KR20220060002A - Vehicle safty control system for dark road driving and control method thereof - Google Patents

Abstract

The present invention comprises: front radar and a front camera of a vehicle; a headlight device configured to irradiate light by controlling an optical axis toward left and right sides of the vehicle; and a controller monitoring a blockage state of the front camera, detecting a dangerous object appeared on one side thereof deviated from a detection range of the front camera by the front radar when the blockage state of the front camera is at least a predetermined reference level, and configured to irradiate the light to the dangerous object by controlling the headlight device.

Description

VEHICLE SAFTY CONTROL SYSTEM FOR DARK ROAD DRIVING AND CONTROL METHOD THEREOF

The present invention relates to a technology for safely controlling a vehicle against a dangerous object that may appear in front of the vehicle on a dark road.

An autonomous vehicle provides various levels of driver assistance functions depending on its level, and ultimately can be defined as being capable of driving at a level that does not require a driver.

Still, it can be seen that there is no autonomous vehicle that does not require driver intervention at all, so the autonomous vehicle referred to here can be mainly viewed as a vehicle equipped with a relatively high level of driver assistance functions, and in some cases fully autonomous It can also mean a driving vehicle.

The autonomous vehicle must be able to automatically detect a dangerous object appearing in front of the vehicle while driving and appropriately avoid it. It is possible to detect the presence of dangerous objects and their movements.

If you use both the front radar and the front camera to observe the front of the vehicle in motion, ideally, almost all dangerous objects such as other vehicles or pedestrians can be detected. Because the range is narrowed, blind spots occur in the detection of a front dangerous object, and in particular, it is difficult to properly respond to a dangerous object such as a pedestrian suddenly appearing in front of a vehicle.

The matters described as the background technology of the present invention are only for enhancing the understanding of the background of the present invention, and should not be taken as acknowledging that they correspond to the prior art already known to those of ordinary skill in the art. will be

KR 1020190078775 A

The present invention enables a more appropriate detection and recognition of a dangerous object in front of the vehicle even on a dark road where it is difficult to detect a dangerous object in the front by the front camera of the vehicle, and warns the driver of such a situation in front of the vehicle It is an object of the present invention to provide a vehicle safety control system and a control method for a dark road that can further improve the safety of the vehicle by properly controlling the vehicle to avoid a collision with a dangerous object.

The present invention dark road vehicle safety control system for achieving the above object,

The vehicle's front radar and front camera;

a headlamp device configured to illuminate by adjusting the optical axis to the left and right of the vehicle;

Monitoring the blocking state of the front camera, and in a state in which the blocking state of the front camera is equal to or higher than a predetermined reference level, when a dangerous object that appears on one side out of the detection range of the front camera is detected by the front radar, the a controller configured to operate the headlamp device to irradiate the dangerous object;

It is characterized in that it is configured to include.

When the controller detects a dangerous object appearing in a position outside the detection range of the front camera with the front radar in a state in which the blocking state of the front camera is equal to or higher than the reference level, the state of detecting a dangerous object with the front camera continues for more than a predetermined first reference time , it may be configured to drive a warning device so that the driver can detect it, and to display the location and information of the dangerous object on at least one of the instrument panel and the HUD.

When the dangerous object is detected by the front camera by irradiating a light beam to the dangerous object by the operation of the headlight device, the controller analyzes more accurate information about the dangerous object and displays it on at least one of the instrument panel and the HUD. It may be configured to re-express information about the dangerous object.

If it is determined that there is a risk of collision between the dangerous object and the vehicle, the controller may be configured to drive the warning device to notify the driver, and drive the braking device and steering device to evacuate the vehicle to a safe location. .

In addition, the present invention is a rear radar capable of detecting the rear of the vehicle;

Consists of further comprising,

The controller simultaneously determines the risk of collision between the dangerous object and the vehicle and the safety zone based on the road conditions including the lanes around the vehicle, avoiding the collision with the dangerous object, and at the same time as the rear radar It may be configured to evacuate the vehicle to the safety zone by driving the braking device and the steering device while checking other vehicles.

The controller may be configured to determine the risk of collision between the dangerous object and the vehicle by big data-based deep learning.

In the controller, when dangerous objects are simultaneously detected from both sides outside the detection range of the front camera when the blocking state of the front camera is equal to or higher than a predetermined reference level, the headlamp device maintains the previous state, and the driver It may be configured to warn by driving the warning device to recognize dangerous objects.

In addition, the present invention for achieving the object as described above, the vehicle safety control system control method of the dark road,

determining, by the controller, the blocking status of the front camera to determine whether the blocking status is higher than or equal to a predetermined reference level;

detecting, by the controller, a dangerous object appearing in a position outside the detection range of the front camera with a front radar when the blocking state of the front camera is higher than or equal to a predetermined reference level;

when the dangerous object is detected only from one side out of the detection range of the front camera, the controller controls the headlight device to irradiate the dangerous object;

It is characterized in that it is configured to include.

The controller detects a dangerous object appearing in a location outside the detection range of the front camera with the front radar when the situation in which the blocking state of the front camera is above the reference level continues for more than a predetermined second reference time steps can be performed.

In the present invention, in a state in which the blocking state of the front camera is equal to or higher than the reference level, the detection of a dangerous object appearing in a position outside the detection range of the front camera with the front radar continues for more than a predetermined first reference time , driving a warning device to be detected by the driver, and displaying the location and information of the dangerous object on at least one of an instrument panel and a HUD;

It may be configured to further include.

The present invention comprises the steps of: when the dangerous object is detected by the front camera by irradiating a light beam to the dangerous object by manipulating the headlamp device, analyzing more accurate information about the dangerous object;

re-expressing the information on the dangerous object on at least one of the instrument panel and the HUD;

It may be configured to further include.

According to the present invention, when it is determined that there is a risk of collision between the dangerous object and the vehicle as a result of analyzing the information on the dangerous object detected by the front camera, the warning device is driven to notify the driver of this, and the braking device and evacuating the vehicle to a safe location by driving the steering device;

It may be configured to further include.

In the step of evacuating the vehicle to a safe location, it is possible to avoid a collision with the dangerous object and evacuate the vehicle to a safe area while checking other vehicles behind the vehicle with a rear radar.

Determination of the risk of collision between the dangerous object and the vehicle may be performed by big data-based deep learning.

In the present invention, when the dangerous object is simultaneously detected from both sides outside the detection range of the front camera, the controller maintains the headlight device as it is in the previous state, and the warning device is provided so that the driver can recognize the dangerous objects. warning by driving;

It may be configured to further include.

The present invention enables a more appropriate detection and recognition of a dangerous object in front of the vehicle even on a dark road where it is difficult to detect a dangerous object in the front by the front camera of the vehicle, and warns the driver of such a situation in front of the vehicle Alternatively, by appropriately controlling the vehicle to avoid a collision with a dangerous object, the safety of the vehicle can be further improved.

1 is a diagram illustrating the configuration of a vehicle safety control system on a dark road according to the present invention;
2 is a view for comparing and explaining the blockage state of the front camera;
3 is a view illustrating an example in which a dangerous object appears on one side of the front side of the vehicle as showing an embodiment of the present invention;
4 is a diagram conceptually explaining that the controller drives the steering device and the braking device to evacuate to a safety zone of the vehicle;
5 is a flowchart illustrating a process by which the controller evacuates to a safety zone of the vehicle;
6 is a view for explaining the process of determining the expected position of the dangerous object detected by the front camera;
7 is a view illustrating various states of detecting a dangerous object appearing in front of the vehicle with a front camera;
8 is a view illustrating an example in which a dangerous object appears on both sides of the front of the vehicle as showing an embodiment of the present invention;
9 is a flowchart illustrating an embodiment of a method for controlling a vehicle safety control system on a dark road according to the present invention;
10 is a flowchart illustrating an example of control switching between the present invention and the existing forward collision avoidance system.

Specific structural or functional descriptions of the embodiments of the present invention disclosed in the present specification or application are only exemplified for the purpose of describing the embodiments according to the present invention, and the embodiments according to the present invention may be implemented in various forms. and should not be construed as being limited to the embodiments described in the present specification or application.

Since the embodiment according to the present invention can have various changes and can have various forms, specific embodiments are illustrated in the drawings and described in detail in the present specification or application. However, this is not intended to limit the embodiment according to the concept of the present invention with respect to a specific disclosed form, and should be understood to include all changes, equivalents or substitutes included in the spirit and scope of the present invention.

Terms such as first and/or second may be used to describe various elements, but the elements should not be limited by the terms. The above terms are used only for the purpose of distinguishing one element from another element, for example, without departing from the scope of the present invention, a first element may be called a second element, and similarly The second component may also be referred to as the first component.

When an element is referred to as being “connected” or “connected” to another element, it is understood that it may be directly connected or connected to the other element, but other elements may exist in between. it should be On the other hand, when it is said that a certain element is "directly connected" or "directly connected" to another element, it should be understood that the other element does not exist in the middle. Other expressions describing the relationship between elements, such as "between" and "immediately between" or "neighboring to" and "directly adjacent to", etc., should be interpreted similarly.

The terms used herein are used only to describe specific embodiments, and are not intended to limit the present invention. The singular expression includes the plural expression unless the context clearly dictates otherwise. In the present specification, terms such as “comprise” or “have” are intended to designate that the described feature, number, step, operation, component, part, or a combination thereof exists, and includes one or more other features or numbers. , it should be understood that it does not preclude the existence or addition of steps, operations, components, parts, or combinations thereof.

Unless defined otherwise, all terms used herein, including technical and scientific terms, have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. Terms such as those defined in commonly used dictionaries should be interpreted as meanings consistent with the context of the related art, and unless explicitly defined in the present specification, they are not to be interpreted in an ideal or excessively formal meaning. .

Hereinafter, the present invention will be described in detail by describing preferred embodiments of the present invention with reference to the accompanying drawings. Like reference numerals in each figure indicate like elements.

Referring to Figure 1, an embodiment of the vehicle safety control system on a dark road of the present invention, the front radar (1) and the front camera (3) of the vehicle (V); a headlamp device 5 configured to illuminate by adjusting the optical axis to the left and right of the vehicle V; A dangerous object appears on one side out of the detection range of the front camera 3 while monitoring the blocking state of the front camera 3 and the blocking state of the front camera 3 being above a predetermined reference level When (M) is detected by the front radar (1), it is configured to include a controller (7) configured to operate the headlight device (5) to irradiate the dangerous object (M).

The blockage state of the front camera 3 comprehensively means a state that can act as an obstacle to the quality of image data acquired by the front camera 3, and the camera itself such as contamination of the lens of the camera It may include states and external states of the camera, such as backlight incident on the lens, fog, ambient light, and the like.

For example, referring to FIG. 2 , in state A, the blocked state of the front camera 3 is level 0, and very normal image data can be secured, so that not only the corresponding lane of the road on which the vehicle V travels, but also the adjacent lane It indicates a state in which it is possible to shoot with a sufficient field of view.

The state B is a state in which the blockage is level 1 and is at night, but the amount of ambient light is secured to a certain extent by lighting of a street lamp, etc., and the field of view of the front camera 3 is a state capable of shooting with a sufficient field of view up to the adjacent lane. Of course, since it is difficult to secure sufficient light as in the daytime, it is expected that the quality of the image data will be somewhat lower than that of the image data that can be secured during the daytime of the same situation.

The state of C is a state in which the blockage is at least level 3, and the vehicle V is driving on a road with a significantly low amount of ambient light at night. indicates the status.

The level of the blockage may be configured as a plurality of levels with a higher level as the quality of image data by the front camera 3 decreases as described above.

For reference, the detection range of the front radar 1 is also displayed in FIG. 2 , and in the state of C, the front radar 1 can secure a normal detection range, but, in contrast, the detection range of the front camera 3 It can be seen that is limited within the irradiation range of the headlamp.

In the present invention, as described above, in a situation where the detection range of the front camera 3 is limited within the irradiation range of the headlamp, the detection is possible by the front radar 1, but the detection is difficult by the front camera 3 It mainly focuses on the case where a dangerous object (M) appears in the

That is, as described above, in a state in which the blocking state of the front camera 3 is higher than or equal to a predetermined reference level, the front radar If it is detected as (1), the headlight device 5 is operated so that the dangerous object M can be irradiated.

Accordingly, the reference level may be appropriately set according to the purpose as described above. In the example illustrated in FIG. 2 , the reference level may be, for example, three levels.

The controller 7 detects a dangerous object M that appears outside the detection range of the front camera 3 in a state where the blocking state of the front camera 3 is equal to or higher than the reference level, and the front radar 1 ), the warning device is driven so that the driver can detect it, and the position and It is designed to present information.

For example, as shown in FIG. 3A, the blocking state of the front camera 3 is, for example, 3 levels or more, and the field of view of the front camera 3 is narrow only with the irradiation range of the headlight, and the risk detected by the front radar 1 If the situation in which the object M is not detected by the front camera 3 is recognized for more than the first reference time, the controller 7 notifies the driver of this situation itself with the warning device, and the instrument panel or It is to express as much information as possible, such as the location of the dangerous object (M), through the HUD.

Accordingly, the first reference time is set to such a degree that it can be determined that the appearance of the dangerous object M is certain to a certain extent within as short a time as possible, such as 1 second, to prevent misjudgment by noise, and to quickly It would be desirable to allow the notification to bring about a more favorable situation for risk aversion.

As the warning device, any device capable of implementing a means capable of warning the driver of a danger, such as a warning lamp, an alarm, voice guidance, seat vibration, steering wheel vibration, and the like, may be used.

3B shows that the controller 7 recognizes the same situation as A, operates the headlamp 5 as described above to change the optical axis to irradiate the dangerous object M, and accordingly the front camera It is explained that the field of view of (3) can be directed toward the dangerous object (M).

When the dangerous object M is detected by the front camera 3 by irradiating a light beam to the dangerous object M by the operation of the headlight device 5, the controller 7 detects the dangerous object M It is configured to re-express information about the dangerous object (M) on at least one of the instrument panel (9) and the HUD (11) by analyzing more accurate information about it.

That is, by irradiating a dangerous object M detected only by the front radar 1 and not detected by the front camera 3 with the headlight device 5, the front camera 3 as shown in C of FIG. When the dangerous object M can be detected, the image data of the front camera 3 is analyzed and additional information obtained, for example, information on the type of the dangerous object M, the expected path, etc., is displayed on the instrument panel 9 ) or the HUD 11 so that the driver can recognize more accurate information.

When it is determined that there is a risk of collision between the dangerous object M and the vehicle V, the controller 7 drives the warning device 13 to notify the driver, and the brake device 15 and the steering device and drive (17) to evacuate the vehicle (V) to a safe location.

That is, when it is determined that there is a risk of collision by the dangerous object M approaching the vehicle V as shown in D of FIG. 3 , the controller 7 drives the warning device 13 as described above to notify the driver of this It informs the situation and further automatically drives the braking device 15 and the steering device 17 to evacuate the vehicle V to a safe location.

For reference, here, simply “vehicle V” means the vehicle V to which the present invention is applied.

The vehicle (V) to which the present invention is applied may be configured to further include a rear radar 19 capable of detecting the rear of the vehicle (V).

That is, the controller 7 receives a signal from a rear radar constituting a Blind-Spot Collision Warning (BCW) device provided in the vehicle V, etc., and monitors or confirms other vehicles behind the vehicle V to avoid dangerous situations.

That is, in a situation such as D of FIG. 3 , the controller 7 simultaneously creates a safety zone based on the risk of collision between the dangerous object M and the vehicle V and the road conditions including the lanes around the vehicle V. By judging, the braking device 15 and the steering device 17 are driven while avoiding the collision with the dangerous object M and at the same time checking other vehicles behind the vehicle V with the rear radar 19 Thus, it is configured to evacuate the vehicle V to the safety zone from the time point t to the time point t+1 as shown in FIG. 4 .

The controller 7 may be configured to determine the risk of collision between the dangerous object M and the vehicle V by big data-based deep learning.

That is, as exemplified in FIG. 5, by deep learning processing the image data of the front camera 3, information on the dangerous object M as well as main information of the road such as guardrails, walls, and end lanes are acquired. And, based on this, a safe zone to move the vehicle V is recognized or found, and the vehicle V is evacuated to the safe zone through steering and braking control of the vehicle V.

For reference, the vehicle (V) through steering and braking control while recognizing the safety zone in FIG. 5, checking the vehicle behind with the rear radar 19 of BCW, and securing a distance from the dangerous object (M) in front of the vehicle (V) The operations of evacuating V) to the safe zone are actually processed almost simultaneously in parallel, but are listed in time series for convenience of understanding.

The controller 7 embeds a model learned by the deep learning technique, and when a dangerous object M in the front is detected by the front camera 3, as shown in FIG. By analyzing time-series information such as the position and the current position of the n time point and its movement time, the predicted position of the dangerous object M at the n+1 time point is calculated.

In addition, the controller 7 calculates TTC (Time To Collision) according to the predicted position of the dangerous object M detected by the front camera 3, warns it as described above, and based on this, warns the vehicle (V) is to perform a control to evacuate to a safe area.

On the other hand, the situation in which the dangerous object M appears in front of the vehicle V while the vehicle V is driving may have various forms as exemplified in A to D of FIG. 7 , the vehicle as shown in A (V) A situation in which the dangerous object (M) moves in front of the vehicle (V) inclined with respect to the driving direction of the vehicle (V), a situation in which the dangerous object (M) is moving perpendicular to the driving direction of the vehicle (V) as in B, C and Similarly, in a situation where the distance between the dangerous object M in front of the vehicle V and the vehicle V gradually decreases, as in D, the vehicle V approaches the stationary dangerous object M, but on the driving route Circumstances in which a collision can be avoided may occur.

In various cases as described above, the controller 7 calculates the expected position of the dangerous object M detected by the front camera 3 as described above, calculates the TTC accordingly, and utilizes it to control the vehicle V.

Of course, the controller 7 is equipped with a module learned in advance by a deep learning technique for various cases as described above, and uses this to calculate the expected position and TTC of the front object.

Therefore, in learning the module of the controller 7 by deep learning, it would be preferable to prepare big data on the appearance of objects in various cases as described above, and to use this to learn the module, and such deep learning Learning may be performed by a method of supervised learning or a method of unsupervised learning.

On the other hand, when the controller 7 detects dangerous objects M from both sides out of the detection range of the front camera 3 at the same time in a state in which the blocking state of the front camera 3 is equal to or higher than a predetermined reference level, The headlight device 5 is configured to maintain the previous state as it is, and drive the warning device 13 to warn the driver so that the driver can notice the dangerous objects M.

That is, as illustrated in A of FIG. 8 , the blocking state of the front camera 3 is, for example, level 3 or higher, and dangerous objects M from both sides out of the detection range of the front camera 3 are located in the front When it is detected by the radar 1, as in B, the headlight device 5 continues to keep looking ahead, and the warning device 13 is driven to warn the driver of the appearance of the dangerous objects M. .

Of course, even in this case, as mentioned in the example of FIG. 3, the first reference time is applied so that the appearance of the dangerous objects M can be confirmed with more than a certain degree of accuracy, and the dangerous objects for a time equal to or longer than the first reference time When the (M) are detected, it is possible to warn the driver of the appearance of the dangerous object (M).

In addition, when the front camera 3 can detect the dangerous objects M as shown in C of FIG. 8 , the controller 7 provides additional information obtained by analyzing the image data of the front camera 3 . , for example, information on the type of the dangerous object M, the expected path, etc. is displayed on the instrument panel 9 or the HUD 11 so that the driver can recognize more accurate information.

Also, when it is determined that there is a risk of collision by the dangerous objects M approaching the vehicle V as shown in D of FIG. 8 , the controller 7 controls the warning device 13 as described above ) to notify the driver of this situation, and further, to automatically drive the braking device 15 and the steering device 17 to evacuate the vehicle V to a safe location.

The present invention as described above can also be expressed as a method for controlling a vehicle safety control system on a dark road as shown in FIG. 9 .

That is, the present invention provides a method for controlling a vehicle safety control system on a dark road, comprising: the controller 7 monitoring the blocking state of the front camera 3 to determine whether the blocking state is equal to or greater than a predetermined reference level (S10); When the blocking state of the front camera 3 is higher than or equal to a predetermined reference level, the controller 7 uses the front radar 1 to detect a dangerous object M that appears outside the detection range of the front camera 3 detecting (S20); When the dangerous object (M) is detected only from one side out of the detection range of the front camera (3), the controller (7) controls the headlight device (5) to irradiate the dangerous object (M) ( S30) is included.

The controller 7 detects the front camera 3 with the front radar 1 when the situation in which the blocking state of the front camera 3 is equal to or greater than the reference level continues for more than a predetermined second reference time A step (S20) of detecting a dangerous object (M) appearing in a location out of range may be performed.

That is, here, the second reference time is for determining whether the blocking state of the front camera 3 is more than the reference level, and may be set, for example, 15 seconds.

In addition, in the present invention, in a state in which the blocking state of the front camera 3 is equal to or higher than the reference level, a dangerous object M that appears in a position outside the detection range of the front camera 3 is detected by the front radar 1 When the state detected as a sequencing continues for more than a predetermined first reference time, the warning device 13 is driven so that the driver can detect, and the dangerous object M is displayed on at least one of the instrument panel 9 and the HUD 11 A step (S40) of expressing the location and information of may be further performed.

As described above, the first reference time is set to such a degree that it can be determined that the appearance of the dangerous object M as described above is certain to a certain extent within the shortest possible time, thereby preventing erroneous judgment due to noise and providing a prompt notification of danger. It is desirable to be able to bring about a situation more favorable to avoidance.

In addition, in the present invention, when the dangerous object M is detected by the front camera 3 by irradiating a light beam to the dangerous object M by the operation of the headlight device 5, the Analyzing more accurate information about (S50); The method may further include the step of re-expressing information on the dangerous object M on at least one of the instrument panel 9 and the HUD 11 ( S60 ).

In addition, the present invention analyzes the information on the dangerous object (M) detected by the front camera (3), if it is determined that there is a risk of the dangerous object (M) and the vehicle (V) collide, the driver The method may further include a step (S70) of driving the warning device 13 to notify the user of this, and driving the braking device 15 and the steering device 17 to evacuate the vehicle V to a safe location.

In the step (S70) of evacuating the vehicle (V) to a safe location, while avoiding the collision with the dangerous object (M), the rear radar 19 confirms another vehicle (V) behind the vehicle (V) while evacuating the vehicle (V) to a safe area.

Of course, the determination of the risk of collision between the dangerous object M and the vehicle V may be performed by big data-based deep learning.

In addition, when the dangerous object M is simultaneously detected from both sides outside the detection range of the front camera 3, the controller 7 maintains the headlight device 5 as it is, and the driver A step of warning by driving the warning device 13 to recognize the dangerous objects (M) may be performed.

According to the present invention as described above, the blocking state of the front camera 3 and whether to maintain the state may determine whether to perform the present invention.

For example, as shown in Fig. 10, when the blocking state of the front camera 3 occurs, for example, 3 levels or more, 15 seconds or more, it switches to perform the control of the present invention, and also blocks while performing the control of the present invention When the key is less than level 3, it is determined whether this state is maintained for, for example, 5 seconds or more, and if maintained, control is transferred to the existing forward collision avoidance system, otherwise, the control of the present invention is performed again.

For reference, FIG. 10 shows that the driver can manually select the performance of the present invention, and in this case, the control according to the present invention may be continuously performed unless there is a separate release operation by the driver.

On the other hand, when the present invention as described above is applied to a fully autonomous vehicle, the device or step for warning the driver may be omitted or may be dedicated to warning the occupant.

Although the present invention has been shown and described with reference to specific embodiments, it is within the art that the present invention can be variously improved and changed without departing from the spirit of the present invention provided by the following claims. It will be obvious to those of ordinary skill in the art.

V; vehicle
M; dangerous object
One; front radar
3; front camera
5; headlight device
7; controller
9; instrument panel
11; HUD
13; warning device
15; brake
17; steering
19; rear radar

Claims (15)

The vehicle's front radar and front camera;
a headlamp device configured to illuminate by adjusting the optical axis to the left and right of the vehicle;
Monitoring the blocking state of the front camera, and in a state in which the blocking state of the front camera is equal to or higher than a predetermined reference level, when a dangerous object that appears on one side out of the detection range of the front camera is detected by the front radar, the a controller configured to operate the headlamp device to irradiate the dangerous object;
A vehicle safety control system on a dark road, characterized in that it comprises a. The method according to claim 1,
When the controller detects a dangerous object appearing in a position outside the detection range of the front camera with the front radar in a state in which the blocking state of the front camera is equal to or higher than the reference level, the state of detecting a dangerous object with the front camera continues for more than a predetermined first reference time , configured to drive a warning device so that the driver can detect it, and to display the location and information of the dangerous object on at least one of the instrument panel or HUD
A vehicle safety control system on dark roads, characterized by 3. The method according to claim 2,
When the dangerous object is detected by the front camera by irradiating a light beam to the dangerous object by the operation of the headlight device, the controller analyzes more accurate information about the dangerous object and displays it on at least one of the instrument panel and the HUD. Constructed to re-express information about dangerous objects
A vehicle safety control system on dark roads, characterized by 4. The method according to claim 3,
When it is determined that there is a risk of collision between the dangerous object and the vehicle, the controller drives the warning device to notify the driver, and drives the braking device and the steering device to evacuate the vehicle to a safe location
A vehicle safety control system on dark roads, characterized by 5. The method according to claim 4,
a rear radar capable of detecting the rear of the vehicle;
Consists of further comprising,
The controller simultaneously determines the risk of collision between the dangerous object and the vehicle and the safety zone based on the road conditions including the lanes around the vehicle, avoiding the collision with the dangerous object, and at the same time as the rear radar configured to evacuate the vehicle to the safety zone by driving the braking device and the steering device while checking other vehicles
A vehicle safety control system on dark roads, characterized by 6. The method of claim 5,
The controller is configured to determine the risk of collision between the dangerous object and the vehicle by big data-based deep learning
A vehicle safety control system on dark roads, characterized by The method according to claim 1,
In the controller, when dangerous objects are simultaneously detected from both sides outside the detection range of the front camera when the blocking state of the front camera is equal to or higher than a predetermined reference level, the headlamp device maintains the previous state, and the driver configured to warn by driving the warning device to recognize dangerous objects
A vehicle safety control system on dark roads, characterized by determining, by the controller, the blocking status of the front camera to determine whether the blocking status is higher than or equal to a predetermined reference level;
detecting, by the controller, a dangerous object appearing in a position outside the detection range of the front camera with a front radar when the blocking state of the front camera is higher than or equal to a predetermined reference level;
when the dangerous object is detected only from one side out of the detection range of the front camera, the controller controls the headlight device to irradiate the dangerous object;
A method of controlling a vehicle safety control system on a dark road, characterized in that it comprises a. 9. The method of claim 8,
The controller detects a dangerous object appearing in a location outside the detection range of the front camera with the front radar when the situation in which the blocking state of the front camera is above the reference level continues for more than a predetermined second reference time doing the steps
A method of controlling a vehicle safety control system on a dark road, characterized in that 9. The method of claim 8,
In a state in which the blocking state of the front camera is equal to or higher than the reference level, if the state of detecting a dangerous object appearing in a position outside the detection range of the front camera with the front radar continues for more than a predetermined first reference time, the driver driving a warning device to be detected, and displaying the location and information of the dangerous object on at least one of an instrument panel and a HUD;
A vehicle safety control system control method on a dark road, characterized in that it further comprises a. 11. The method of claim 10,
analyzing more accurate information on the dangerous object when the dangerous object is detected by the front camera by irradiating a light beam to the dangerous object by manipulating the headlight device;
re-expressing the information on the dangerous object on at least one of the instrument panel and the HUD;
A vehicle safety control system control method on a dark road, characterized in that it further comprises a. 12. The method of claim 11,
As a result of analyzing the information on the dangerous object detected by the front camera, if it is determined that there is a risk of a collision between the dangerous object and the vehicle, the warning device is driven to notify the driver of this, and the braking device and the steering device are operated. evacuating the vehicle to a safe location by driving;
A vehicle safety control system control method on a dark road, characterized in that it further comprises a. 13. The method of claim 12,
In the step of evacuating the vehicle to a safe location, avoiding a collision with the dangerous object and evacuating the vehicle to a safe area while checking other vehicles behind the vehicle with the rear radar
A method of controlling a vehicle safety control system on a dark road, characterized in that 14. The method of claim 13,
Determination of the risk of collision between the dangerous object and the vehicle is performed by big data-based deep learning
A method of controlling a vehicle safety control system on a dark road, characterized in that 9. The method of claim 8,
When the dangerous object is simultaneously detected from both sides outside the detection range of the front camera, the controller maintains the headlight device as it is and drives the warning device so that the driver can recognize the dangerous object to warn to do;
A vehicle safety control system control method on a dark road, characterized in that it further comprises a.

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