KR20150069741A - Driver assistance apparatus and Vehicle including the same - Google Patents

Abstract

BACKGROUND OF THE INVENTION 1. Field of the Invention [0002] The present invention relates to a vehicle driving assistant and a vehicle having the same. A vehicle driving assistant device according to an embodiment of the present invention includes a stereo camera, an interface unit for exchanging data with an external device, a stereo image received from the stereo camera, and vehicle driving information and map information received from the interface unit And a processor for calculating an operation pattern and varying a danger warning time point based on the calculated operation pattern. Thus, it is possible to perform control corresponding to the operation pattern based on the photographed image.

Description

BACKGROUND OF THE INVENTION 1. Field of the Invention [0001] The present invention relates to a vehicle driving assist apparatus and a vehicle having the same,

BACKGROUND OF THE INVENTION 1. Field of the Invention [0001] The present invention relates to a vehicle driving assist apparatus and a vehicle having the same, and more particularly, to a vehicle driving assist apparatus capable of performing control corresponding to an operation pattern based on a photographed image, .

A vehicle is a device that moves a user in a desired direction by a boarding user. Typically, automobiles are examples.

On the other hand, for the convenience of users who use the vehicle, various sensors and electronic devices are provided. In particular, various devices for the user's driving convenience have been developed.

An object of the present invention is to provide a vehicle driving assistant device capable of performing control corresponding to an operation pattern based on a photographed image and a vehicle having the same.

According to another aspect of the present invention, there is provided a vehicle driving assist system including a stereo camera, an interface unit for exchanging data with an external device, a stereo image received from the stereo camera, And a processor for calculating an operation pattern based on the information and the map information, and varying a danger warning time point based on the calculated operation pattern.

According to another aspect of the present invention, there is provided a vehicle driving assist system including a monaural camera, a radar for distance detection, an interface for exchanging data with an external device, , Distance information detected from the radar, vehicle running information received from the interface section, and map information, and varies the danger warning time based on the calculated operation pattern.

According to another aspect of the present invention, there is provided a vehicle driving assist system including a rider performing scanning with respect to an external object, an interface unit exchanging data with an external device, a scan image received from the rider, And a processor for calculating an operation pattern based on the vehicle running information and the map information received from the interface unit, and varying a danger warning time point based on the calculated operation pattern.

According to another aspect of the present invention, there is provided a vehicle including a sensor unit for sensing a vehicle state, a steering driver for driving the steering device, a brake driver for driving the brake unit, a power source driver for driving the power source, A control unit for controlling the steering driver, the brake driver, the power source driver, and the suspension driver; a stereo camera; an interface unit for exchanging data with the external device; And a processor for calculating a driving pattern based on the vehicle running information and the map information received from the interface unit and varying the risk warning point based on the calculated driving pattern.

A vehicle driving assist system according to an embodiment of the present invention calculates an operation pattern based on a stereo image received from a stereo camera and vehicle running information and map information received from an interface unit, , And change the point of danger warning. Accordingly, the usability of the user can be increased.

Specifically, the vehicle driving assist system can detect the distance to the preceding vehicle based on the stereo image, and can calculate the distance to the preceding vehicle, the brake operation time point information, the lane change point information, the lane change lamp operation The operation pattern of the user can be calculated based on at least one of the viewpoint information and the map information, and the risk warning point can be varied in consideration of the operation pattern. In addition, the route guidance in the external navigation apparatus can be varied according to the user operation pattern. As a result, the usability of the user can be increased.

On the other hand, on the basis of a stereo image, when an object is detected, the disparity can be calculated using the stereo image, and the object can be detected based on the disparity information, so that the data processing speed and the like can be shortened.

On the other hand, the vehicle driving assist system according to another embodiment of the present invention computes the driving pattern based on the image received from the mono camera, the distance information from the radar, and the vehicle running information and map information received from the interface And changes the risk warning point based on the calculated operation pattern. Accordingly, the usability of the user can be increased.

According to another aspect of the present invention, there is provided a vehicle driving assist system including an operation pattern calculating unit that calculates an operation pattern based on a scan image received from a rider, vehicle running information and map information received from an interface unit, , The risk alert point is varied. Accordingly, the usability of the user can be increased.

1 is a view showing the appearance of a vehicle having a stereo camera according to an embodiment of the present invention.
Fig. 2 is a view showing the appearance of a stereo camera attached to the vehicle of Fig. 1. Fig.
3A to 3B illustrate various examples of an internal block diagram of a vehicle driving assist apparatus according to an embodiment of the present invention.
Figures 4A-4B illustrate various examples of internal block diagrams of the processors of Figures 3A-3B.
Figures 5A-5B are views referenced in the operational description of the processors of Figures 4A-4B.
Figs. 6A and 6B are views referred to in the description of the operation of the vehicle driving assistance apparatus of Figs. 3A to 3B.
Fig. 7 is an example of an internal block diagram of the electronic control unit in the vehicle of Fig. 1. Fig.
8 is a flowchart illustrating an operation method of a driving assist system according to an embodiment of the present invention.
Figs. 9A to 15 are views referred to for explanation of the operation method of Fig.
16 is a view showing the appearance of a vehicle having a mono camera according to another embodiment of the present invention.
17A illustrates an example of an internal block diagram of a vehicle driving assist apparatus according to another embodiment of the present invention.
17B illustrates an example of an internal block diagram of a vehicle driving assist apparatus according to another embodiment of the present invention.
Figures 18A-18B illustrate various examples of internal block diagrams of the processor of Figure 17A.
Figs. 19A to 19B are diagrams referred to in explaining the operation of the processor of Fig. 18A.

Hereinafter, the present invention will be described in detail with reference to the drawings.

The suffix "module" and " part "for components used in the following description are given merely for convenience of description, and do not give special significance or role in themselves. Accordingly, the terms "module" and "part" may be used interchangeably.

The vehicle described herein may be a concept including a car, a motorcycle. Hereinafter, the vehicle will be described mainly with respect to the vehicle.

On the other hand, the vehicle described in the present specification may be a concept including both a vehicle having an engine, a hybrid vehicle having an engine and an electric motor, an electric vehicle having an electric motor, and the like. Hereinafter, a vehicle having an engine will be mainly described.

Meanwhile, the vehicle driving assist device described in this specification may be referred to as an Advanced Driver Assistance System (ADAS) or an Advanced Driver Assistance Apparatus (ADAA). DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, a vehicle driving assist apparatus and a vehicle including the same according to various embodiments of the present invention will be described.

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

Referring to the drawings, a vehicle 200 includes wheels 103FR, 103FL, 103RL, ... rotated by a power source, a handle 150 for adjusting the traveling direction of the vehicle 200, And a stereo camera 195 provided in the mobile terminal 200.

The stereo camera 195 may include a plurality of cameras, and the stereo image obtained by the plurality of cameras may be signal-processed within the vehicle driving assistance apparatus 100 (Fig. 3).

On the other hand, the figure illustrates that the stereo camera 195 includes two cameras.

Fig. 2 is a view showing the appearance of a stereo camera attached to the vehicle of Fig. 1. Fig.

Referring to the drawing, the stereo camera module 195 may include a first camera 195a having a first lens 193a, and a second camera 195b having a second lens 193b.

The stereo camera module 195 includes a first light shield 192a and a second light shield 192b for shielding light incident on the first lens 193a and the second lens 193b, Shielding portion 192b.

The stereo camera module 195 in the drawing may be a structure detachable from the ceiling or the windshield of the vehicle 200.

A vehicle driving assistance device 100 (Fig. 3) having such a stereo camera module 195 can acquire a stereo image from the stereo camera module 195 in front of the vehicle, and based on the stereo image, disparity ) Detection, perform object detection for at least one stereo image based on the disparity information, and continuously track the motion of the object after object detection.

3A to 3B illustrate various examples of an internal block diagram of a vehicle driving assist apparatus according to an embodiment of the present invention.

3A and 3B can generate vehicle-related information by signal processing the stereo image received from the stereo camera 195 based on computer vision. Here, the vehicle-related information may include vehicle control information for direct control of the vehicle, or vehicle driving assistance information for a driving guide to the vehicle driver.

3A, the vehicle driving assist system 100 of FIG. 3A includes a communication unit 120, an interface unit 130, a memory 140, a processor 170, a power supply unit 190, (Not shown). In addition, an audio input unit (not shown) and an audio output unit (not shown) may be provided.

The communication unit 120 can exchange data with the mobile terminal 600 or the server 500 in a wireless manner. In particular, the communication unit 120 can exchange data with a mobile terminal of a vehicle driver wirelessly. As a wireless data communication method, various data communication methods such as Bluetooth, WiFi Direct, WiFi, and APiX are possible.

The communication unit 120 can receive weather information and traffic situation information on the road, for example, TPEG (Transport Protocol Expert Group) information from the mobile terminal 600 or the server 500. Meanwhile, the vehicle driving assistant device 100 may transmit real-time traffic information based on the stereo image to the mobile terminal 600 or the server 500. [

On the other hand, when the user is boarded in the vehicle, the user's mobile terminal 600 and the vehicle driving assistant device 100 can perform pairing with each other automatically or by execution of the user's application.

The interface unit 130 can receive the vehicle-related data or transmit the signal processed or generated by the processor 170 to the outside. To this end, the interface unit 130 can perform data communication with the ECU 770, the AVN (Audio Video Navigation) device 400, the sensor unit 760, and the like in the vehicle by a wire communication or a wireless communication method have.

The interface unit 130 can receive map information related to the vehicle driving by data communication with the AVN apparatus 400. [

On the other hand, the interface unit 130 can receive the sensor information from the ECU 770 or the sensor unit 760.

Here, the sensor information includes at least one of vehicle direction information, vehicle position information (GPS information), vehicle angle information, vehicle speed information, vehicle acceleration information, vehicle tilt information, vehicle forward / backward information, battery information, fuel information, Lamp information, vehicle interior temperature information, and vehicle interior humidity information.

Such sensor information may include a heading sensor, a yaw sensor, a gyro sensor, a position module, a vehicle forward / backward sensor, a wheel sensor, a vehicle speed sensor, A vehicle body inclination sensor, a battery sensor, a fuel sensor, a tire sensor, a steering sensor by steering wheel rotation, a vehicle internal temperature sensor, and a vehicle internal humidity sensor. On the other hand, the position module may include a GPS module for receiving GPS information.

On the other hand, among the sensor information, the vehicle direction information, the vehicle position information, the vehicle angle information, the vehicle speed information, the vehicle tilt information, and the like relating to the vehicle running can be referred to as vehicle running information.

The memory 140 may store various data for operation of the vehicle driving assistance apparatus 100, such as a program for processing or controlling the processor 170. [

An audio output unit (not shown) converts an electric signal from the processor 170 into an audio signal and outputs the audio signal. For this purpose, a speaker or the like may be provided. The audio output unit (not shown) can also output sound corresponding to the operation of the input unit 110, that is, the button.

An audio input unit (not shown) can receive a user's voice. For this purpose, a microphone may be provided. The received voice may be converted to an electrical signal and transmitted to the processor 170.

The processor 170 controls the overall operation of each unit in the vehicle driving assistance apparatus 100. [

In particular, the processor 170 performs signal processing based on computer vision. Accordingly, the processor 170 obtains a stereo image for the vehicle front from the stereo camera 195, performs a disparity calculation for the vehicle front based on the stereo image, and based on the calculated disparity information , Perform object detection for at least one of the stereo images, and continue to track object motion after object detection.

Particularly, when the object is detected, the processor 170 performs lane detection, vehicle detection, pedestrian detection, traffic sign detection, road surface detection, and the like .

The processor 170 may perform a distance calculation to the detected nearby vehicle, a speed calculation of the detected nearby vehicle, a speed difference calculation with the detected nearby vehicle, and the like.

Meanwhile, the processor 170 can receive weather information, traffic situation information on the road, and TPEG (Transport Protocol Expert Group) information, for example, through the communication unit 120.

Meanwhile, the processor 170 may grasp, in real time, the traffic situation information on the surroundings of the vehicle based on the stereo image, in the vehicle driving assistant device 100. [

On the other hand, the processor 170 can receive map information and the like from the AVN apparatus 400 via the interface unit 130. [

On the other hand, the processor 170 can receive the sensor information from the ECU 770 or the sensor unit 760 through the interface unit 130. [ Here, the sensor information includes at least one of vehicle direction information, vehicle position information (GPS information), vehicle angle information, vehicle speed information, vehicle acceleration information, vehicle tilt information, vehicle forward / backward information, battery information, fuel information, Lamp information, vehicle interior temperature information, and vehicle interior humidity information.

The power supply unit 190 can supply power necessary for the operation of each component under the control of the processor 170. [ Particularly, the power supply unit 190 can receive power from a battery or the like inside the vehicle.

The stereo camera 195 may include a plurality of cameras. Hereinafter, as described with reference to FIG. 2 and the like, it is assumed that two cameras are provided.

The stereo camera 195 may be detachably attachable to the ceiling or the front glass of the vehicle 200 and may include a first camera 195a having a first lens 193a and a second camera 195a having a second lens 193b, (195b).

The stereo camera 195 includes a first light shield 192a and a second light shield 192b for shielding light incident on the first lens 193a and the second lens 193b, And a portion 192b.

3B, the vehicle driving assistant apparatus 100 of FIG. 3B may further include an input unit 110 and a display 180 as compared to the vehicle driving assistant apparatus 100 of FIG. 3A. Only the description of the input unit 110 and the display 180 will be described below.

The input unit 110 may include a plurality of buttons or touch screens attached to the vehicle driving assistance apparatus 100, particularly, the stereo camera 195. [ It is possible to turn on and operate the vehicle driving assistant 100 via a plurality of buttons or a touch screen. In addition, it is also possible to perform various input operations.

The display 180 may display an image related to the operation of the vehicle driving assist system. For this image display, the display 180 may include a cluster or HUD (Head Up Display) on the inside of the vehicle interior. On the other hand, when the display 180 is the HUD, it may include a projection module that projects an image on the windshield of the vehicle 200. [

Figures 4A-4B illustrate various examples of internal block diagrams of the processors of Figures 3A-3B, and Figures 5A-B are views referenced in the operational description of the processors of Figures 4A-4B.

4A is an internal block diagram of the processor 170. The processor 170 in the vehicle driving assistance apparatus 100 includes an image preprocessing unit 410, a disparity computing unit 420, An object detecting unit 434, an object tracking unit 440, and an application unit 450.

An image preprocessor 410 receives the stereo image from the stereo camera 195 and performs preprocessing.

In detail, the image preprocessing unit 410 performs a noise reduction, a rectification, a calibration, a color enhancement, a color space conversion, and a color correction on a stereo image. CSC, interpolation, camera gain control, and the like. Accordingly, a stereo image that is clearer than the stereo image captured by the stereo camera 195 can be obtained.

The disparity calculator 420 receives the stereo image signal processed by the image preprocessing unit 410, performs stereo matching on the received stereo images, performs stereo matching on the received stereo images, , And obtains a disparty map. That is, it is possible to obtain the disparity information about the stereo image with respect to the front of the vehicle.

At this time, the stereo matching may be performed on a pixel-by-pixel basis of stereo images or on a predetermined block basis. On the other hand, the disparity map may mean a map in which binaural parallax information of stereo images, i.e., left and right images, is numerically expressed.

The segmentation unit 432 can perform segmentation and clustering on at least one of the stereo images based on the dispetity information from the disparity calculation unit 420. [

Specifically, the segmentation unit 432 can separate the background and the foreground for at least one of the stereo images based on the disparity information.

For example, an area having dispaly information within a disparity map of a predetermined value or less can be calculated as a background, and the corresponding part can be excluded. Thereby, the foreground can be relatively separated.

As another example, an area in which the dispetity information is equal to or greater than a predetermined value in the disparity map can be calculated with the foreground, and the corresponding part can be extracted. Thereby, the foreground can be separated.

Thus, by separating the foreground and the background based on the disparity information information extracted based on the stereo image, it becomes possible to shorten the signal processing speed, signal processing amount, and the like at the time of object detection thereafter.

Next, the object detector 434 can detect the object based on the image segment from the segmentation unit 432. [

That is, the object detecting section 434 can detect the object for at least one of the stereo images based on the disparity information information.

Specifically, the object detecting unit 434 can detect an object for at least one of the stereo images. For example, an object can be detected from a foreground separated by an image segment.

Next, the object verification unit 436 classifies and verifies the isolated object.

For this purpose, the object identifying unit 436 identifies the objects using a neural network identification method, a SVM (Support Vector Machine) method, a AdaBoost identification method using a Haar-like feature, or a Histograms of Oriented Gradients (HOG) Technique can be used.

On the other hand, the object checking unit 436 can check the objects by comparing the objects stored in the memory 140 with the detected objects.

For example, the object checking unit 436 can identify nearby vehicles, lanes, roads, signs, hazardous areas, tunnels, and the like, which are located around the vehicle.

An object tracking unit 440 performs tracking on the identified object. For example, it sequentially identifies an object in the acquired stereo images, calculates a motion or a motion vector of the identified object, and tracks movement of the object based on the calculated motion or motion vector . Accordingly, it is possible to track nearby vehicles, lanes, roads, signs, dangerous areas, tunnels, etc., located in the vicinity of the vehicle.

Next, the application unit 450 can calculate the risk and the like of the vehicle 200 based on various objects located in the vicinity of the vehicle, for example, other vehicles, lanes, roads, signs, and the like. It is also possible to calculate the possibility of a collision with a preceding vehicle, whether the vehicle is slipping or the like.

Then, the application unit 450 can output a message or the like for notifying the user to the user as vehicle driving assistance information, based on the calculated risk, possibility of collision, or slip. Alternatively, a control signal for attitude control or running control of the vehicle 200 may be generated as the vehicle control information.

4B is another example of an internal block diagram of the processor.

Referring to the drawings, the processor 170 of FIG. 4B has the same internal structure as the processor 170 of FIG. 4A, but differs in signal processing order. Only the difference will be described below.

The object detection unit 434 receives the stereo image and can detect the object for at least one of the stereo images. 4A, it is possible to detect an object directly from the stereo image, instead of detecting the object, on the segmented image, based on the disparity information.

Next, the object verification unit 436 classifies the detected and separated objects based on the image segment from the segmentation unit 432 and the object detected by the object detection unit 434, (Verify).

For this purpose, the object identifying unit 436 identifies the objects using a neural network identification method, a SVM (Support Vector Machine) method, a AdaBoost identification method using a Haar-like feature, or a Histograms of Oriented Gradients (HOG) Technique can be used.

FIGS. 5A and 5B are diagrams referenced for explaining the method of operation of the processor 170 of FIG. 4A based on the stereo images obtained respectively in the first and second frame periods.

First, referring to FIG. 5A, during the first frame period, the stereo camera 195 acquires a stereo image.

The disparity calculating unit 420 in the processor 170 receives the stereo images FR1a and FR1b signal-processed by the image preprocessing unit 410 and performs stereo matching on the received stereo images FR1a and FR1b And obtains a disparity map (520).

The disparity map 520 is obtained by leveling the parallax between the stereo images FR1a and FR1b. The higher the disparity level is, the closer the distance is from the vehicle, and the smaller the disparity level is, It is possible to calculate that the distance is long.

On the other hand, when such a disparity map is displayed, it may be displayed so as to have a higher luminance as the disparity level becomes larger, and a lower luminance as the disparity level becomes smaller.

In the figure, first to fourth lanes 528a, 528b, 528c, and 528d have corresponding disparity levels in the disparity map 520, and the construction area 522, the first front vehicle 524 ) And the second front vehicle 526 have corresponding disparity levels, respectively.

The segmentation unit 432, the object detection unit 434 and the object identification unit 436 determine whether or not the segments, the object detection, and the object detection information for at least one of the stereo images FR1a and FR1b based on the disparity map 520 Perform object verification.

In the figure, using the disparity map 520, object detection and confirmation for the second stereo image FRlb is performed.

That is, the first to fourth lanes 538a, 538b, 538c, and 538d, the construction area 532, the first forward vehicle 534, and the second forward vehicle 536 are included in the image 530, And verification may be performed.

Next, referring to FIG. 5B, during the second frame period, the stereo camera 195 acquires a stereo image.

The disparity calculating unit 420 in the processor 170 receives the stereo images FR2a and FR2b processed by the image preprocessing unit 410 and performs stereo matching on the received stereo images FR2a and FR2b And obtains a disparity map (540).

In the figure, the first to fourth lanes 548a, 548b, 548c, and 548d have corresponding disparity levels in the disparity map 540, and the construction area 542, the first forward vehicle 544 ) And the second front vehicle 546 have corresponding disparity levels, respectively.

The segmentation unit 432, the object detection unit 434 and the object identification unit 436 are configured to determine whether or not a segment, an object detection, and an object detection are detected for at least one of the stereo images FR2a and FR2b based on the disparity map 520 Perform object verification.

In the figure, using the disparity map 540, object detection and confirmation for the second stereo image FR2b is performed.

That is, in the image 550, the first to fourth lanes 558a, 558b, 558c, and 558d, the construction area 552, the first forward vehicle 554, and the second forward vehicle 556, And verification may be performed.

On the other hand, the object tracking unit 440 can compare the FIG. 5A and FIG. 5B and perform tracking on the identified object.

Specifically, the object tracking unit 440 can track movement of the object based on the motion or motion vector of each object identified in FIGS. 5A and 5B. Accordingly, it is possible to perform tracking on the lane, the construction area, the first forward vehicle, the second forward vehicle, and the like, which are located in the vicinity of the vehicle.

6A to 6B are diagrams referred to in the description of the operation of the vehicle driving assist system of FIG.

First, FIG. 6A is a diagram illustrating a vehicle forward situation photographed by a stereo camera 195 provided inside a vehicle. In particular, the vehicle front view is indicated by a bird eye view.

Referring to the drawing, a first lane 642a, a second lane 644a, a third lane 646a, and a fourth lane 648a are located from the left to the right, and the first lane 642a and the second The construction area 610a is positioned between the lanes 644a and the first front vehicle 620a is positioned between the second lane 644a and the third lane 646a and the third lane 646a and the fourth It can be seen that the second forward vehicle 630a is disposed between the lane lines 648a.

Next, FIG. 6B illustrates the display of the vehicle front state, which is grasped by the vehicle driving assist system, together with various information. In particular, the image as shown in FIG. 6B may be displayed on the display 180 or the AVN apparatus 400 provided in the vehicle driving assistance apparatus.

6B is different from FIG. 6A in that information is displayed on the basis of an image photographed by the stereo camera 195. FIG.

A first lane 642b, a second lane 644b, a third lane 646b and a fourth lane 648b are located from the left to the right and the first lane 642b and the second The construction area 610b is located between the lanes 644b and the first front vehicle 620b is located between the second lane 644b and the third lane 646b and the third lane 646b and the fourth It can be seen that the second forward vehicle 630b is disposed between the lane 648b.

The vehicle driving assistant 100 performs signal processing on the basis of the stereo image photographed by the stereo camera 195 and outputs it to the construction area 610b, the first front vehicle 620b, the second front vehicle 630b You can see the object for. In addition, the first lane 642b, the second lane 644b, the third lane 646b, and the fourth lane 648b can be confirmed.

On the other hand, in the drawing, it is exemplified that each of them is highlighted by a frame to indicate object identification for the construction area 610b, the first forward vehicle 620b, and the second forward vehicle 630b.

On the other hand, the vehicle driving assistant apparatus 100 determines the distance to the construction area 610b, the first front vehicle 620b, the second front vehicle 630b based on the stereo image photographed by the stereo camera 195 Information can be computed.

In the figure, calculated first distance information 611b, second distance information 621b, and third distance information 621b corresponding to the construction area 610b, the first forward vehicle 620b, and the second forward vehicle 630b, respectively, Information 631b is displayed.

On the other hand, the vehicle driving assistant apparatus 100 can receive sensor information about the vehicle from the ECU 770 or the sensor unit 760. [ Particularly, it is possible to receive and display the vehicle speed information, the gear information, the yaw rate indicating the speed at which the vehicle's rotational angle (yaw angle) changes, and the angle information of the vehicle.

The figure illustrates that the vehicle speed information 672, the gear information 671 and the yaw rate information 673 are displayed on the vehicle front image upper portion 670. In the vehicle front image lower portion 680, Information 682 is displayed, but various examples are possible. Besides, the width information 683 of the vehicle and the curvature information 681 of the road can be displayed together with the angle information 682 of the vehicle.

On the other hand, the vehicle driving assistant apparatus 100 can receive the speed limitation information and the like for the road running on the vehicle through the communication unit 120 or the interface unit 130. [ In the figure, it is exemplified that the speed limitation information 640b is displayed.

The vehicle driving assistant apparatus 100 may display various information shown in FIG. 6B through the display 180 or the like, but may store various information without a separate indication. And, by using such information, it can be utilized for various applications.

Fig. 7 is an example of an internal block diagram of the electronic control unit in the vehicle of Fig. 1. Fig.

Referring to the drawings, the vehicle 200 may include an electronic control device 700 for vehicle control. The electronic control device 700 can exchange data with the vehicle driving assistant device 100 and the AVN device 400 described above.

The electronic control unit 700 includes an input unit 710, a communication unit 720, a memory 740, a lamp driving unit 751, a steering driving unit 752, a brake driving unit 753, a power source driving unit 754, An airbag driving unit 755, a suspension driving unit 756, an air conditioning driving unit 757, a window driving unit 758, an airbag driving unit 759, a sensor unit 760, an ECU 770, a display unit 780, an audio output unit 785, And a power supply unit 790.

The input unit 710 may include a plurality of buttons or a touch screen disposed inside the vehicle 200. Through a plurality of buttons or a touch screen, it is possible to perform various input operations.

The communication unit 720 can exchange data with the mobile terminal 600 or the server 500 in a wireless manner. In particular, the communication unit 720 can exchange data with the mobile terminal of the vehicle driver wirelessly. As a wireless data communication method, various data communication methods such as Bluetooth, WiFi Direct, WiFi, and APiX are possible.

The communication unit 720 can receive weather information and traffic situation information of the road, for example, TPEG (Transport Protocol Expert Group) information from the mobile terminal 600 or the server 500.

On the other hand, when the user aboard the vehicle, the user's mobile terminal 600 and the electronic control device 700 can perform pairing with each other automatically or by execution of the user's application.

The memory 740 may store various data for operation of the electronic control unit 700, such as a program for processing or controlling the ECU 770. [

The lamp driving unit 751 can control the turn-on / turn-off of the lamps disposed inside and outside the vehicle. Also, the intensity, direction, etc. of the light of the lamp can be controlled. For example, it is possible to perform control on a direction indicating lamp, a brake lamp, and the like.

The steering driver 752 may perform electronic control of the steering apparatus in the vehicle 200. [ Thus, the traveling direction of the vehicle can be changed.

The brake driver 753 can perform electronic control of the brake apparatus in the vehicle 200. [ For example, it is possible to reduce the speed of the vehicle 200 by controlling the operation of the brake disposed in the wheel. As another example, it is possible to adjust the traveling direction of the vehicle 200 to the left or right by differently operating the brakes respectively disposed on the left wheel and the right wheel.

The power source driving section 754 can perform electronic control of the power source in the vehicle 200. [

For example, when the fossil fuel-based engine is a power source, the power source drive unit 754 can perform electronic control of the engine. Thus, the output torque of the engine and the like can be controlled.

As another example, when the electric-based motor is a power source, the power source driving section 754 can perform control on the motor. Thus, the rotation speed, torque, etc. of the motor can be controlled.

The sunroof driving unit 755 can perform electronic control of the sunroof apparatus in the vehicle 200. [ For example, you can control the opening or closing of the sunroof.

The suspension driving unit 756 may perform electronic control of suspension apparatus in the vehicle 200. [ For example, when there is a curvature on the road surface, it is possible to control the suspension device so as to reduce the vibration of the vehicle 200. [

The air conditioning driving unit 757 can perform electronic control of the air conditioner in the vehicle 200. [ For example, when the temperature inside the vehicle is high, the air conditioner can be operated to control the cooling air to be supplied into the vehicle.

The window driving unit 758 can perform electronic control on a window apparatus in the vehicle 200. [ For example, it can control the opening or closing of left and right windows on the side of the vehicle.

The airbag driver 759 can perform electronic control of the airbag apparatus in the vehicle 200. [ For example, at risk, the airbag can be controlled to fire.

The sensor unit 760 senses a signal related to the running or the like of the vehicle 100. [ To this end, the sensor unit 760 may include a heading sensor, a yaw sensor, a gyro sensor, a position module, a vehicle forward / backward sensor, a wheel sensor, A vehicle speed sensor, a vehicle body inclination sensor, a battery sensor, a fuel sensor, a tire sensor, a steering sensor by steering wheel rotation, a vehicle interior temperature sensor, and a vehicle interior humidity sensor.

Thereby, the sensor unit 760 outputs the vehicle position information (GPS information), the vehicle angle information, the vehicle speed information, the vehicle acceleration information, the vehicle tilt information, the vehicle forward / backward information, the battery information, Tire information, vehicle lamp information, vehicle internal temperature information, vehicle interior humidity information, and the like.

In addition, the sensor unit 760 may 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, A position sensor (TPS), a TDC sensor, a crank angle sensor (CAS), and the like.

The ECU 770 can control the overall operation of each unit in the electronic control unit 700. [

It is possible to perform a specific operation by the input by the input unit 710 or to receive the sensed signal from the sensor unit 760 and transmit the sensed signal to the vehicle driving assistant 100 and to transmit map information from the AVN apparatus 400 And can control the operation of each of the longitudinal drive units 751, 752, 753, 754, and 756.

Also, the ECU 770 can receive weather information and traffic situation information of the road, for example, TPEG (Transport Protocol Expert Group) information from the communication unit 720. [

The display unit 780 can display an image related to the operation of the vehicle driving assist system. For this image display, the display unit 780 may include a cluster or an HUD (Head Up Display) on the inside of the vehicle interior. Meanwhile, when the display unit 780 is the HUD, it may include a projection module for projecting an image on the windshield of the vehicle 200. [ On the other hand, the display unit 780 may include a touch screen that can be input.

The audio output unit 785 converts the electrical signal from the ECU 770 into an audio signal and outputs the audio signal. For this purpose, a speaker or the like may be provided. The audio output unit 785 can also output a sound corresponding to the operation of the input unit 710, that is, the button.

The power supply unit 790 can supply power necessary for operation of each component under the control of the ECU 770. [ Particularly, the power supply unit 790 can receive power from a battery (not shown) inside the vehicle.

FIG. 8 is a flowchart illustrating an operation method of a driving assist system according to an embodiment of the present invention, and FIGS. 9A to 15 are diagrams referred to for explanation of the operation method of FIG.

First, referring to FIG. 8, the processor 170 of the vehicle driving assistant 100 can recognize the vehicle user (S805).

The method of recognizing a vehicle user may be various examples including a fingerprint recognition method, a method using a mobile terminal, a method using a camera in a vehicle, and a method using a user voice.

The method of recognizing the vehicle user will be described with reference to Figs. 9A to 9C.

First, FIG. 9A is a diagram for explaining a user recognition method using fingerprint recognition.

Referring to the drawing, a first input unit 110L and a second input unit 110R may be attached to the handle 150 in the vehicle. At least one of the first input unit 110L and the second input unit 110R One may have a touch screen for fingerprint recognition.

For example, when the user holds the handle 150 using the left hand 800L and the right hand 800R, the left hand thumb finger 801L and the right hand thumb finger 801R are moved to the first input portion 110L When one of the first input unit 110L and the second input unit 110R is touched while being placed on the second input unit 110R, the corresponding input unit can perform a scanning operation for fingerprint recognition. Then, a fingerprint image according to the scanning operation can be transmitted to the processor 170. [

The processor 170 may compare the scanned fingerprint image with the image stored in the memory 140 to perform user recognition.

Next, FIG. 9B is a diagram for explaining a method of recognizing a user using a mobile terminal.

When the user is aboard the vehicle and the power of the vehicle is turned on, the vehicle driving assistant device 100 is activated. After a predetermined time, the activated vehicle driving assistant device 100 and the user's mobile terminal 600 can perform pairing.

For example, when the user drives the vehicle app of the mobile terminal 600, the mobile terminal 600 transmits a pairing signal to the vehicle driving assistant 100, Lt; / RTI >

As another example, the activated vehicle driving assistant device 100 may automatically transmit the pairing signal to the mobile terminal 600 and receive the pairing response signal from the mobile terminal 600.

The vehicle driving assistant device 100 may receive the device information or the user information of the mobile terminal 600 upon completion of the pairing with the mobile terminal 600. [ The processor 170 can recognize the user using the device information or the user information of the mobile terminal 600. [

9C is a diagram for explaining a user recognition method using an internal camera.

When the user 800 is aboard the vehicle and the power of the vehicle is turned on, the camera 1500 inside the vehicle is activated, and the user 800 seated on the driver's seat can be photographed. Then, the processor 170 can recognize the user based on the photographed user image.

On the other hand, unlike FIGS. 9A to 9C, it is also possible to perform user recognition using the user's voice. When the vehicle driving assistant apparatus 100 is provided with an audio input unit (not shown), the user's voice is collected using an audio input unit (not shown), and based on the collected user's voice, Can be recognized.

Next, the processor 170 of the vehicle driving assistant 100 receives the stereo image from the stereo camera (S810). The processor 170 of the vehicle driving assistant 100 receives the vehicle running information, the map information, the position information (GPS information), and the like through the interface unit 130 (S820).

2, the processor 170 of the vehicle driving assistant 100 receives the first image through the first camera 195a, and the second camera 195a through the stereo camera 195 disposed inside the vehicle, 2 camera 195b to receive the second image.

Since there is a distance between the first camera 195a and the second camera 195b, a disparity occurs between the first image and the second image.

The processor 170 of the vehicle driving assistance apparatus 100 performs stereo matching on the first image and the second image and acquires a disparty map according to the stereo matching. That is, it is possible to obtain the disparity information with respect to the front of the vehicle.

At this time, the stereo matching may be performed on a pixel-by-pixel basis of stereo images or on a predetermined block basis. On the other hand, the disparity map may mean a map in which binaural parallax information of stereo images, i.e., left and right images, is numerically expressed.

The disparity map 520 is obtained by leveling the parallax between the stereo images FR1a and FR1b. The higher the disparity level is, the closer the distance is from the vehicle, and the smaller the disparity level is, It is possible to calculate that the distance is long.

As a result, the processor 170 of the vehicle driving assistance apparatus 100 can calculate the distance information for the front shot image based on the first image and the second image.

On the other hand, the processor 170 of the vehicle driving assistance apparatus 100 may perform segmentation, object detection, and object identification for at least one of the first image and the second image based on the disparity map.

Accordingly, the processor 170 can detect and confirm a lane, a nearby vehicle, a pedestrian, a traffic sign, a road surface, and the like.

Then, the processor 170 performs tracking on the identified object. That is, it is possible to track nearby vehicles, lanes, roads, signs, hazardous areas, tunnels, etc., located in the vicinity of the vehicle.

Meanwhile, in connection with the embodiment of the present invention, the processor 170 of the vehicle driving assistant apparatus 100 uses the distance information for the front vehicle located in front of the vehicle.

On the other hand, the processor 170 of the vehicle driving assistant apparatus 100 receives vehicle running information, map information, position information (GPS information), and the like through the interface unit 130. [

For example, the processor 170 of the vehicle driving assistance apparatus 100 can receive sensor information from the ECU 770 or the sensor unit 760 via the interface unit 130, and the AVN apparatus 400 , It is possible to receive the map information.

On the other hand, the sensor information may include vehicle running information related to vehicle running, and the vehicle running information may include vehicle direction information, vehicle position information (GPS information), vehicle angle information, vehicle speed information, can do.

On the other hand, in connection with the embodiment of the present invention, the vehicle running information may include at least one of brake operation time information, lane change time information, and lane change lamp operation time information for lane change. Such information may be included in the sensor information from the ECU 770 or the sensor unit 760, as described above.

Next, the processor 170 of the vehicle driving assistant 100 calculates a user operation pattern based on the stereo image, the vehicle driving information, and the map information (S825). Then, the processor 170 of the vehicle driving assistant 100 varies the danger warning time according to the user operation pattern (S830). Next, the processor 170 of the vehicle driving assistant 100 controls to store the user operation pattern in the memory 140 (S840). Then, the processor 170 of the vehicle driving assistant 100 transmits the user operation pattern to the outside (S845).

10 is a diagram illustrating an operation pattern when the first user 1400 is traveling on the vehicle 200. Fig.

10A shows first to fourth lanes 642a, 644a, 646a, and 648a arranged from the left to the right in front of the vehicle 200 in operation, The construction site 610a is located between the lane 642a and the second lane 644a and the first forward vehicle 620a is located between the second lane 644a and the third lane 646a, And that the second forward vehicle 630a is located between the third lane 646a and the fourth lane 648a.

On the other hand, the processor 170 of the vehicle driving assistance apparatus 100 is configured to control the forward vehicles 620a and 630a, the front lanes 642a, 644a, 646a, and 648a based on the stereo image through the stereo camera 195, , The construction site 610a, and the like. Further, each of the distance detection and speed detection may be performed.

The processor 170 of the vehicle driving assistant 100 outputs a danger warning message 1000 as shown in the figure when the distance between the vehicle 200 in the running state and the first forward vehicle 620a is within a predetermined interval can do. When the vehicle driving assistant device 100 includes the display 180, it is possible to output a danger warning object, and when the vehicle driving assistant device 100 has an audio output portion (not shown) Can be output.

In the drawing, it is exemplified that the interval between the running vehicle 200 and the first forward vehicle 620a is D1.

10 (b) illustrates that the user operates the brake at a distance D2 smaller than the distance D1 in accordance with the warning message output in Fig. 10 (a). The processor 170 of the vehicle driving assistant 100 can receive the brake signal as the vehicle running information through the interface unit 130 and can utilize it in the calculation of the user operation pattern.

10 (c) illustrates that the user moves from the D3 distance smaller than the D1 distance to the side lane in accordance with the warning message output in Fig. 10 (a). The processor 170 of the vehicle driving assistant 100 can calculate the lane change point-in-time information based on the stereo image, and can utilize it in the calculation of the user operation pattern. Alternatively, when the user turns on the side entry lamp and enters the side lane, the processor 170 of the vehicle driving assistant 100 transmits the lane change lamp operation signal for changing the lane to the interface unit 130 And can be utilized in the calculation of the user operation pattern.

11 is a diagram illustrating an operation pattern when the second user 1410 is traveling on the vehicle 200. Fig.

Referring to the drawings, Fig. 11A is the same as Fig. 10A, and a description thereof will be omitted. In the drawing, it is exemplified that the interval between the running vehicle 200 and the first forward vehicle 620a is D1.

11 (b) illustrates that the user operates the brake at a distance Db smaller than the distance D1 in accordance with the warning message output in Fig. 11 (a). The processor 170 of the vehicle driving assistant 100 can receive the brake signal as the vehicle running information through the interface unit 130 and can utilize it in the calculation of the user operation pattern.

Fig. 11 (c) illustrates that the user moves from the Dc distance smaller than the D1 distance to the side lane according to the warning message output in Fig. 11 (a). The processor 170 of the vehicle driving assistant 100 can calculate the lane change point-in-time information based on the stereo image, and can utilize it in the calculation of the user operation pattern. Alternatively, when the user turns on the side entry lamp and enters the side lane, the processor 170 of the vehicle driving assistant 100 transmits the lane change lamp operation signal for changing the lane to the interface unit 130 And can be utilized in the calculation of the user operation pattern.

10 and 11, the same danger warning message 1000 is output at the same distance D1. However, the operation pattern of the first user 1400 and the operation pattern of the second user 1410 are different from each other have. That is, the second user 1410 may notice that, despite the danger warning message 1000, at a shorter distance, the brakes operate or move to the next lane.

The processor 170 of the vehicle driving assistant apparatus 100 may set the operation pattern of the second user 1410 to a pattern which is quick in response speed and can be instantaneously responded to when the Db distance and the Dc distance are larger than the inter- . Thus, for a second user with a fast reaction speed, it is possible to control to delay the danger warning time point.

On the other hand, when the Db distance and the Dc distance are within the interval tolerance between the vehicles, the processor 170 of the vehicle driving assistant 100 calculates the operation pattern of the second user 1410 in a dangerous operation pattern , It is possible to control to output the danger alert point at an earlier point in time.

The processor 170 of the vehicle driving assistant apparatus 100 can calculate that the first user 1400 has a stable operation pattern as compared with the second user 1410. The processor 170 of the vehicle driving assistant apparatus 100, You can also control to keep a critical alert time.

12 is a diagram referred to explain the operation of the processor for calculating the operation pattern of the user.

12, the processor 170 receives the stereo image Sim from the stereo camera 195, receives the map information Smp from the AVN apparatus 400, (Scar) can be received.

The processor 170 can exchange data with the AVN apparatus 400 and the ECU 770 through the interface unit 130, although not shown in the drawing.

The vehicle running information may include at least one of brake operation time information, lane change time information, and lane change lamp operation time information for lane change.

The processor 170 detects driving situation information including a distance, a speed, and a lane to the preceding vehicle based on the stereo image Sim, and outputs driving state information, vehicle driving information Scar, map information Smp , It is possible to calculate the operation pattern of the user.

For example, the processor 170 collectively considers the vehicle interval, the user's brake operation time, the lane change time, the lane change lamp operation time for lane change, etc., and calculates the operation pattern of the user accordingly .

The processor 170 controls the memory 140 to store the calculated operation pattern information Spro1 of the user. Alternatively, it can be controlled to be transmitted to the server 500 through the communication unit 120. [

Accordingly, the server 500 can collect the operation pattern for each user. In particular, when the vehicle 200 is a lending vehicle rather than a self-vehicle, when the vehicle driving electron is used to lend another vehicle using the user-specific driving pattern, the server 500 sets the user driving pattern So that the vehicle setting for the user can be immediately made.

On the other hand, the processor 170 can transmit the operation pattern information Spro1 of the user to the AVN apparatus 400. [ Alternatively, as shown in the figure, the processor 170 can transmit only the setting information Scm corresponding to the operation pattern of the user to the AVN apparatus 400. [ The AVN apparatus 400 can guide the traveling route suitable for the user based on the reception of the setting information Scm.

On the other hand, the processor 170 can transmit the operation pattern information Spro1 of the user to the ECU 770. [ Alternatively, the processor 170 can transmit, to the ECU 770, vehicle control information (Scoc) corresponding to the operation pattern of the user.

That is, the processor 170 of the vehicle driving assistant apparatus 100 may control the operation of the steering wheel driving unit 752, the brake driving unit 753, the power source driving unit 754, the suspension driving unit 756, Vehicle control information Scoc for controlling the vehicle 770 and to control the vehicle control information Scoc to be transmitted to the ECU 770. [

The steering drive section 752, the brake drive section 753, the power source drive section 754, the suspension drive section 756, and the like can be operated in accordance with the user operation pattern by the vehicle control information Soc.

For example, the brake driver 753 can control the braking force so that the braking force becomes larger when the brake is applied, in accordance with the operation pattern of the second user 1410 having a higher reaction speed.

As another example, the power source drive unit 754 can control the power source so that the instantaneous acceleration power of the power source becomes larger at the time of acceleration input, according to the operation pattern of the second user 1410 having a faster reaction speed.

As another example, the steering driver 752 can control the steering apparatus so that the direction switching speed becomes faster at the direction switching input, according to the operation pattern of the second user 1410 whose reaction speed is fast.

As another example, the suspension driving unit 756 can control the suspension device so that the suspension operates hardly according to the operation pattern of the second user 1410 whose reaction speed is fast.

FIGS. 13 to 15 are diagrams illustrating a danger warning time varying according to an operation pattern of a user.

First, FIG. 13A illustrates that the warning time is maintained as it is according to the normal operation pattern of the first user 1400 described in FIG. That is, when the interval with the front vehicle 620a is D1, a danger warning message 1000 is outputted.

Next, FIG. 13 (b) illustrates that the warning time is delayed according to the operation pattern of the second user 1410 described in FIG. That is, in the case where the distance to the front vehicle 620a is Dx smaller than D1, a danger warning message 1300 is outputted. Thus, a customized warning message output for the second user 1410 with a good response speed is enabled. On the other hand, it is preferable that Dx is larger than the vehicle interval tolerance.

On the other hand, in the case where the distance from the front vehicle 620a becomes smaller and falls within the tolerance even though the danger warning message 1300 is output at the Dx distance, the processor 170 of the vehicle driving assistant 100, May be controlled to perform forced operation for the sake of safety of the user.

The processor 170 of the vehicle driving assistant 100 can generate a forced operation signal and output it in consideration of an emergency situation. This forced operation signal can be transmitted to the ECU 770 in the vehicle 200 and the ECU 770 can control at least one of the steering driver 752, the brake driver 753, and the power source driver 754 can do.

For example, when the distance between the vehicle 200 and the preceding vehicle 620a is within an allowable range, the brake driver 753 can control the brake operation. As another example, the steering driver 752 may control the steering device to move to the side lane.

Next, FIG. 14 illustrates an example of performing a corresponding operation in the AVN apparatus 400, which is an external apparatus, according to the user operation pattern calculated in the vehicle driving assistant apparatus 100. FIG.

First, FIG. 14A shows a case where the AVN apparatus 400 outputs the right advancing message 1410a at the first time point ta in accordance with the normal operation pattern of the first user 1400 described in FIG. 10 .

Next, FIG. 14B shows that the AVN apparatus 400 outputs the right advancing message 1410b at the second time point tb in accordance with the operation pattern of the second user 1410 described in FIG. 11 For example. The second time point tb at this time may be later than the first time point ta. Since the response speed of the second user 1410 is fast, it is possible to output the right entry message later in accordance with the operation pattern of the second user 1410.

Next, FIG. 15 illustrates another example of performing the corresponding operation in the AVN apparatus 400, which is an external apparatus, according to the user operation pattern calculated in the vehicle driving assistant apparatus 100. FIG.

First, FIG. 15 (a) shows a case where the AVN apparatus 400 calculates a route having a high-speed priority at the time of calculating a navigation route according to the normal operation pattern of the first user 1400 described in FIG. 10, (1500a).

Next, FIG. 15 (b) shows how the AVN apparatus 400 calculates the route with the shortest distance at the time of calculating the navigation route, according to the operation pattern of the second user 1410 described in FIG. 11 And outputs the shortest distance notification message 1500b. Since the reaction speed of the second user 1410 is fast, it is also possible to guide the route at the shortest distance in accordance with the operation pattern of the second user 1410.

 Meanwhile, the AVN apparatus 400 may perform route storage by dividing the user operation patterns according to the user, and may guide routes corresponding to each user or a user operation pattern.

16 is a view showing the appearance of a vehicle having a mono camera according to another embodiment of the present invention.

Referring to the drawings, a vehicle 200 according to another embodiment of the present invention includes wheels 135FR, 135FL, 135RL, etc., rotated by a power source, a handle 150 for controlling the traveling direction of the vehicle 200 And a mono camera 193 and a radar 194 provided in the vehicle 200. [

The mono image through the mono camera 193 and the distance information via the radar 194 can be signal processed within the vehicle driving assistant (2100 of Fig. 17A).

17A illustrates an example of an internal block diagram of a vehicle driving assist apparatus according to another embodiment of the present invention.

17A is similar to the inner block of the vehicle driving assistance apparatus 100 of FIG. 3, except that a stereo image-based signal from the stereo camera 195 There is a difference in that the signal processing based on the mono image through the mono camera 193 and the distance information through the radar 194 is performed instead of the processing. That is, the vehicle posture control signal can be generated. In the following, only the difference will be described.

The mono camera 193 can be detachably attached to the ceiling or the front glass of the vehicle 200 and can include a single camera having a lens.

The radar 194 can be detachably attached to the ceiling or the windshield of the vehicle 200 and transmits a radio wave of a predetermined frequency to the front of the vehicle and receives the radio wave reflected from the object ahead of the vehicle.

The processor 2170 can calculate the distance information based on the difference between the transmission radio wave and the reception radio wave in the radar 194. Also, it is possible to perform object separation, detection, recognition, etc. by matching the mono image and the distance information through the mono camera 193.

Next, Fig. 17B illustrates an example of an internal block diagram of a vehicle driving assist apparatus according to another embodiment of the present invention.

17B is similar to the inner block of the vehicle driving assistant 2100 of FIG. 17A, but includes the mono camera 193 and the radar 194, rather than the mono camera 193 and the radar 194, (Lidar) 2101 that performs scanning with respect to an external object.

By describing the difference, the rider 2101 can acquire a scan image for the forward situation by the laser scanning method, and the processor 2270 performs signal processing based on the scan image received from the rider . That is, the vehicle posture control signal can be generated.

Figs. 18A-18B illustrate various examples of the internal block diagram of the processor of Fig. 17A, and Figs. 19A-19B are views referenced in the operation description of the processor of Fig. 18A.

The processor internal blocks in Figs. 18A to 18B are similar to the processors in Figs. 4A to 4B, but differ from each other in that they do not include a disparity calculating unit.

Instead, distance information Sd corresponding to the disparity information is received from the external radar 194. The distance information Sd is input to the segmentation section 432, and can be used for segmenting the image.

Figs. 19A to 19B are diagrams for explaining the operation method of the processor 170 of Fig. 18A based on the mono images obtained respectively in the first and second frame periods.

Referring to FIGS. 19A and 19B, similar to FIGS. 5A and 5B, there is a difference in that there is no need to generate a distance map since a mono image and radar-based distance information are used.

First, referring to FIG. 19A, during the first frame period, the mono camera 193 acquires the mono image FR1, and the radar acquires the distance information Sd1.

Accordingly, the segmentation section 432, the object detection section 434, and the object identification section 436 in the processor 2170 calculate the distance information Sd1 in the mono image FR1 based on the radar-based distance information Sd1, It is possible to detect and confirm the lane to fourth lanes 538a, 538b, 538c and 538d, the construction area 532, the first front vehicle 534 and the second front vehicle 536. [

Next, referring to Fig. 19B, during the second frame period, the mono camera 193 acquires the mono image FR2, and the radar acquires the distance information Sd2.

Accordingly, the segmentation section 432, the object detection section 434, and the object identification section 436 in the processor 2170 determine whether or not the first (first) and second It is possible to detect and confirm the lane-to-fourth lanes 558a, 558b, 558c and 558d, the construction area 552, the first front vehicle 554 and the second front vehicle 556. [

On the other hand, the object tracking unit 440 can compare the FIG. 19A and FIG. 19B to track the identified object.

Specifically, the object tracking unit 440 can track movement of the object or the like based on the motion or motion vector of each object identified in Figs. 19A and 19B. Accordingly, it is possible to perform tracking on the lane, the construction area, the first forward vehicle, the second forward vehicle, and the like, which are located in the vicinity of the vehicle.

On the other hand, the vehicle driving assistant 2100 including the monaural camera 193 and the radar 194 described in Figs. 16 to 19B is similar to that described in Figs. 8 to 15, And the vehicle running information and the map information received from the interface unit, and the risk warning time can be varied based on the calculated operation pattern.

Specifically, the processor 2170 of the vehicle driving assistant device 2100 detects the distance to the preceding vehicle based on the mono image received from the mono camera 193 and the distance information detected from the radar 194, The operation pattern of the user is calculated based on at least one of the distance to the detected forward vehicle, the brake operation time information, the lane change time information, the lane change lamp operation time information for lane change, and the map information, The risk warning time can be varied based on the operation pattern.

In addition, the route guidance in the external navigation apparatus can be varied according to the user operation pattern. As a result, the usability of the user can be increased.

On the other hand, the vehicle driving assistant 2150 having the rider 2101 described in Fig. 17B, similarly to those described in Figs. 8 to 15, carries the vehicle running information and the map information received from the scan image and the interface unit The operation pattern is calculated based on the calculated operation pattern, and the danger warning time can be varied based on the calculated operation pattern.

Specifically, the processor 2270 of the vehicle driving assistant 2150 detects the distance to the preceding vehicle based on the scanned image received from the rider 2101, and detects the distance to the detected preceding vehicle, The operation pattern of the user is calculated based on at least one of the viewpoint information, the lane-changing time information, the lane-changing lamp operation time information for lane change, and the map information, can do.

In addition, the route guidance in the external navigation apparatus can be varied according to the user operation pattern. As a result, the usability of the user can be increased.

The vehicle driving assist system and the vehicle having the vehicle driving assist system according to the embodiment of the present invention can be applied to the configurations and methods of the embodiments described above in a limited manner, All or some of the examples may be selectively combined.

Meanwhile, the vehicle driving assist device or the vehicle operating method of the present invention can be implemented as a code that can be read by a processor on a recording medium readable by a processor of a vehicle driving assistant or a vehicle. The processor-readable recording medium includes all kinds of recording apparatuses in which data that can be read by the processor is stored. Examples of the recording medium that can be read by the processor include a ROM, a RAM, a CD-ROM, a magnetic tape, a floppy disk, an optical data storage device, and the like, and may also be implemented in the form of a carrier wave such as transmission over the Internet . In addition, the processor-readable recording medium may be distributed over network-connected computer systems so that code readable by the processor in a distributed fashion can be stored and executed.

While the present invention has been particularly shown and described with reference to exemplary embodiments thereof, it is to be understood that the invention is not limited to the disclosed exemplary embodiments, but, on the contrary, It will be understood by those skilled in the art that various changes in form and detail may be made therein without departing from the spirit and scope of the present invention.

Claims (20)

Stereo camera;
An interface unit for exchanging data with an external device; And
A processor for calculating an operation pattern on the basis of the stereo image received from the stereo camera and the vehicle running information and map information received from the interface unit and varying the danger warning time point based on the calculated operation pattern; Wherein the vehicle driving assist device is a vehicle driving assist device. The method according to claim 1,
The interface unit includes:
And the calculated driving pattern is transmitted to the external navigation device so as to guide the corresponding traveling route in the external navigation device based on the calculated driving pattern. The method according to claim 1,
A memory for storing the calculated operation pattern; And
And a communication unit for transmitting the calculated operation pattern to an external server. The method according to claim 1,
And an input unit attached to the handle for recognizing the fingerprint of the user,
The processor comprising:
Wherein the control unit recognizes the user based on the user fingerprint image through the input unit and varies the danger warning time according to the operation pattern of the recognized user. The method according to claim 1,
And a communication unit for pairing with the mobile terminal,
The processor comprising:
And recognizes the user based on the device information or the user information received from the mobile terminal, and changes the danger warning time according to the recognized user operation pattern. The method according to claim 1,
And an internal camera provided inside the vehicle for photographing the user,
The processor comprising:
And recognizes the user on the basis of the user image photographed by the internal camera, and changes the danger warning time according to the recognized user operation pattern. The method according to claim 1,
The vehicle running information includes:
The lane change time information, the lane change lamp operation time information for lane change,
The processor comprising:
Calculating an operation pattern based on at least one of the distance to the detected nearby vehicle and the lane change lamp operation time information for the lane change, the brake operation time information, the lane change time information, and the lane change lamp operation time information for the lane change based on the stereo image Characterized in that the vehicle driving assistance device. The method according to claim 1,
The processor comprising:
Controls to transmit vehicle control information corresponding to the operation pattern of the user to the control unit of the vehicle,
The vehicle control information includes:
And information for controlling at least one of a steering driver, a brake driver, a power source driver, and a suspension driver of the vehicle. The method according to claim 1,
The processor comprising:
Wherein the control unit generates and outputs a forced operation signal for controlling at least one of a steering driver, a brake driver, a power source driver, and a suspension driver of the vehicle when the distance from the preceding vehicle is within an allowable range after the danger warning. Auxiliary device. The method according to claim 1,
The processor comprising:
A disparity operation unit for performing a disparity operation of the stereo image;
An object detection unit for performing object detection on at least one of the stereo images based on disparity information of the stereo image;
And an object tracking unit for performing tracking on the detected object. 11. The method of claim 10,
The processor comprising:
A segmentation unit for segmenting an object in the stereo image based on disparity information of the stereo image; And
And an object checking unit for classifying the detected object,
Wherein the object detecting unit comprises:
And performs object detection for at least one of the stereo images based on the segmented object. Mono camera;
Radar for distance detection;
An interface unit for exchanging data with an external device;
Calculating a driving pattern based on the mono image received from the mono camera, the distance information detected from the radar, and the vehicle running information and the map information received from the interface unit, and based on the calculated driving pattern, And a processor that varies the viewpoint. 13. The method of claim 12,
The vehicle running information includes:
The lane change time information, the lane change lamp operation time information for lane change,
The processor comprising:
Based on the mono image and the distance information, performs distance detection with a nearby vehicle, speed difference with the nearby vehicle, lane detection,
And calculating a driving pattern based on at least one of a distance to the detected nearby vehicle, information on the time of the brake operation, lane change time information, and lane change lamp operation time information for lane change. Device. A rider performing scanning with respect to an external object;
An interface unit for exchanging data with an external device;
And a processor for calculating an operation pattern on the basis of the scan image received from the rider, the vehicle running information received from the interface unit and the map information, and varying the danger warning time based on the calculated operation pattern Wherein the vehicle driving assist device is a vehicle driving assist device. A sensor unit for sensing a state of the vehicle;
A steering driver for driving the steering device;
A brake driver for driving the brake device,
A power source driving unit for driving a power source;
A suspension driver for driving the suspension device;
A controller for controlling the steering driver, the brake driver, the power source driver, and the suspension driver; And
An operation section for calculating an operation pattern on the basis of a stereo camera, an interface section for exchanging data with an external device, a stereo image received from the stereo camera, and vehicle running information and map information received from the interface section, And a vehicle driving assist apparatus having a processor for varying a danger warning time point based on an operation pattern. 15. The method of claim 14,
The interface unit includes:
And the calculated operation pattern is transmitted to the external navigation device so as to guide the corresponding travel route in the external navigation device based on the calculated operation pattern. 16. The method of claim 15,
And an input unit attached to the handle for recognizing the fingerprint of the user,
The processor comprising:
Recognizes a user based on a user fingerprint image through the input unit, and changes a danger warning point in accordance with the recognized user operation pattern. 16. The method of claim 15,
And a communication unit for pairing with the mobile terminal,
The processor comprising:
Recognizes the user based on the device information or the user information received from the mobile terminal, and changes the risk warning point in accordance with the recognized user operation pattern. 16. The method of claim 15,
And an internal camera provided inside the vehicle for photographing the user,
The processor comprising:
Recognizes the user based on the user image photographed by the internal camera, and varies the danger warning point in accordance with the recognized user operation pattern. 16. The method of claim 15,
The vehicle running information includes:
The lane change time information, the lane change lamp operation time information for lane change,
The processor comprising:
Calculating an operation pattern based on at least one of the distance to the detected nearby vehicle and the lane change lamp operation time information for the lane change, the brake operation time information, the lane change time information, and the lane change lamp operation time information for the lane change based on the stereo image Features a car.

Images