the vehicle and generating notification information on the object based on the received object detection information, and displaying the notification information on a display unit of the vehicle.

In an embodiment, the object detection information may include a current position of the object detection device and information on the object.

The control unit may detect a distance between a current position of the vehicle and a position of the object detecting apparatus, and display the detected distance and the object detecting information on the display unit.

In an embodiment, the controller may control the speed of the vehicle based on the current position of the object detecting apparatus and the object detection information.

The control unit may detect a path for avoiding the object based on the current position of the object detecting apparatus and the object detection information, and control the vehicle along the detected path.

The control unit may detect a distance between a current position of the vehicle and a position of an object detecting apparatus that has transmitted the object detecting information, and generates a dangerous message if the detected distance is shorter than a preset reference value. If the detected distance is longer than the predetermined reference value, a warning message may be generated, and the dangerous message or warning message may be displayed on the display unit.

The object detecting apparatus may generate object detection information for the object and transmit the object detection information to the vehicle when an object crossing the road is detected.

The object detecting apparatus may detect a moving direction of an object crossing or entering a road in the captured image in real time, and transmit the detected moving direction of the object to the vehicle.

In example embodiments, the controller may detect different avoidance paths according to the detected object type, and control the vehicle according to the different avoidance paths.

In order to achieve the above object, the vehicle control method according to an embodiment of the present invention, the step of real-time shooting the road and the surrounding image of the road; Generating object detection information on the detected object when a predetermined object is detected in the captured image; Transmitting the object detection information to a vehicle; And receiving the object detection information from the vehicle, generating notification information on the object based on the received object detection information, and displaying the notification information on a display unit of the vehicle.

Specific details of other embodiments are included in the detailed description and the drawings.

According to an embodiment of the present invention, there are one or more of the following effects.

The present invention can detect an object located at a distance that cannot be detected in the vehicle and avoid collision with the object. For example, the present invention can prevent a collision with an object when a moving object (eg, a pedestrian, an animal, etc.) crosses a road at night, when it is difficult to distinguish the object through a camera of a vehicle.

The effects of the present invention are not limited to the above-mentioned effects, and other effects not mentioned will be clearly understood by those skilled in the art from the description of the claims.

1 is a view showing the appearance of a vehicle according to an embodiment of the present invention.
2 is a view of the vehicle according to an embodiment of the present invention from various angles from the outside.
3 to 4 are views illustrating the interior of a vehicle according to an embodiment of the present invention.
5 to 6 are views referred to for describing an object according to an embodiment of the present invention.
7 is a block diagram referenced to describe a vehicle according to an embodiment of the present invention.
8 is a block diagram showing a vehicle control system according to an embodiment of the present invention.
9 is a conceptual diagram illustrating a vehicle control system according to an exemplary embodiment of the present invention.
10 is a flowchart illustrating a vehicle control method according to an exemplary embodiment of the present invention.
11 is a diagram illustrating a method of transmitting object detection information to a vehicle according to the type of object according to an embodiment of the present invention.

Hereinafter, embodiments of the present disclosure will be described in detail with reference to the accompanying drawings, and the same or similar components are denoted by the same reference numerals regardless of the reference numerals, and redundant description thereof will be omitted. The suffixes "module" and "unit" for components used in the following description are given or used in consideration of ease of specification, and do not have distinct meanings or roles from each other. In addition, in describing the embodiments disclosed herein, when it is determined that the detailed description of the related known technology may obscure the gist of the embodiments disclosed herein, the detailed description thereof will be omitted. In addition, the accompanying drawings are intended to facilitate understanding of the embodiments disclosed herein, but are not limited to the technical spirit disclosed herein by the accompanying drawings, all changes included in the spirit and scope of the present invention. It should be understood to include equivalents and substitutes.

Terms including ordinal numbers such as first and second may be used to describe various components, but the components are not limited by the terms. The terms are used only for the purpose of distinguishing one component from another.

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.

Singular expressions include plural expressions unless the context clearly indicates otherwise.

In this application, the terms "comprises" or "having" are intended to indicate that there is a feature, number, step, operation, component, part, or combination thereof described in the specification, and one or more other features. It is to be understood that the present invention does not exclude the possibility of the presence or the addition of numbers, steps, operations, components, components, or a combination thereof.

The vehicle described herein may be a concept including an automobile and a motorcycle. In the following, a vehicle is mainly described for a vehicle.

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, and an electric vehicle having an electric motor as a power source.

In the following description, the left side of the vehicle means the left side of the driving direction of the vehicle, and the right side of the vehicle means the right side of the driving direction of the vehicle.

1 is a view showing the appearance of a vehicle according to an embodiment of the present invention.

2 is a view of the vehicle according to an embodiment of the present invention from various angles from the outside.

3 to 4 are views illustrating the interior of a vehicle according to an embodiment of the present invention.

5 to 6 are views referred to for describing an object according to an embodiment of the present invention.

7 is a block diagram referenced to describe a vehicle according to an embodiment of the present invention.

1 to 7, the vehicle 100 may include a wheel that rotates by a power source and a steering input device 510 for adjusting a traveling direction of the vehicle 100.

The vehicle 100 may be an autonomous vehicle.

The vehicle 100 may be switched to an autonomous driving mode or a manual mode (waterworks driving mode) based on a user input.

For example, the vehicle 100 may be switched from the manual mode to the autonomous driving mode or from the autonomous driving mode to the manual mode based on the received user input through the user interface device 200.

The vehicle 100 may be switched to the autonomous driving mode or the manual mode based on the driving situation information. The driving situation information may be generated based on the object information provided by the object detecting apparatus 300.

For example, the vehicle 100 may be switched from the manual mode to the autonomous driving mode or from the autonomous driving mode to the manual mode based on the driving situation information generated by the object detecting apparatus 300.

For example, the vehicle 100 may be switched from the manual mode to the autonomous driving mode or from the autonomous driving mode to the manual mode based on the driving situation information received through the communication device 400.

The vehicle 100 may switch from the manual mode to the autonomous driving mode or from the autonomous driving mode to the manual mode based on information, data, and signals provided from an external device.

When the vehicle 100 is driven in the autonomous driving mode, the autonomous vehicle 100 may be driven based on the driving system 700.

For example, the autonomous vehicle 100 may be driven based on information, data, or signals generated by the driving system 710, the parking system 740, and the parking system 750.

When the vehicle 100 is driven in the manual mode, the autonomous vehicle 100 may receive a user input for driving through the driving manipulation apparatus 500. Based on a user input received through the driving manipulation apparatus 500, the vehicle 100 may be driven.

The overall length is the length from the front to the rear of the vehicle 100, the width is the width of the vehicle 100, and the height is the length from the bottom of the wheel to the roof. In the following description, the full length direction L is a direction in which the full length measurement of the vehicle 100 is a reference, the full width direction W is a direction in which the full width measurement of the vehicle 100 is a reference, and the total height direction H is a vehicle. It may mean the direction which is the reference of the height measurement of (100).

As illustrated in FIG. 7, the vehicle 100 includes a user interface device 200, an object detecting device 300, a communication device 400, a driving manipulation device 500, a vehicle driving device 600, and a traveling system. 700, a navigation system 770, a sensing unit 120, an interface unit 130, a memory 140, a control unit 170, and a power supply unit 190 may be included.

According to an embodiment, the vehicle 100 may further include other components in addition to the components described herein, or may not include some of the components described.

The user interface device 200 is a device for communicating with the vehicle 100 and a user. The user interface device 200 may receive a user input and provide the user with information generated in the vehicle 100. The vehicle 100 may implement user interfaces (UI) or user experience (UX) through the user interface device 200.

The user interface device 200 may include an input unit 210, an internal camera 220, a biometric detector 230, an output unit 250, and a processor 270.

According to an embodiment, the user interface device 200 may further include other components in addition to the described components, or may not include some of the described components.

The input unit 200 is for receiving information from a user, and the data collected by the input unit 120 may be analyzed by the processor 270 and processed as a control command of the user.

The input unit 200 may be disposed in the vehicle. For example, the input unit 200 may include one area of a steering wheel, one area of an instrument panel, one area of a seat, one area of each pillar, and a door. one area of the door, one area of the center console, one area of the head lining, one area of the sun visor, one area of the windshield or of the window It may be disposed in one area or the like.

The input unit 200 may include a voice input unit 211, a gesture input unit 212, a touch input unit 213, and a mechanical input unit 214.

The voice input unit 211 may convert a user's voice input into an electrical signal. The converted electrical signal may be provided to the processor 270 or the controller 170.

The voice input unit 211 may include one or more microphones.

The gesture input unit 212 may convert a user's gesture input into an electrical signal. The converted electrical signal may be provided to the processor 270 or the controller 170.

The gesture input unit 212 may include at least one of an infrared sensor and an image sensor for detecting a user's gesture input.

According to an embodiment, the gesture input unit 212 may detect a 3D gesture input of the user. To this end, the gesture input unit 212 may include a light output unit or a plurality of image sensors for outputting a plurality of infrared light.

The gesture input unit 212 may detect a user's 3D gesture input through a time of flight (TOF) method, a structured light method, or a disparity method.

The touch input unit 213 may convert a user's touch input into an electrical signal. The converted electrical signal may be provided to the processor 270 or the controller 170.

The touch input unit 213 may include a touch sensor for detecting a user's touch input.

According to an embodiment, the touch input unit 213 may be integrally formed with the display unit 251 to implement a touch screen. Such a touch screen may provide an input interface and an output interface between the vehicle 100 and the user.

The mechanical input unit 214 may include at least one of a button, a dome switch, a jog wheel, and a jog switch. The electrical signal generated by the mechanical input unit 214 may be provided to the processor 270 or the controller 170.

The mechanical input unit 214 may be disposed on a steering wheel, a cente facia, a center console, a cockpit module, a door, or the like.

The internal camera 220 may acquire a vehicle interior image. The processor 270 may detect a state of the user based on the vehicle interior image. The processor 270 may acquire the gaze information of the user from the vehicle interior image. The processor 270 may detect a gesture of the user in the vehicle interior image.

The biometric detector 230 may acquire biometric information of the user. The biometric detector 230 may include a sensor for acquiring biometric information of the user, and may acquire fingerprint information, heartbeat information, etc. of the user using the sensor. Biometric information may be used for user authentication.

The output unit 250 is for generating output related to visual, auditory or tactile.

The output unit 250 may include at least one of the display unit 251, the audio output unit 252, and the haptic output unit 253.

The display unit 251 may display graphic objects corresponding to various pieces of information.

The display unit 251 is a liquid crystal display (LCD), a thin film transistor-liquid crystal display (TFT LCD), an organic light-emitting diode (OLED), a flexible display (flexible) display, a 3D display, or an e-ink display.

The display unit 251 forms a layer structure or is integrally formed with the touch input unit 213 to implement a touch screen.

The display unit 251 may be implemented as a head up display (HUD). When the display unit 251 is implemented as a HUD, the display unit 251 may include a projection module to output information through an image projected on a wind shield or a window.

The display unit 251 may include a transparent display. The transparent display can be attached to the wind shield or window.

The transparent display may display a predetermined screen while having a predetermined transparency. Transparent display, in order to have transparency, transparent display is transparent thin film elecroluminescent (TFEL), transparent organic light-emitting diode (OLED), transparent liquid crystal display (LCD), transmissive transparent display, transparent light emitting diode (LED) display It may include at least one of. The transparency of the transparent display can be adjusted.

The user interface device 200 may include a plurality of display units 251a to 251g.

The display unit 251 may include one region of the steering wheel, one region 521a, 251b, and 251e of the instrument panel, one region 251d of the seat, one region 251f of each pillar, and one region of the door ( 251g), one area of the center console, one area of the head lining, one area of the sun visor, or may be implemented in one area 251c of the windshield and one area 251h of the window.

The sound output unit 252 converts an electrical signal provided from the processor 270 or the controller 170 into an audio signal and outputs the audio signal. To this end, the sound output unit 252 may include one or more speakers.

The haptic output unit 253 generates a tactile output. For example, the haptic output unit 253 may vibrate the steering wheel, the seat belt, and the seats 110FL, 110FR, 110RL, and 110RR so that the user may recognize the output.

The processor 270 may control the overall operation of each unit of the user interface device 200.

According to an embodiment, the user interface device 200 may include a plurality of processors 270 or may not include the processor 270.

When the processor 270 is not included in the user interface device 200, the user interface device 200 may be operated under the control of the processor or the controller 170 of another device in the vehicle 100.

The user interface device 200 may be referred to as a vehicle display device.

The user interface device 200 may be operated under the control of the controller 170.

The object detecting apparatus 300 is a device for detecting an object located outside the vehicle 100.

The object may be various objects related to the driving of the vehicle 100.

5 to 6, the object O includes a lane OB10, another vehicle OB11, a pedestrian OB12, a two-wheeled vehicle OB13, traffic signals OB14, OB15, light, a road, a structure, Speed bumps, features, animals and the like can be included.

The lane OB10 may be a driving lane, a lane next to the driving lane, and a lane in which an opposite vehicle travels. The lane OB10 may be a concept including left and right lines forming a lane.

The other vehicle OB11 may be a vehicle that is driving around the vehicle 100. The other vehicle may be a vehicle located within a predetermined distance from the vehicle 100. For example, the other vehicle OB11 may be a vehicle that precedes or follows the vehicle 100.

The pedestrian OB12 may be a person located near the vehicle 100. The pedestrian OB12 may be a person located within a predetermined distance from the vehicle 100. For example, the pedestrian OB12 may be a person located on a sidewalk or a roadway.

The two-wheeled vehicle OB12 may be a vehicle that is positioned around the vehicle 100 and moves using two wheels. The motorcycle OB12 may be a vehicle having two wheels located within a predetermined distance from the vehicle 100. For example, the motorcycle OB13 may be a motorcycle or a bicycle located on sidewalks or roadways.

The traffic signal may include a traffic light OB15, a traffic sign OB14, a pattern or text drawn on a road surface.

The light may be light generated by a lamp provided in another vehicle. The light, can be light generated from the street light. The light may be sunlight.

The road may include a road surface, a curve, an uphill slope, a slope downhill, or the like.

The structure may be an object located around a road and fixed to the ground. For example, the structure may include a street lamp, a roadside tree, a building, a power pole, a traffic light, a bridge.

The features may include mountains, hills, and the like.

On the other hand, the object may be classified into a moving object and a fixed object. For example, the moving object may be a concept including another vehicle and a pedestrian. For example, the fixed object may be a concept including a traffic signal, a road, and a structure.

The object detecting apparatus 300 may include a camera 310, a radar 320, a lidar 330, an ultrasonic sensor 340, an infrared sensor 350, and a processor 370.

According to an embodiment, the object detecting apparatus 300 may further include other components in addition to the described components, or may not include some of the described components.

The camera 310 may be located at a suitable place outside the vehicle to acquire an image outside the vehicle. The camera 310 may be a mono camera, a stereo camera 310a, an around view monitoring (AVM) camera 310b, or a 360 degree camera.

For example, the camera 310 may be disposed in close proximity to the front windshield in the interior of the vehicle in order to acquire an image in front of the vehicle. Alternatively, the camera 310 may be disposed around the front bumper or the radiator grille.

For example, the camera 310 may be disposed in close proximity to the rear glass in the interior of the vehicle to acquire an image of the rear of the vehicle. Alternatively, the camera 310 may be disposed around the rear bumper, the trunk, or the tail gate.

For example, the camera 310 may be disposed in close proximity to at least one of the side windows in the interior of the vehicle to acquire an image of the vehicle side. Alternatively, the camera 310 may be arranged around the side mirror, fender or door.

The camera 310 may provide the obtained image to the processor 370.

The radar 320 may include an electromagnetic wave transmitter and a receiver. The radar 320 may be implemented in a pulse radar method or a continuous wave radar method in terms of radio wave firing principle. The radar 320 may be implemented by a frequency modulated continuous wave (FSCW) method or a frequency shift key (FSK) method according to a signal waveform among the continuous wave radar methods.

The radar 320 detects an object based on a time of flight (TOF) method or a phase-shift method based on an electromagnetic wave, and detects the position of the detected object, distance to the detected object, and relative velocity. Can be detected.

The radar 320 may be disposed at an appropriate position outside the vehicle to detect an object located in front, rear, or side of the vehicle.

The lidar 330 may include a laser transmitter and a receiver. The lidar 330 may be implemented in a time of flight (TOF) method or a phase-shift method.

The lidar 330 may be implemented as driven or non-driven.

When implemented in a driving manner, the lidar 330 may be rotated by a motor and detect an object around the vehicle 100.

When implemented in a non-driven manner, the lidar 330 may detect an object located within a predetermined range with respect to the vehicle 100 by optical steering. The vehicle 100 may include a plurality of non-driven lidars 330.

The lidar 330 detects an object based on a time of flight (TOF) method or a phase-shift method using laser light, and detects an object, a position of the detected object, a distance from the detected object, and Relative speed can be detected.

The lidar 330 may be disposed at an appropriate position outside the vehicle to detect an object located in front, rear, or side of the vehicle.

The ultrasonic sensor 340 may include an ultrasonic transmitter and a receiver. The ultrasonic sensor 340 may detect an object based on the ultrasonic wave, and detect a position of the detected object, a distance to the detected object, and a relative speed.

The ultrasonic sensor 340 may be disposed at an appropriate position outside the vehicle to detect an object located in front, rear, or side of the vehicle.

The infrared sensor 350 may include an infrared transmitter and a receiver. The infrared sensor 340 may detect an object based on infrared light, and detect a position of the detected object, a distance to the detected object, and a relative speed.

The infrared sensor 350 may be disposed at an appropriate position outside the vehicle to detect an object located in front, rear, or side of the vehicle.

The processor 370 may control overall operations of each unit of the object detecting apparatus 300.

The processor 370 may detect and track the object based on the obtained image. The processor 370 may perform operations such as calculating a distance to an object and calculating a relative speed with the object through an image processing algorithm.

The processor 370 may detect and track the object based on the reflected electromagnetic wave reflected by the transmitted electromagnetic wave to the object. The processor 370 may perform an operation such as calculating a distance from the object, calculating a relative speed with the object, and the like based on the electromagnetic waves.

The processor 370 may detect and track the object based on the reflected laser light reflected by the transmitted laser back to the object. The processor 370 may perform an operation such as calculating a distance from the object, calculating a relative speed with the object, and the like based on the laser light.

The processor 370 may detect and track the object based on the reflected ultrasound, in which the transmitted ultrasound is reflected by the object and returned. The processor 370 may perform an operation such as calculating a distance from the object, calculating a relative speed with the object, and the like based on the ultrasound.

The processor 370 may detect and track the object based on the reflected infrared light from which the transmitted infrared light is reflected back to the object. The processor 370 may perform an operation such as calculating a distance to the object, calculating a relative speed with the object, and the like based on the infrared light.

According to an embodiment, the object detecting apparatus 300 may include a plurality of processors 370 or may not include the processor 370. For example, each of the camera 310, the radar 320, the lidar 330, the ultrasonic sensor 340, and the infrared sensor 350 may individually include a processor.

When the processor 370 is not included in the object detecting apparatus 300, the object detecting apparatus 300 may be operated under the control of the processor or the controller 170 of the apparatus in the vehicle 100.

The object detecting apparatus 400 may be operated under the control of the controller 170.

The communication device 400 is a device for performing communication with an external device. Here, the external device may be another vehicle, a mobile terminal or a server.

The communication device 400 may include at least one of a transmit antenna, a receive antenna, a radio frequency (RF) circuit capable of implementing various communication protocols, and an RF element to perform communication.

The communication device 400 may include a short range communication unit 410, a location information unit 420, a V2X communication unit 430, an optical communication unit 440, a broadcast transceiver 450, and a processor 470.

According to an embodiment, the communication device 400 may further include other components in addition to the described components, or may not include some of the described components.

The short range communication unit 410 is a unit for short range communication. The local area communication unit 410 may include Bluetooth ™, Radio Frequency Identification (RFID), Infrared Data Association (IrDA), Ultra Wideband (UWB), ZigBee, Near Field Communication (NFC), and Wi-Fi (Wireless). Local area communication may be supported using at least one of Fidelity, Wi-Fi Direct, and Wireless Universal Serial Bus (USB) technologies.

The short range communication unit 410 may form short range wireless networks to perform short range communication between the vehicle 100 and at least one external device.

The location information unit 420 is a unit for obtaining location information of the vehicle 100. For example, the location information unit 420 may include a global positioning system (GPS) module or a differential global positioning system (DGPS) module.

The V2X communication unit 430 is a unit for performing wireless communication with a server (V2I: Vehicle to Infra), another vehicle (V2V: Vehicle to Vehicle), or a pedestrian (V2P: Vehicle to Pedestrian). The V2X communication unit 430 may include an RF circuit that can implement a communication with the infrastructure (V2I), an inter-vehicle communication (V2V), and a communication with the pedestrian (V2P).

The optical communication unit 440 is a unit for performing communication with an external device via light. The optical communication unit 440 may include an optical transmitter converting an electric signal into an optical signal and transmitting the external signal to an external signal, and an optical receiver converting the received optical signal into an electrical signal.

According to an embodiment, the light emitting unit may be formed to be integrated with the lamp included in the vehicle 100.

The broadcast transceiver 450 is a unit for receiving a broadcast signal from an external broadcast management server or transmitting a broadcast signal to a broadcast management server through a broadcast channel. The broadcast channel may include a satellite channel and a terrestrial channel. The broadcast signal may include a TV broadcast signal, a radio broadcast signal, and a data broadcast signal.

The processor 470 may control the overall operation of each unit of the communication device 400.

According to an embodiment, the communication device 400 may include a plurality of processors 470 or may not include the processor 470.

When the processor 470 is not included in the communication device 400, the communication device 400 may be operated under the control of the processor or the controller 170 of another device in the vehicle 100.

Meanwhile, the communication device 400 may implement a vehicle display device together with the user interface device 200. In this case, the vehicle display device may be called a telematics device or an AVN (Audio Video Navigation) device.

The communication device 400 may be operated under the control of the controller 170.

The driving operation apparatus 500 is a device that receives a user input for driving.

In the manual mode, the vehicle 100 may be driven based on a signal provided by the driving manipulation apparatus 500.

The driving manipulation apparatus 500 may include a steering input apparatus 510, an acceleration input apparatus 530, and a brake input apparatus 570.

The steering input device 510 may receive a driving direction input of the vehicle 100 from the user. The steering input device 510 is preferably formed in a wheel shape to enable steering input by rotation. According to an embodiment, the steering input device may be formed in the form of a touch screen, a touch pad, or a button.

The acceleration input device 530 may receive an input for accelerating the vehicle 100 from a user. The brake input device 570 may receive an input for deceleration of the vehicle 100 from a user. The acceleration input device 530 and the brake input device 570 are preferably formed in the form of a pedal. According to an embodiment, the acceleration input device or the brake input device may be formed in the form of a touch screen, a touch pad, or a button.

The driving manipulation apparatus 500 may be operated under the control of the controller 170.

The vehicle drive device 600 is a device that electrically controls the driving of various devices in the vehicle 100.

The vehicle driving apparatus 600 may include a power train driver 610, a chassis driver 620, a door / window driver 630, a safety device driver 640, a lamp driver 650, and an air conditioning driver 660. Can be.

According to an exemplary embodiment, the vehicle driving apparatus 600 may further include other components in addition to the described components, or may not include some of the described components.

On the other hand, the vehicle driving device 600 may include a processor. Each unit of the vehicle drive apparatus 600 may each include a processor individually.

The power train driver 610 may control the operation of the power train device.

The power train driver 610 may include a power source driver 611 and a transmission driver 612.

The power source driver 611 may control the power source of the vehicle 100.

For example, when the fossil fuel-based engine is a power source, the power source driver 610 may perform electronic control of the engine. Thereby, the output torque of an engine, etc. can be controlled. The power source drive unit 611 can adjust the engine output torque under the control of the control unit 170.

For example, when the electric energy based motor is a power source, the power source driver 610 may control the motor. The power source driver 610 may adjust the rotational speed, torque, and the like of the motor under the control of the controller 170.

The transmission driver 612 may control the transmission.

The transmission driver 612 can adjust the state of the transmission. The transmission drive part 612 can adjust the state of a transmission to forward D, backward R, neutral N, or parking P. FIG.

On the other hand, when the engine is a power source, the transmission drive unit 612 can adjust the bite state of the gear in the forward D state.

The chassis driver 620 may control the operation of the chassis device.

The chassis driver 620 may include a steering driver 621, a brake driver 622, and a suspension driver 623.

The steering driver 621 may perform electronic control of a steering apparatus in the vehicle 100. The steering driver 621 may change the traveling direction of the vehicle.

The brake driver 622 may perform electronic control of a brake apparatus in the vehicle 100. For example, the speed of the vehicle 100 may be reduced by controlling the operation of the brake disposed on the wheel.

On the other hand, the brake drive unit 622 can individually control each of the plurality of brakes. The brake driver 622 may control the braking force applied to the plurality of wheels differently.

The suspension driver 623 may perform electronic control of a suspension apparatus in the vehicle 100. For example, when there is a curvature on the road surface, the suspension driver 623 may control the suspension device to control the vibration of the vehicle 100 to be reduced.

Meanwhile, the suspension driver 623 may individually control each of the plurality of suspensions.

The door / window driver 630 may perform electronic control of a door apparatus or a window apparatus in the vehicle 100.

The door / window driver 630 may include a door driver 631 and a window driver 632.

The door driver 631 may control the door apparatus. The door driver 631 may control opening and closing of the plurality of doors included in the vehicle 100. The door driver 631 may control the opening or closing of a trunk or a tail gate. The door driver 631 may control the opening or closing of the sunroof.

The window driver 632 may perform electronic control of the window apparatus. The opening or closing of the plurality of windows included in the vehicle 100 may be controlled.

The safety device driver 640 may perform electronic control of various safety apparatuses in the vehicle 100.

The safety device driver 640 may include an airbag driver 641, a seat belt driver 642, and a pedestrian protection device driver 643.

The airbag driver 641 may perform electronic control of an airbag apparatus in the vehicle 100. For example, the airbag driver 641 may control the airbag to be deployed when the danger is detected.

The seat belt driver 642 may perform electronic control of a seatbelt appartus in the vehicle 100. For example, the seat belt driver 642 may control the passengers to be fixed to the seats 110FL, 110FR, 110RL, and 110RR by using the seat belts when the risk is detected.

The pedestrian protection device driver 643 may perform electronic control of the hood lift and the pedestrian airbag. For example, the pedestrian protection device driver 643 may control the hood lift up and the pedestrian air bag to be deployed when detecting a collision with the pedestrian.

The lamp driver 650 may perform electronic control of various lamp apparatuses in the vehicle 100.

The air conditioning driver 660 may perform electronic control of an air conditioner in the vehicle 100. For example, when the temperature inside the vehicle is high, the air conditioning driver 660 may control the air conditioning apparatus to operate to supply cool air to the inside of the vehicle.

The vehicle driving apparatus 600 may include a processor. Each unit of the vehicle drive apparatus 600 may each include a processor individually.

The vehicle driving apparatus 600 may be operated under the control of the controller 170.

The travel system 700 is a system for controlling various travels of the vehicle 100. The navigation system 700 can be operated in an autonomous driving mode.

The travel system 700 can include a travel system 710, a parking system 740, and a parking system 750.

In some embodiments, the navigation system 700 may further include other components in addition to the described components, or may not include some of the described components.

Meanwhile, the driving system 700 may include a processor. Each unit of the navigation system 700 may each include a processor individually.

In some embodiments, when the driving system 700 is implemented in software, the driving system 700 may be a lower concept of the controller 170.

According to an exemplary embodiment, the driving system 700 may include at least one of the user interface device 200, the object detecting device 300, the communication device 400, the vehicle driving device 600, and the controller 170. It may be a concept to include.

The traveling system 710 may perform driving of the vehicle 100.

The driving system 710 may receive navigation information from the navigation system 770, provide a control signal to the vehicle driving apparatus 600, and perform driving of the vehicle 100.

The driving system 710 may receive object information from the object detecting apparatus 300 and provide a control signal to the vehicle driving apparatus 600 to perform driving of the vehicle 100.

The driving system 710 may receive a signal from an external device through the communication device 400, provide a control signal to the vehicle driving device 600, and perform driving of the vehicle 100.

The taking-out system 740 may perform taking out of the vehicle 100.

The taking-out system 740 may receive navigation information from the navigation system 770, provide a control signal to the vehicle driving apparatus 600, and perform take-out of the vehicle 100.

The taking-out system 740 may receive the object information from the object detecting apparatus 300, provide a control signal to the vehicle driving apparatus 600, and perform take-out of the vehicle 100.

The taking-off system 740 may receive a signal from an external device through the communication device 400, provide a control signal to the vehicle driving apparatus 600, and perform take-out of the vehicle 100.

The parking system 750 may perform parking of the vehicle 100.

The parking system 750 may receive navigation information from the navigation system 770, provide a control signal to the vehicle driving apparatus 600, and perform parking of the vehicle 100.

The parking system 750 may receive the object information from the object detecting apparatus 300, provide a control signal to the vehicle driving apparatus 600, and perform parking of the vehicle 100.

The parking system 750 may receive a signal from an external device through the communication device 400, provide a control signal to the vehicle driving device 600, and perform parking of the vehicle 100.

The navigation system 770 can provide navigation information. The navigation information may include at least one of map information, set destination information, route information according to the destination setting, information on various objects on the route, lane information, and current location information of the vehicle.

The navigation system 770 may include a memory and a processor. The memory may store navigation information. The processor may control the operation of the navigation system 770.

According to an embodiment, the navigation system 770 may receive information from an external device through the communication device 400 and update the pre-stored information.

According to an embodiment, the navigation system 770 may be classified as a subcomponent of the user interface device 200.

The sensing unit 120 may sense a state of the vehicle. The sensing unit 120 may include an attitude sensor (for example, a yaw sensor, a roll sensor, a pitch sensor), a collision sensor, a wheel sensor, a speed sensor, and an inclination. Sensor, weight sensor, heading sensor, yaw sensor, gyro sensor, position module, vehicle forward / reverse sensor, battery sensor, fuel sensor, tire sensor, handle It may include a steering sensor, a vehicle interior temperature sensor, a vehicle interior humidity sensor, an ultrasonic sensor, an illuminance sensor, an accelerator pedal position sensor, a brake pedal position sensor, and the like by rotation.

The sensing unit 120 includes vehicle attitude information, 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 Acquire sensing signals for information, fuel information, tire information, vehicle lamp information, vehicle internal temperature information, vehicle internal humidity information, steering wheel rotation angle, vehicle external illumination, pressure applied to the accelerator pedal, pressure applied to the brake pedal, and the like. can do.

The sensing unit 120 may further include an accelerator pedal sensor, a pressure sensor, an engine speed sensor, an air flow sensor (AFS), an intake air temperature sensor (ATS), a water temperature sensor (WTS), and a throttle position sensor. (TPS), TDC sensor, crank angle sensor (CAS), and the like.

The interface unit 130 may serve as a path to various types of external devices connected to the vehicle 100. For example, the interface unit 130 may include a port connectable with the mobile terminal, and may connect with the mobile terminal through the port. In this case, the interface unit 130 may exchange data with the mobile terminal.

Meanwhile, the interface unit 130 may serve as a path for supplying electrical energy to the connected mobile terminal. When the mobile terminal is electrically connected to the interface unit 130, under the control of the controller 170, the interface unit 130 may provide the mobile terminal with electrical energy supplied from the power supply unit 190.

The memory 140 is electrically connected to the controller 170. The memory 140 may store basic data for the unit, control data for controlling the operation of the unit, and input / output data. The memory 140 may be various storage devices such as a ROM, a RAM, an EPROM, a flash drive, a hard drive, and the like, in hardware. The memory 140 may store various data for overall operation of the vehicle 100, such as a program for processing or controlling the controller 170.

According to an embodiment, the memory 140 may be integrally formed with the controller 170 or may be implemented as a subcomponent of 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).

The power supply unit 190 may supply power required for the operation of each component under the control of the controller 170. In particular, the power supply unit 190 may receive power from a battery inside the vehicle.

One or more processors and controllers 170 included in the vehicle 100 may include application specific integrated circuits (ASICs), digital signal processors (DSPs), digital signal processing devices (DSPDs), programmable logic devices (PLDs), and FPGAs ( It may be implemented using at least one of field programmable gate arrays, processors, controllers, micro-controllers, microprocessors, and electrical units for performing other functions.

The vehicle 100 according to the present invention may operate in one of a manual driving mode and an autonomous driving mode. That is, the driving mode of the vehicle 100 may include a manual driving mode and an autonomous driving mode.

The manual driving mode may mean a mode of driving the vehicle by a driver's driving operation. For example, in the manual driving mode, the steering of the vehicle may be changed by manipulating the steering wheel of the driver, and the speed of the vehicle may be changed by manipulating the brake pedal and the accelerator pedal.

The autonomous driving mode (or autonomous driving mode) may refer to a mode in which the vehicle runs on its own based on a preset algorithm, regardless of the driver's driving operation. For example, the autonomous driving mode may be a mode in which the vehicle may drive (run) by itself in at least a portion of a section or a section to a destination set by a user.

In the autonomous driving mode, even if there is a driver's driving operation, the vehicle may be driven according to a preset algorithm to perform autonomous driving without changing the steering or speed of the vehicle.

Manual driving mode and autonomous driving mode belong to the known art, more detailed description thereof will be omitted.

Meanwhile, in the vehicle 100 related to the present invention, when the vehicle 100 is operated in the manual mode (manual driving mode), the autonomous vehicle 100 may receive a user input for driving through the driving operation device. Can be. Based on the user input received through the driving manipulation apparatus, the vehicle 100 may be driven.

The present invention provides a vehicle control system and a method for detecting an object located at a distance that cannot be detected in a vehicle and avoiding collision with the object. For example, a vehicle control system and a method of preventing a collision with an object when a moving object crosses a road at night and when it is difficult to distinguish the object through a camera of a vehicle are described.

8 is a block diagram showing a vehicle control system according to an embodiment of the present invention.

9 is a conceptual diagram illustrating a vehicle control system according to an exemplary embodiment of the present invention.

All functions of the controller 801 of FIG. 8 may be performed by the controller 170 of the vehicle, but may be a separate configuration independent of the controller 170.

In addition, the vehicle control system 800 described herein may include some of the components described in FIG. 7 and various components provided in the vehicle. In the present specification, for convenience of description, the components described in FIG. 7 and various components provided in the vehicle will be described with separate names and reference numerals.

8 to 9, the vehicle control system 800 according to an embodiment of the present invention,

When a real-time acquisition (shooting) of a road and its surrounding image is detected, and a predetermined object (for example, an object crossing a road (pedestrian, animal, etc.)) is detected within the acquired (shooting) image, An object detection device 820 for generating object detection information about the object and transmitting the object detection information to the vehicle 100 or the surrounding object detection device;

A communication unit (803) installed in the vehicle (100) for receiving the object detection information;

And a controller 801 installed in the vehicle 100 to generate notification information on the object based on the received object detection information and to display the notification information on the display unit 802 of the vehicle.

The object detection information includes the current position of the object detecting apparatus 802 and information about the detected object.

When the object crossing the road is detected, the object detecting apparatus 820 generates object detection information on the object, and transmits the object detection information to the vehicle.

The display unit 802 may be any one of a cluster of a vehicle, a HUD, and a center information display (CID). The display unit 802 may be applied to a window of a vehicle.

The communication unit 803 may include a short range communication unit 410, a location information unit 420, a V2X communication unit 430, an optical communication unit 440, a broadcast transceiver 450, and a processor 470. According to an embodiment, the communication unit 803 may further include other components in addition to the described components, or may not include some of the described components.

The communication unit 803 may include Bluetooth ™, Radio Frequency Identification (RFID), Infrared Data Association (IrDA), Ultra Wideband (UWB), ZigBee, Near Field Communication (NFC), and Wi-Fi (Wireless-). Fidelity, Wi-Fi Direct, or Wireless Universal Serial Bus (USB) technology can be used to support near field communication.

The controller 801 receives not only the object detection information from the object detection device 820, but also the position of the object detection device 820 through the communication unit 803, and the current position of the vehicle 100 and the object detection device 820. The distance between the positions may be detected, and the detected distance (for example, 500 meters) and the object detection information (for example, pedestrians) may be displayed on the display unit 802. For example, when the pedestrian is detected by the object detecting device 820 located 500 meters in front of the vehicle 100, the object detecting device 820 generates object detection information indicating that the current location and the pedestrian are detected, and Location and object detection information is transmitted to the vehicle 100 through a communication network.

The controller 801 of the vehicle 100 receives object detection information indicating that the current location and the pedestrian are detected from the object detection device 820, and based on the current location and the object detection information of the object detection device 820. For example, there is a pedestrian (for example, there is a pedestrian 500 meters ahead. Please be careful driving) (warning message) (900) is generated, and the generated notification information 900 is displayed on the display unit 802.

The control unit 801 of the vehicle 100 receives object detection information indicating that the current location and the pedestrian are detected from the object detecting device 820 through the communication unit 803, and the current location and the object of the object detecting device 820. The speed of the vehicle 100 may be controlled based on the detection information.

The control unit 801 of the vehicle 100 receives object detection information from the object detecting device 820 through the communication unit 803 indicating that the current location and the pedestrian (object) are detected, and the current state of the object detecting device 820. A path for avoiding the pedestrian (object) may be detected based on the location and object detection information, and the vehicle 100 may be controlled along the detected path.

The control unit 801 of the vehicle 100 receives a current location and a real-time captured image from the object detection device 820 through the communication unit 803, and a predetermined object (object crossing the road) from the real-time captured image. Recognizes the current location of the object detecting device 820 and generates the recognized information about the object (for example, a pedestrian is 500 meters ahead. Be careful driving), and generates the generated notification information (warning). Message) may be displayed on the display unit 802.

The object detecting apparatus 820 may include a plurality of object detecting apparatuses 811, 812, and 813 arranged in a line along a road. Each object detecting apparatus 811, 812, 813 may include a stereo camera for detecting an object and a communication unit for transmitting information about the detected object to surrounding vehicles. ) May be disposed in a street lamp, a roadside tree, or the like.

Each object detecting apparatus 811, 812, 813 monitors a road in real time, and when an object such as a pedestrian, an animal, or a dangerous object entering the road is detected, generates information on the detected object, and Information (object detection information) is transmitted to surrounding vehicles.

The control unit 801 receives the object detection information and the current position from the N-th object detection apparatus 813 through the communication unit 803, and between the current position of the vehicle 100 and the position of the N-th object detection apparatus 813. Detects a distance, generates a dangerous message if the detected distance is shorter than a preset reference value, generates a warning message if the detected distance is longer than a preset reference value, and sends the dangerous message or warning message to the display unit 802. Can also be displayed.

The controller 801 may output the dangerous message or the warning message to the display unit 802 and the sound output unit 252.

Hereinafter, a vehicle control method capable of preventing a collision with an object when it is difficult to distinguish the object through a camera of the vehicle when the moving object crosses the road at night or day will be described with reference to FIGS. 8 to 10. do.

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

First, the object detecting apparatus 820 is disposed in a street lamp or a roadside tree and monitors a road and surrounding images of the road in real time (S11). For example, the object detecting apparatus 820 is disposed in a street lamp or a roadside tree, and photographs a road and surrounding images of the road in real time.

The object detecting apparatus 820 acquires (shoots) a road and surrounding images of the road in real time, and an object crossing the road or enters a road (for example, a pedestrian, an animal, And the like (S12), object detection information for the detected object is generated, and the object detection information is transmitted to the vehicle 100 or the surrounding object detection device (S13).

The object detecting apparatus 820 detects an object (for example, a pedestrian, an animal, etc.) that crosses or enters a road within the acquired (photographed) image, and detects the object for the detected object. May be generated, and the object detection information may be transmitted to the vehicle 100 through the call center.

The object detecting apparatus 820 detects a moving direction of an object (eg, a pedestrian, an animal, etc.) crossing or entering a road in real time in the acquired (photographed) image, and detects the moving direction of the detected object. The movement direction is transmitted to the vehicle 100 through a call center or a local area network.

The control unit 801 installed in the vehicle 100 receives the object detection information through the communication unit 803, generates notification information on the object based on the received object detection information, and generates the notification information. The display unit 802 displays the vehicle (S13). The object detection information includes the current position of the object detecting apparatus 802 and information about the detected object.

The controller 801 receives not only the object detection information from the object detection device 820, but also the position of the object detection device 820 through the communication unit 803, and the current position of the vehicle 100 and the object detection device 820. The distance between the positions may be detected, and the detected distance (for example, 500 meters) and the object detection information (for example, pedestrians) may be displayed on the display unit 802. For example, when the pedestrian is detected by the object detecting device 820 located 500 meters in front of the vehicle 100, the object detecting device 820 generates object detection information indicating that the current location and the pedestrian are detected, and Location and object detection information is transmitted to the vehicle 100 through a communication network.

The controller 801 of the vehicle 100 receives object detection information indicating that the current location and the pedestrian are detected from the object detection device 820, and based on the current location and the object detection information of the object detection device 820. For example, there is a pedestrian (for example, there is a pedestrian 500 meters ahead. Please be careful driving) (warning message) (900) is generated, and the generated notification information 900 is displayed on the display unit 802.

The control unit 801 of the vehicle 100 receives object detection information indicating that the current location and the pedestrian are detected from the object detecting device 820 through the communication unit 803, and the current location and the object of the object detecting device 820. The speed of the vehicle 100 may be controlled based on the detection information.

The control unit 801 of the vehicle 100 receives object detection information from the object detecting device 820 through the communication unit 803 indicating that the current location and the pedestrian (object) are detected, and the current state of the object detecting device 820. A path for avoiding the pedestrian (object) may be detected based on the location and object detection information, and the vehicle 100 may be controlled along the detected path.

The control unit 801 of the vehicle 100 receives a current location and a real-time captured image from the object detection device 820 through the communication unit 803, and a predetermined object (object crossing the road) from the real-time captured image. Recognize the current location of the object detection device 820 and the notification information on the recognized object (for example, there is a pedestrian in front of 500 meters. Please be careful driving), and the generated notification information (warning message) May be displayed on the display unit 802.

The controller 801 of the vehicle 100 receives a current location and a real-time captured image from the object detecting apparatus 820 through the communication unit 803, and sets a predetermined object (a pedestrian crossing the road) from the real-time captured image. Image, animal image, etc.), and generates notification information on the recognized object (for example, the animal is 500 meters ahead. Please be careful when driving), and the generated notification information (warning message) is displayed on the display unit 802. ) Can also be displayed.

The control unit 801 of the vehicle 100 real-time movement direction of an object (for example, a pedestrian, an animal, etc.) crossing the road or entering the road in an image received from the object detection device 820 in real time. The detected direction of movement of the detected object may be displayed on the display unit 802 together with the map data.

The controller 801 of the vehicle 100 may detect different avoidance paths according to the detected object type, and control the vehicle according to different avoidance paths. For example, the controller 801 of the vehicle 100 may detect a path that avoids a current driving road when the detected object is a cow, a pig, or an elephant, and guide the detected path. The controller 801 of the vehicle 100 may reduce the speed of the vehicle 100 rather than avoid the current driving road when the detected object is a pedestrian. That is, the controller 801 of the vehicle 100 automatically controls the vehicle differently according to the type of the detected object.

The controller 801 of the vehicle 100 may turn off or turn on the head lamp of the vehicle according to the detected object type.

The controller 801 of the vehicle 100 may generate a graphic object for guiding the type of the detected object and display the graphic object on the display unit 802.

The controller 801 of the vehicle 100 may receive a manual corresponding to the type of the detected object from the memory 140 or the server, and display the received manual on the display unit 802.

Hereinafter, a method of transmitting the object detection information to the vehicle 100 according to the type of object will be described with reference to FIG. 11.

11 is a diagram illustrating a method of transmitting object detection information to a vehicle according to the type of object according to an embodiment of the present invention.

First, each object detecting apparatus 811, 812, 813 monitors a road in real time, and when an object such as a pedestrian, an animal, or a dangerous object entering the road is detected, generates information on the detected object, and generates the object. Information about the object (object detection information) is transmitted to the surrounding vehicles. For example, the first to fourth object detecting apparatuses 1101, 1102, 1103, and 1104 are arranged for each possible communication distance (for example, 100 meters), and the fourth object detecting apparatus 1104 includes the first object ( For example, assuming that an elephant is detected, the fourth object detecting apparatus 1104 detects a first predetermined distance (eg, 100 meters) from the server or the memory 140 to avoid collision with the first object. And transmits the position of the fourth object detecting apparatus 1104 and the information about the first object to the second object detecting apparatus 1102 separated from the first object by a first predetermined distance (for example, 100 meters). . In this case, the second object detecting apparatus 1102 is the position of the fourth object detecting apparatus 1104 transmitted from the fourth object detecting apparatus 1104 through the third object detecting apparatus 1103 and the information on the first object. And transmits the position of the fourth object detecting apparatus 1104 and the information about the first object to the surrounding vehicle (the vehicle existing at a position 100 meters from the first object) 100.

The controller 801 receives the location of the fourth object detection device 1104 and the information on the first object through the third object detection device 1103, and the location and the first location of the fourth object detection device 1104. The dangerous message or the warning message may be generated based on the information on the object, and the dangerous message or the warning message may be displayed on the display unit 802.

As another example, the first to fourth object detecting apparatuses 1101, 1102, 1103, and 1104 are arranged for each possible communication distance (for example, 100 meters), and the fourth object detecting apparatus 1104 is a second object. Assuming (eg, a pedestrian) has been detected, the fourth object detecting apparatus 1104 may generate a second predetermined distance (eg, 300 meters) from the server or the memory 140 to avoid collision with the second object. Detects and transmits the position of the fourth object detecting device 1104 and the information about the second object to the first object detecting device 1101 separated by a second predetermined distance (eg, 300 meters) from the second object. do. In this case, the first object detecting apparatus 1102 is the position of the fourth object detecting apparatus 1104 transmitted from the fourth object detecting apparatus 1104 through the second and third object detecting apparatuses 1102 and 1103? Receives information on the second object, and transmits the position of the fourth object detection device 1104 and the information on the second object to the surrounding vehicle (a vehicle existing 300 meters away from the second object) 100 do.

The first object detecting apparatus 1101 receives the position of the fourth object detecting apparatus 1104 and the information about the second object through the second to third object detecting apparatuses 1102 and 1103.

The controller 801 receives the position of the fourth object detecting apparatus 1104 and the information on the second object from the first object detecting apparatus 1101, and the position of the fourth object detecting apparatus 1104 and the second object. The dangerous message or the warning message may be generated based on the information on the object, and the dangerous message or the warning message may be displayed on the display unit 802.

According to an embodiment of the present invention, there are one or more of the following effects.

The present invention can detect an object located at a distance that cannot be detected in the vehicle and avoid collision with the object. For example, the present invention has an effect of preventing collision with an object when a moving object (eg, a pedestrian, an animal, etc.) crosses a road at night, when it is difficult to distinguish the object through a camera of a vehicle.

The effects of the present invention are not limited to the above-mentioned effects, and other effects not mentioned will be clearly understood by those skilled in the art from the description of the claims.

In addition, all functions, configurations, or control methods performed by the controller 801 described above may be performed by the controller 170 provided in the vehicle 100. That is, all the control methods described herein may be applied to the control method of the vehicle or may be applied to the control method of the control device.

The present invention described above can be embodied as computer readable codes on a medium in which a program is recorded. The computer-readable medium includes all kinds of recording devices in which data that can be read by a computer system is stored. Examples of computer-readable media include hard disk drives (HDDs), solid state disks (SSDs), silicon disk drives (SDDs), ROMs, RAMs, CD-ROMs, magnetic tapes, floppy disks, optical data storage devices, and the like. This also includes implementations in the form of carrier waves (eg, transmission over the Internet). The computer may also include a processor or a controller. Accordingly, the above detailed description should not be construed as limiting in all aspects and should be considered as illustrative. The scope of the invention should be determined by reasonable interpretation of the appended claims, and all changes within the equivalent scope of the invention are included in the scope of the invention.

Claims (10)

An object detecting apparatus for photographing a road and surrounding images of the road in real time and generating object detection information on the detected object when a predetermined object is detected in the photographed image, and transmitting the object detection information to a vehicle; ;
A communication unit installed in the vehicle and receiving the object detection information;
A control unit installed in the vehicle, generating notification information on the object based on the received object detection information, and displaying the notification information on a display unit of the vehicle;
The controller may control the vehicle differently based on the type of the object.
The control unit,
If the type of the object is a first kind, a path for avoiding the current driving road is detected, and a path for avoiding the current driving road is guided.
If the type of the object is a second type different from the first type, characterized in that to reduce the speed of the vehicle,
The plurality of object detection devices are arranged for each communication distance,
The object detecting apparatus for transmitting the information about the object to the vehicle among the plurality of object detecting apparatus according to the type of the object so that the distance between the vehicle receiving the information about the object and the object varies according to the type of the object Characterized by a change,
When a first object of a first type is detected by a first object detection device among the plurality of object detection devices, information on the first object is preset from the first object detection device among the plurality of object detection devices. Is transmitted to the vehicle from a second object detection device disposed at a first distance,
When a second type of second object is detected by the first object detection device among the plurality of object detection devices, information on the second object is previously obtained from the first object detection device among the plurality of object detection devices. And a third object detecting apparatus disposed at a set second distance to the vehicle. The method of claim 1, wherein the object detection information,
And a current position of the object detecting apparatus and information about the object. The method of claim 1, wherein the control unit,
And detecting the distance between the current position of the vehicle and the position of the object detection device, and displaying the detected distance and the object detection information on the display unit. The method of claim 1, wherein the control unit,
And control the speed of the vehicle based on a current position of the object detecting apparatus and the object detecting information. The method of claim 1, wherein the control unit,
And detecting a path for avoiding the object based on a current position of the object detecting apparatus and the object detection information, and controlling the vehicle along a path for avoiding the object. The method of claim 1, wherein the control unit,
Detecting a distance between a current position of the vehicle and a position of an object detecting apparatus that has transmitted the object detection information, generating a dangerous message if the detected distance is shorter than a preset reference value, and the detected distance is the preset reference value If longer, a warning message is generated, and the dangerous message or warning message is displayed on the display unit. The apparatus of claim 1, wherein the object detecting apparatus comprises:
And detecting an object crossing the road, generating object detection information for the object, and transmitting the object detection information to the vehicle. The apparatus of claim 1, wherein the object detecting apparatus comprises:
And detecting a moving direction of an object crossing or entering a road in the captured image in real time, and transmitting the detected moving direction of the object to the vehicle. The method of claim 1, wherein the control unit,
And detecting different avoidance paths according to the type of the detected object, and controlling the vehicle according to the different avoidance paths. Photographing a road and surrounding images of the road in real time;
Generating object detection information on the detected object when a predetermined object is detected in the captured image;
Transmitting the object detection information to a vehicle;
Receiving the object detection information in the vehicle, generating notification information on the object based on the received object detection information, and displaying the notification information on a display unit of the vehicle;
Controlling the vehicle differently based on the type of the object;
The controlling step,
If the type of the object is a first kind, a path for avoiding the current driving road is detected, and a path for avoiding the current driving road is guided.
If the type of the object is a second type different from the first type, characterized in that to reduce the speed of the vehicle,
The plurality of object detection devices are arranged for each communication distance,
The object detecting apparatus for transmitting the information about the object to the vehicle among the plurality of object detecting apparatus according to the type of the object so that the distance between the vehicle receiving the information about the object and the object varies according to the type of the object Characterized by a change,
When a first object of a first type is detected by a first object detection device among the plurality of object detection devices, information on the first object is preset from the first object detection device among the plurality of object detection devices. Is transmitted to the vehicle from a second object detection device disposed at a first distance,
When a second type of second object is detected by the first object detection device among the plurality of object detection devices, information on the second object is previously obtained from the first object detection device among the plurality of object detection devices. And a third object detecting apparatus disposed at a set second distance to the vehicle.

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