Vehicle, and controlling method thereof

Abstract

According to one aspect of the disclosed invention, a vehicle and a control method thereof can be provided that are capable of changing the alarm area of ​​a sensor provided in the vehicle to prevent collision when a load is loaded on the outside of the vehicle. A vehicle according to one embodiment may include: a camera for acquiring an exterior image of the vehicle; a first sensor provided on the exterior of the vehicle to detect the location of an object adjacent to the vehicle; an alarm unit for outputting an alarm; and a control unit for determining a reference area based on the exterior image of the vehicle and controlling the alarm unit to output an alarm when the detected location of an object adjacent to the vehicle is included in the reference area.

Description

Technology Field

[0001] The invention relates to a vehicle and a method for controlling the vehicle, and more specifically, to a vehicle and a method for controlling the vehicle in which the reference area for alerting the driver can vary depending on loads or attachments outside the vehicle. Background Technology

[0002] Generally, a vehicle refers to a means of movement or transportation that travels on roads or tracks using fossil fuels, electricity, or other power sources. For example, a vehicle can drive using power generated by an engine.

[0003] With the recent advancement of vehicle technology incorporating IT technologies, there is a trend of developing vehicles equipped with various additional features to enhance driver safety and convenience.

[0004] In addition, research is actively underway on vehicles equipped with Advanced Driver Assist Systems (ADAS) that actively provide information about the surrounding environment through various types of sensors equipped in the vehicle to reduce the burden on the driver and enhance convenience. The problem to be solved

[0005] According to one aspect of the disclosed invention, a vehicle and a control method thereof can be provided that are capable of changing the alarm area of ​​a sensor provided in the vehicle to prevent collision when a load is loaded on the outside of the vehicle. means of solving the problem

[0006] A vehicle according to one aspect of the disclosed invention may include: a camera for acquiring an image of the exterior of the vehicle; a first sensor provided on the exterior of the vehicle to detect the location of an object adjacent to the vehicle; an alarm unit for outputting an alarm; and a control unit for determining a reference area based on the image of the exterior of the vehicle and controlling the alarm unit to output an alarm when the detected location of an object adjacent to the vehicle is included in the reference area.

[0007] In addition, the control unit can determine the reference area based on information regarding cargo loaded on the exterior of the vehicle included in the exterior image of the vehicle.

[0008] Additionally, it further includes a short-range communication module that receives a signal from a digital key; and the control unit can control the camera to acquire an exterior image of the vehicle based on the signal.

[0009] Additionally, it further includes a second sensor that detects an impact applied to the vehicle; and the control unit can control the camera to acquire an image of the exterior of the vehicle when the impact is detected.

[0010] In addition, the camera acquires a user's gesture image, and the control unit can determine the reference area based on the user's gesture image.

[0011] In addition, the control unit can determine the location indicated by the user based on the user's gesture image and determine the reference area based on the location indicated by the user.

[0012] Additionally, the control unit may control the camera to acquire the user's gesture image if it cannot determine the reference area based on the vehicle exterior image acquired by the camera.

[0013] Additionally, it further includes a communication unit capable of communicating with a user terminal; and the control unit can determine the reference area based on an exterior image of the vehicle received from the user terminal.

[0014] In addition, the control unit may control the communication unit to transmit a signal to the user terminal requesting to capture the exterior image of the vehicle if the reference area cannot be determined based on the exterior image of the vehicle acquired by the camera.

[0015] Additionally, it further includes a drive unit that provides rotational force for driving; and the control unit may include a control unit that receives road information from a navigation system, generates a command to control the autonomous driving of the vehicle based on the reference area and the road information, and outputs the command to control the autonomous driving to the drive unit.

[0016] In addition, the control unit can determine a driving path to a destination based on the reference area and the road information, and output a command to the drive unit to control the autonomous driving so that the vehicle drives along the driving path.

[0017] A method for controlling a vehicle according to one aspect of the disclosed invention may include: acquiring an exterior image of the vehicle; determining a reference area based on the exterior image of the vehicle; detecting the location of an object adjacent to the vehicle; and controlling an alarm unit to output an alarm if the detected location of the object adjacent to the vehicle is included in the reference area.

[0018] In addition, determining the reference area may include determining the reference area based on information regarding cargo loaded on the exterior of the vehicle included in the exterior image of the vehicle.

[0019] Additionally, it may further include receiving a signal from a digital key; and controlling a camera to acquire an exterior image of the vehicle based on said signal.

[0020] Additionally, it may further include detecting an impact applied to the vehicle; and controlling a camera to acquire an image of the vehicle's exterior when the impact is detected.

[0021] Additionally, it may further include acquiring a user gesture image and determining the reference area based on the user gesture image.

[0022] In addition, determining the reference area based on the user's gesture image may include determining the location indicated by the user based on the user's gesture image; and determining the reference area based on the location indicated by the user.

[0023] Additionally, acquiring a user's gesture image may include controlling the camera to acquire the user's gesture image if the reference area cannot be determined based on the vehicle exterior image acquired by the camera.

[0024] In addition, it may further include determining the reference area based on the exterior image of the vehicle received from the user terminal.

[0025] Additionally, if the reference area cannot be determined based on the vehicle exterior image acquired by the camera, the method may further include controlling the communication unit to transmit a signal requesting the capture of the vehicle exterior image to the user terminal.

[0026] Additionally, it may further include receiving road information from a navigation system; generating a command to control the autonomous driving of the vehicle based on the reference area and the road information; and outputting the command to control the autonomous driving to a drive unit.

[0027] Additionally, outputting a command to control the autonomous driving to the drive unit may include determining a driving path to a destination based on the reference area and the road information; and outputting a command to control the autonomous driving to the drive unit so that the vehicle drives along the driving path. Effects of the invention

[0028] According to one aspect of the disclosed invention, a vehicle and a control method thereof can be provided, wherein when a load is loaded on the exterior of the vehicle, the alarm area of ​​a sensor provided in the vehicle can be changed based on information of the load acquired by a camera.

[0029] According to one aspect of the disclosed invention, a vehicle and a control method thereof can be provided that are capable of providing a warning for collision prevention by taking into account cargo outside the vehicle. Brief explanation of the drawing

[0030] FIG. 1 is a bird's-eye view showing the exterior of a vehicle according to one embodiment. FIG. 2 is a control block diagram of a vehicle according to one embodiment. FIG. 3 is a diagram illustrating a change in a reference area according to one embodiment. FIG. 4(a) is a diagram illustrating a situation in which a digital key approaches a vehicle according to one embodiment. FIG. 4(b) is a drawing illustrating a situation in which cargo is loaded on the exterior of a vehicle according to one embodiment. FIG. 5(a) is a diagram illustrating the determination of a reference area based on a user's gesture image according to one embodiment. FIG. 5(b) is a diagram illustrating determining a reference area based on a user's gesture image according to another embodiment. FIG. 6 is a diagram illustrating the determination of a reference area based on an exterior image of a vehicle received from a user terminal. FIG. 7 is a flowchart illustrating a control method for outputting an alarm in one embodiment. FIG. 8 is a flowchart illustrating a control method for setting a driving path in one embodiment. Specific details for implementing the invention

[0031] Throughout the specification, the same reference numerals refer to the same components. This specification does not describe all elements of the embodiments, and general content in the art to which the disclosed invention pertains or content that overlaps between embodiments is omitted. The terms 'part, module, component, block' used in the specification may be implemented in software or hardware, and depending on the embodiments, a plurality of 'parts, modules, components, blocks' may be implemented as a single component, or a single 'part, module, component, block' may include a plurality of components.

[0032] Throughout the specification, when a part is described as being "connected" to another part, this includes not only cases where they are directly connected but also cases where they are indirectly connected, and indirect connections include connections made via a wireless communication network.

[0033] Furthermore, when it is stated that a part "includes" a certain component, this means that, unless specifically stated otherwise, it does not exclude other components but may include additional components.

[0034] Throughout the specification, when it is stated that a component is located "on" another component, this includes not only cases where a component is in contact with another component, but also cases where another component exists between the two components.

[0035] The terms first, second, etc. are used to distinguish one component from another, and the components are not limited by the aforementioned terms.

[0036] Singular expressions include plural expressions unless there is an obvious exception in the context.

[0037] In each step, identification codes are used for convenience of explanation and do not describe the order of the steps; the steps may be performed differently from the specified order unless a specific order is clearly indicated in the context.

[0038] The operating principle and embodiments of the disclosed invention will be described below with reference to the attached drawings.

[0039] FIG. 1 is a bird's-eye view showing the exterior of a vehicle according to one embodiment.

[0040] Referring to FIG. 1, the camera (110) of the vehicle (100) may be at least one camera (111 to 119) provided outside the vehicle (100).

[0041] The camera (110) can acquire an image of an object and provide image data to various components within the vehicle (100). The camera (110) may be a camera (111-119) provided on the exterior front, side, and rear of the vehicle (100). The camera (111-119) provided on the exterior front, side, and rear of the vehicle (100) can be used to analyze images of the surroundings of the vehicle (100) or to determine the driving status of the vehicle (100), and can assist in the driving of the vehicle (100).

[0042] The first sensor (120) may include at least one of a radar sensor, a lidar sensor, and a camera sensor, and as needed, each may be provided in multiple numbers on the vehicle (100). At this time, the camera sensor that may be included in the first sensor may be a camera (111~119) provided on the exterior front, side, and rear of the vehicle (100).

[0043] The first sensor (120) may be a sensor (121-125) provided on the outer front, side, and rear of the vehicle (100).

[0044] A radar sensor refers to a detection sensor capable of determining the distance, direction, altitude, speed, etc. of an object by irradiating it with electromagnetic waves (e.g., radio waves, microwaves, etc.) and receiving the electromagnetic waves reflected from the object. A radar sensor may include a radar antenna for transmitting electromagnetic waves or receiving electromagnetic waves reflected from an object.

[0045] A LiDAR sensor refers to a detection sensor capable of determining the distance, direction, altitude, speed, etc. of an object by irradiating the object with a laser having a wavelength shorter than that of electromagnetic waves (e.g., infrared, visible light, etc.) and receiving the light reflected from the object. A LiDAR sensor may include a light source that transmits the laser and a receiver that receives the reflected light.

[0046] If the first sensor (120) is a lidar sensor, the lidar sensor may be a sensor (121, 122, 123, 125) provided on the outside front, side, and rear of the vehicle (100). In this case, the lidar sensor (121, 122, 123, 125) provided on the outside front, side, and rear of the vehicle (100) can detect the location and distance of an object outside the vehicle (100) and can assist in driving the vehicle (100).

[0047] The lidar sensor may be a circular lidar sensor (124) provided on the roof of the vehicle (100). The circular lidar sensor (124) provided on the roof of the vehicle (100) can be used to collect three-dimensional images around the vehicle (100) and can detect objects and distances close to the vehicle (100).

[0048] However, the type, number, and location of the first sensor (120) are not limited thereto, and depending on the specifications or performance of the vehicle (100), fewer or more first sensors (120) may be installed at various locations on the vehicle (100). Each of the multiple first sensors (120) may be provided at a preset location on the vehicle (100).

[0049] FIG. 2 is a control block diagram of a vehicle according to one embodiment, and FIG. 3 is a diagram for explaining a change in a reference area according to one embodiment.

[0050] Referring to FIG. 2, a vehicle (100) according to one embodiment may include a camera (110), a first sensor (120), a second sensor (130), a short-range communication module (140), a communication unit (150), a control unit (160), an alarm unit (170), a driving unit (180), and a storage unit (190).

[0051] A dashboard and a gearbox may be provided inside the vehicle (100). A display may be installed on the central panel of the dashboard. The display may provide various information visually to the driver or passenger of the vehicle (100). For example, the display may visually provide various information such as maps, weather, news, various videos or still images, and various information related to the status or operation of the vehicle (100).

[0052] An AVN (Audio Video Navigation) device may be provided inside the vehicle (100).

[0053] The AVN device is a device that integrates audio and video devices and navigation within a vehicle (100) into a single system, and can provide a navigation service that guides the user to a destination.

[0054] The first sensor (120) may be provided outside the vehicle (100) to detect the location of an object adjacent to the vehicle (100). At this time, the first sensor (120) may transmit the location information of the detected object adjacent to the vehicle (100) to the control unit (160).

[0055] The second sensor (130) can detect an impact applied to the vehicle (100). The second sensor (130) may be an impact detection sensor capable of detecting an impact when a load is loaded outside the vehicle (100).

[0056] The second sensor (130) may include at least one of an acceleration sensor, a gyroscope sensor, and a vibration sensor. The second sensor (130) may be provided at any location on the vehicle (100) where it can detect an impact applied by a user. The second sensor (130) may transmit information about the detected impact to the control unit (160).

[0057] The short-range communication module may include an NFC (Near Field Communication) communication module or a BLE (Bluetooth Low Energy) communication module.

[0058] A short-range communication module can be provided at any location on the vehicle (100) where short-range communication between the digital key (200) and the vehicle (100) is possible when the digital key (200) held by the user approaches the vehicle (100).

[0059] The short-range communication module (120) can receive a signal from the digital key (200) via short-range communication.

[0060] The digital key (200) may include the FOB key of the vehicle (100) and / or a user terminal (300). The user terminal (300) may include a portable terminal that can be connected to the vehicle (100) through communication with the vehicle (100) and can access the vehicle (100) via a network. For example, the user terminal (300) may include any type of handheld-based wireless communication device such as a smartphone, and wearable devices such as a watch, ring, bracelet, anklet, necklace, glasses, contact lenses, or a head-mounted device (HMD).

[0061] Near-field communication can be NFC communication. NFC communication is a wireless tag (RFID) technology that exchanges wireless data over a short distance of less than 10 cm. Because the communication distance is short, it is a near-field communication technology that offers relatively excellent security and is also inexpensive.

[0062] Short-range communication can be BLE communication. BLE is a communication technology that enables low-power wireless communication between information devices located at a distance of several meters to tens of meters.

[0063] The communication unit (150) can transmit various signals and information to a user terminal (300) via a wireless communication network, or receive various signals and information from the user terminal (300).

[0064] Here, a wireless communication network refers to a communication network capable of transmitting and receiving signals wirelessly. For example, a wireless communication network includes, but is not limited to, 3G networks, 4G networks, 5G networks, etc.

[0065] The communication unit (150) can transmit signals and information received from the user terminal (300) to the control unit (160).

[0066] The alarm unit (170) can output an alarm that alerts the user.

[0067] The alarm unit (170) can output an alarm by displaying it on a display provided in the vehicle (100) or by outputting it as sound through a speaker provided in the vehicle (100). However, as long as it can warn the user that the vehicle (100) is in a dangerous state, it does not matter what method the alarm unit (170) uses.

[0068] Recent vehicles can assist users with driving based on information acquired by cameras and sensors. For example, vehicle sensors can detect objects adjacent to the vehicle, and the vehicle can output an alert to the user indicating a risk of collision if the detected object falls within a defined reference area around the vehicle.

[0069] Furthermore, recent vehicles can drive to a destination in fully autonomous mode based on information acquired by cameras and sensors, even without user involvement in driving. Even in this scenario, sensors installed in the vehicle detect objects adjacent to it, and the vehicle can drive in a way that ensures the detected objects are not included within a set reference area around the vehicle.

[0070] However, in the case of existing vehicles, the reference area used to determine the risk of collision with objects adjacent to the vehicle is set once at the time of delivery and does not change. In other words, when cargo or carriers are mounted on the exterior of a vehicle, the reference area set at the time of delivery does not change, even though the vehicle's volume, such as length, height, and width, changes. Consequently, if an alarm is issued or autonomous driving is performed based on the existing reference area even when cargo or carriers are mounted on the exterior, a problem may arise where the vehicle drives into an area it cannot pass through.

[0071] According to one embodiment of the present invention, even if the length, height, and width of the vehicle (100) are changed due to the mounting of cargo and carriers on the exterior of the vehicle (100) or other reasons, the reference area is set differently so as to solve the aforementioned problem.

[0072] A camera (110) is provided outside the vehicle (100) to obtain an image of the exterior of the vehicle (100). At this time, the image of the exterior of the vehicle (100) may include information about cargo (400) loaded outside the vehicle (100). That is, the camera (110) can obtain an image of cargo loaded outside the vehicle (100).

[0073] The control unit (160) can determine a reference area based on the exterior image of the vehicle (100) acquired by the camera (110).

[0074] The reference area may be an area set around the vehicle (100). That is, the reference area may be an area that serves as a reference for the control unit (160) to determine that there is a possibility of collision between the vehicle (100) and an object adjacent to the vehicle (100).

[0075] The control unit (160) can determine a reference area based on an exterior image of the vehicle (100). At this time, the control unit (160) can determine a reference area based on information regarding cargo loaded on the exterior of the vehicle (100) included in the exterior image of the vehicle (100).

[0076] The control unit (160) can set a reference area (A1) with a range greater than that of the reference area (A0) when no cargo is loaded outside the vehicle (100), if there is cargo loaded outside the vehicle (100).

[0077] The control unit (160) can control the alarm unit (170) to output an alarm when the location of an object adjacent to the detected vehicle (100) is included in the reference area.

[0078] That is, the user can know through an alarm whether there is a possibility that the vehicle (100) will collide with an adjacent object while driving or parked.

[0079] For example, if a vehicle (100) passes under a low bridge, and the low bridge is not included in the reference area, there is no possibility of the vehicle (100) colliding with the bridge, so an alarm may not be output. However, if the low bridge is included in the reference area, there is a possibility of the vehicle (100) colliding with the bridge, so an alarm may be output.

[0080] Additionally, when a vehicle (100) is parked in a narrow parking space with obstacles on both sides, if the obstacles on both sides are not included in the reference area, there is no possibility of the vehicle (100) colliding with the obstacles, so an alarm may not be output. However, if the obstacles are included in the reference area, there is a possibility of the vehicle (100) colliding with the obstacles, so an alarm may be output.

[0081] Even if cargo is loaded on the outside of the vehicle (100), if the location of an object adjacent to the vehicle (100) is not included in the reference area based on a reference area that does not take the external cargo into account, an alarm may not be output. In this case, if the vehicle (100) is driven as is, the cargo loaded on the outside of the vehicle (100) may collide with an object adjacent to the vehicle (100).

[0082] However, the control unit (160) can set a reference area (A1) that takes into account cargo loaded on the outside of the vehicle (100). At this time, the location of an object adjacent to the vehicle (100) may be included in the reference area (A1) that takes into account cargo loaded on the outside, and the control unit (160) can control the alarm unit (170) to output an alarm. Thus, the user can drive so that cargo on the outside of the vehicle (100) does not collide with an object adjacent to the vehicle (100).

[0083] The drive unit (180) can provide rotational force for driving the vehicle (100). The drive unit (180) may include a steering device, a brake, and an accelerator, but is not limited thereto and may also include other components of the vehicle (100).

[0084] When the vehicle (100) is in autonomous driving mode, the control unit (160) can control the driving of the vehicle (100) by transmitting signals to the steering device, brake, and accelerator. That is, the control unit (160) receives the output value generated by the first sensor (120), transmits the control command of the vehicle (100) generated according to the control algorithm to the driving unit (180), and the driving unit (180) can drive according to the received control command.

[0085] The control unit (160) can generate a path from the current location obtained through a GPS (Global Positioning System) receiver during autonomous driving of the vehicle (100) to a destination and control the drive unit (180) so that the vehicle (100) drives along the generated path.

[0086] The GPS receiver of the vehicle (100) can receive GPS information transmitted by a GPS satellite. The GPS receiver can transmit the GPS information to the control unit (160). When the GPS receiver transmits the GPS information to the control unit (160), the control unit (160) can calculate the distance between the satellite and the GPS receiver by comparing the time information contained in the GPS information transmitted by the GPS satellite with the time when the GPS transmitter received the GPS information, and determine the current location of the GPS receiver based on the calculated distance. In this case, the control unit (160) can represent the current location of the GPS receiver as a location coordinate in an absolute coordinate system. In this way, the control unit (160) of the vehicle (100) can generate location information of the vehicle (100) based on the received GPS information.

[0087] The navigation system can provide the user with information about a specific location in the form of a map, text, or various symbols. The navigation system can output location information of a destination and information on the estimated time required to reach the destination. At this time, the navigation system can output information on a screen through a display or output information as voice through a speaker provided in the vehicle (100).

[0088] Meanwhile, the navigation system may not necessarily have to be installed in the AVN device and the vehicle (100). For example, the navigation system may be a user terminal (300) with a navigation application installed, or various means capable of communicating with the vehicle (100) through the communication unit (150).

[0089] The navigation system can verify the location information and driving information of the vehicle (100) and transmit them to the control unit (160) by matching the location coordinates of the vehicle (100) confirmed through GPS information onto a pre-stored map. To this end, the navigation system according to one embodiment may include a GPS receiver that receives satellite signals.

[0090] Additionally, the storage unit (190) can store a map, and since the map provided by the storage unit (190) includes attribute information for each road, the navigation can check information about the road where the vehicle (100) is located, that is, the driving road.

[0091] Additionally, the navigation system can check driving environment information on a predetermined driving path. Here, the driving path may include a driving path determined in advance based on a destination input from the outside through the input unit (130), and a virtual probability path (Most Probable Path; MPP) determined based on probability without inputting a destination.

[0092] At this time, the driving environment information confirmed may refer to environmental conditions for performing autonomous driving, and may include, for example, information on a speed camera ahead, information on a speed bump ahead, information on the road gradient ahead, information on the road curvature ahead, but is not limited thereto.

[0093] Complete autonomous driving may mean that a vehicle (100) drives autonomously on a road without driver intervention. The core of autonomous driving may be a first sensor (120) that acquires information necessary for driving, such as a radar sensor, a lidar sensor, or a camera sensor, and a control unit (160) that processes the acquired information.

[0094] The control unit (160) receives road information from the navigation and can generate commands to control the autonomous driving of the vehicle (100) based on the reference area and road information.

[0095] The road information may include information regarding obstacles that may hinder the vehicle (100) from driving, such as information on the width of the road and information on the height of a bridge that the road passes under.

[0096] The control unit (160) can generate a command to control the autonomous driving of the vehicle (100) so that the obstacle is not included in the reference area during the driving of the vehicle (100) based on information regarding the obstacle. At this time, the control unit (160) can output the command to control the autonomous driving to the driving unit (180).

[0097] The control unit (160) can determine the driving path to the destination based on the reference area and road information.

[0098] The control unit (160) can determine a driving path based on road information so as not to drive on roads where there is a risk that obstacles may be included in the reference area. At this time, the control unit (160) can output a command to the driving unit (180) to control autonomous driving so that the vehicle (100) drives along the driving path.

[0099] A control unit (160) for performing the above-described operation or the operation to be described later may be implemented with at least one memory that stores data for an algorithm or a program that reproduces the algorithm for controlling the operation of components within the vehicle (100), and at least one processor that performs the above-described operation using the data stored in at least one memory.

[0100] The storage unit (190) can store a program that performs the aforementioned operation and the operation described below, and the processor can execute the stored program. When there are multiple storage units (190) and processors, it is possible for them to be integrated into a single chip or to be provided in physically separate locations. The storage unit (190) may include volatile memory such as S-RAM (Static Random Access Memory, S-RAM) or D-RAM (Dynamic Random Access Memory) for temporarily storing data. Additionally, the storage unit (190) may include non-volatile memory such as ROM (Read Only Memory), EPROM (Erasable Programmable Read Only Memory), or EEPROM (Electrically Erasable Programmable Read Only Memory) for long-term storage of control programs and control data. The processor may include various logic circuits and arithmetic circuits, and can process data according to a program provided from the storage unit (190) and generate a control signal according to the processing result.

[0101] FIG. 3 is a diagram illustrating a change in a reference area according to one embodiment.

[0102] Referring to FIG. 3, the control unit (160) can determine the vehicle reference area (A0) as the reference area if there is no cargo loaded outside the vehicle (100). That is, in this case, the control unit (160) can control the alarm unit (170) to output an alarm if the location of an object adjacent to the vehicle (100) is included in the vehicle reference area (A0).

[0103] The control unit (160) can determine a reference area (A1) that takes into account the cargo (400) as the reference area if there is cargo (400) loaded outside the vehicle (100). The reference area that takes into account the cargo (A1) may have a wider range than the vehicle reference area (A0). In this case, the control unit (160) can control the alarm unit (170) to output an alarm if the location of an object adjacent to the vehicle (100) is included in the reference area (A1) that takes into account the cargo.

[0104] Assuming that an alarm is output based on the vehicle reference area (A0) even though cargo (400) is loaded on the outside of the vehicle (100), if an object adjacent to the vehicle (100) is included in the reference area (A1) considering the cargo but not in the vehicle reference area (A0), an alarm is not output. At this time, the cargo mounted on the outside of the vehicle (100) may collide with the object adjacent to the vehicle (100).

[0105] However, the control unit (160) can determine a reference area (A1) that takes into account the cargo (400) loaded outside the vehicle (100) as the reference area, and can control the alarm unit (170) to output an alarm if the location of an object adjacent to the vehicle (100) is included in the reference area (A1) that takes into account the cargo, so that the user can drive so that the cargo outside the vehicle (100) does not collide with an object adjacent to the vehicle (100).

[0106] The control unit (160) can determine the reference area based on the location and size of the load. At this time, the larger the size of the load, the larger the reference area can be in the direction where the load is located.

[0107] When cargo is loaded on the vehicle (100), the reference area (A1) considering the cargo may have a higher height compared to the vehicle reference area (A0).

[0108] For example, when a ski (400) is loaded on a vehicle (100), the reference area (A1) considering the load may increase in height by ΔL1 compared to the vehicle reference area (A0). At this time, ΔL1 may be determined based on the part furthest from the vehicle (100), that is, the location of the highest part of the ski (400).

[0109] When cargo is loaded behind the vehicle (100), the reference area (A1) considering the cargo may be extended to the rear of the vehicle (100) compared to the vehicle reference area (A0).

[0110] For example, when a bicycle (400) is loaded behind a vehicle (100), the reference area (A1) considering the load may be extended to the rear of the vehicle (100) by ΔL2 compared to the vehicle reference area (A0). At this time, ΔL2 may be determined based on the location where the part of the bicycle (400) furthest from the vehicle (100) is located.

[0111] In conclusion, the reference area can be determined based on the most protruding part of the cargo. At this time, the further the most protruding part of the cargo is from the vehicle (100), the greater the range of the reference area can be.

[0112] FIG. 4(a) is a drawing illustrating a situation in which a digital key approaches a vehicle according to one embodiment, and FIG. 4(b) is a drawing illustrating a situation in which cargo is loaded on the exterior of a vehicle according to one embodiment.

[0113] Referring to FIG. 4(a), the user can access the vehicle (100) while holding the digital key (200).

[0114] The short-range communication module can receive a signal from the digital key (200). That is, the short-range communication module can receive a signal from the digital key (200) when the digital key (200) approaches the vehicle (100).

[0115] The control unit (160) can control the camera (110) to acquire an exterior image of the vehicle (100) when the short-range communication module receives a signal from the digital key (200). That is, when a user approaches the vehicle (100) while holding the digital key (200), the camera (110) can acquire an exterior image of the vehicle (100), and the control unit (160) can determine a reference area based on the acquired exterior image of the vehicle (100).

[0116] Referring to FIG. 4(b), the user can load cargo outside the vehicle (100). At this time, when the user loads cargo outside the vehicle (100), an impact is applied to the vehicle (100), and the second sensor (130) can detect the impact.

[0117] The control unit (160) can control the camera (110) to acquire an exterior image of the vehicle (100) when the second sensor (130) detects an impact. That is, when a user loads cargo outside the vehicle (100), the camera (110) can acquire an exterior image of the vehicle (100), and the control unit (160) can determine a reference area based on the acquired exterior image of the vehicle (100).

[0118] Meanwhile, there may be cases where a reference area cannot be determined based on the exterior image of the vehicle (100) acquired by the camera (110) installed on the exterior of the vehicle (100). For example, there may be cases where cargo on the exterior of the vehicle (100) is located in a blind spot of the camera (110). Additionally, the most important criterion for determining the reference area is the location of the most protruding part of the cargo (400), but there may be cases where the camera (110) fails to acquire location information of such a protruding part.

[0119] FIG. 5(a) is a drawing for explaining how to determine a reference area based on a user's gesture image according to one embodiment, and FIG. 5(b) is a drawing for explaining how to determine a reference area based on a user's gesture image according to another embodiment.

[0120] Referring to FIGS. 5(a) and FIGS. 5(b), the camera (110) acquires a user gesture image, and the control unit (160) can determine a reference area based on the user gesture image.

[0121] The control unit (160) can control the camera (110) to acquire a user's gesture image if it cannot determine a reference area based on the exterior image of the vehicle (100) acquired by the camera (110).

[0122] That is, the control unit (160) can control the camera (110) to acquire a user's gesture image if the camera (110) fails to acquire location information of the most protruding part of the cargo outside the vehicle (100).

[0123] For example, the user can make a hand gesture at a location where the camera (110) can take a picture. At this time, the user can make a hand gesture at a location that indicates the most protruding part of the cargo outside the vehicle (100).

[0124] Referring to the embodiment of FIG. 5(a), the user can stand next to the vehicle (100) and make a gesture with their hand. At this time, the user can make a gesture indicating the most protruding part of the cargo loaded on the vehicle (100), that is, the part furthest from the vehicle (100).

[0125] At this time, the side cameras (113, 116) of the vehicle (100) can acquire the user's gesture image.

[0126] The control unit (160) can determine the position indicated by the user, that is, the position where the load protrudes most at the top, based on the user's gesture image, and the control unit (160) can determine a reference area based on the position indicated by the user.

[0127] Referring to the embodiment of FIG. 5(b), the user can stand at the side of the vehicle (100) and make a gesture indicating the most protruding part of the cargo loaded behind the vehicle (100), that is, the part furthest from the vehicle (100).

[0128] At this time, the side camera (118) of the vehicle (100) can acquire the user's gesture image.

[0129] The control unit (160) can determine the position indicated by the user based on the user's gesture image, that is, the position where the load protrudes furthest back, and the control unit (160) can determine a reference area based on the position indicated by the user.

[0130] FIG. 6 is a diagram illustrating the determination of a reference area based on an exterior image of a vehicle received from a user terminal.

[0131] Referring to FIG. 6, the control unit (160) can control the communication unit (150) to transmit a signal to the user terminal (300) requesting to take an image of the exterior of the vehicle (100) if the reference area cannot be determined based on the exterior image of the vehicle (100) acquired by the camera (110).

[0132] When the user terminal (300) receives a signal from the vehicle (100) requesting that an image of the exterior of the vehicle (100) be taken, it may display a request to take an image of the exterior of the vehicle (100) on the display of the user terminal (300) or output it through the speaker of the user terminal (300).

[0133] The user can take an image of the exterior of the vehicle (100) using the camera of the user terminal (300).

[0134] The user terminal (300) can transmit an image of the exterior of the vehicle (100) taken by the user to the communication unit (150) of the vehicle (100).

[0135] The control unit (160) can determine a reference area based on an exterior image of the vehicle (100) received from the user terminal (300).

[0136] Unlike the above-described embodiment, there may be cases where the user determines in advance that it will be difficult for the camera (110) of the vehicle (100) to obtain information about the cargo loaded outside the vehicle (100).

[0137] At this time, the user may input a command to the user terminal (300) to take an image of the exterior of the vehicle (100) using the camera of the user terminal (300) in advance, and to transmit the image of the exterior of the vehicle (100) taken by the user to the communication unit (150) of the vehicle (100).

[0138] That is, even if the control unit (160) does not transmit a signal to the user terminal (300) requesting that an exterior image of the vehicle (100) be captured, the user can capture an exterior image of the vehicle (100) in advance using the camera of the user terminal (300). Even in this case, the control unit (160) can determine a reference area based on the exterior image of the vehicle (100) received from the user terminal (300).

[0139] At least one component may be added or deleted in response to the performance of the components described above. Additionally, it will be readily understood by those skilled in the art that the relative positions of the components may be changed in response to the performance or structure of the system.

[0140] FIG. 7 is a flowchart illustrating a control method for outputting an alarm in one embodiment. This is merely a preferred embodiment for achieving the purpose of the present invention, and it is understood that some components may be added or deleted as needed.

[0141] Referring to FIG. 7, a camera (110) provided on the exterior of a vehicle (100) can acquire an image of the exterior of the vehicle (100) (1001). At this time, the exterior image of the vehicle (100) may include information about a cargo (400) loaded on the exterior of the vehicle (100). That is, the camera (110) can acquire an image of a cargo loaded on the exterior of the vehicle (100).

[0142] The control unit (160) can determine a reference area based on an exterior image of the vehicle (100) (1002). At this time, the control unit (160) can determine a reference area based on information regarding a load loaded on the exterior of the vehicle (100) included in the exterior image of the vehicle (100).

[0143] If the control unit (160) cannot determine a reference area based on the acquired exterior image of the vehicle (100), it can control the camera (110) to acquire a user's gesture image. At this time, the control unit (160) can determine the location indicated by the user based on the user's gesture image and determine a reference area based on the location indicated by the user.

[0144] The first sensor (120) can detect the location of an object adjacent to the vehicle (100) (1003).

[0145] The control unit (160) can determine whether the location of an object adjacent to the detected vehicle (100) is included in the reference area (1004).

[0146] If the control unit (160) determines that the location of an object adjacent to the vehicle (100) is not included in the reference area ('No' of 1004), the alarm unit (170) may not output an alarm.

[0147] If the control unit (160) determines that the location of an object adjacent to the vehicle (100) is included in the reference area ('Yes' of 1004), the control unit (160) can control the alarm unit (170) to output an alarm (1005).

[0148] FIG. 8 is a flowchart illustrating a control method for setting a driving path in one embodiment.

[0149] Referring to FIG. 8, a camera (110) provided on the exterior of a vehicle (100) can acquire an image of the exterior of the vehicle (100) (2001).

[0150] The control unit (160) can determine whether a reference area cannot be determined based on the exterior image of the vehicle (100) acquired by the camera (110) (2002). For example, if the shape of the cargo loaded on the exterior of the vehicle (100) has many irregularities, it may not be possible to accurately determine the position of the protrusion of the cargo that serves as a reference for determining the reference area. That is, the control unit (160) can determine that if the exterior cargo of the vehicle (100) included in the exterior image of the vehicle (100) has many irregularities, the reference area cannot be determined based on the exterior image of the vehicle (100).

[0151] If the control unit (160) determines that a reference area can be determined based on the exterior image of the vehicle (100) acquired by the camera (110) ('No' in 2002), the control unit (160) can determine a reference area based on the exterior image of the vehicle (100) acquired by the camera (110) (2003).

[0152] If the control unit (160) determines that a reference area cannot be determined based on the exterior image of the vehicle (100) acquired by the camera (110) ('Yes' of 2002), the control unit (160) can control the communication unit (150) to transmit a signal requesting the exterior image of the vehicle (100) to be captured to the user terminal (300) (2004).

[0153] When the user terminal (300) receives a signal from the vehicle (100) requesting that an image of the exterior of the vehicle (100) be taken, it may display a request to take an image of the exterior of the vehicle (100) on the display of the user terminal (300) or output it through the speaker of the user terminal (300).

[0154] The user can take an image of the exterior of the vehicle (100) using the camera of the user terminal (300).

[0155] The communication unit (150) can receive an image of the exterior of the vehicle (100) taken by the user from the user terminal (300) (2005).

[0156] The control unit (160) can determine a reference area based on an exterior image of the vehicle (100) received from the user terminal (300) (2006).

[0157] The control unit (160) receives road information from the navigation system and can determine a driving path to a destination based on the reference area and road information (2007). At this time, the control unit (160) can output a command to the driving unit (180) to control autonomous driving so that the vehicle (100) drives along the determined driving path.

[0158] As described above, the disclosed embodiments have been explained with reference to the attached drawings. Those skilled in the art will understand that the present invention may be practiced in forms different from the disclosed embodiments without changing the technical spirit or essential features of the invention. The disclosed embodiments are illustrative and should not be interpreted restrictively. Explanation of the symbols

[0159] 100: Vehicle 110: Camera 120: 1st sensor 130: Second sensor 140: Short-range communication module 150: Communications Department 160: Control unit 170: Alarm section 180: Drive unit 190: Storage section 200: Digital Key 300: User terminal

Claims

Claim 1 A vehicle comprising: a camera for acquiring an image of the exterior of the vehicle; a first sensor provided on the exterior of the vehicle to detect the location of an object adjacent to the vehicle; an alarm unit for outputting an alarm; and a control unit for determining a reference area based on the image of the exterior of the vehicle and controlling the alarm unit to output the alarm when the location of the detected object adjacent to the vehicle is included in the reference area; wherein the reference area is an area set by extending from the vehicle body to an area including a load mounted on the exterior of the vehicle body, and the control unit controls the output of the alarm when the detected object adjacent to the vehicle is detected within the range of the reference area set by extending from the vehicle body to an area including a load mounted on the exterior of the vehicle body. Claim 2 In claim 1, the control unit determines the reference area based on information of a load loaded on the exterior of the vehicle included in the exterior image of the vehicle. Claim 3 A vehicle according to claim 1, further comprising a short-range communication module that receives a signal from a digital key; wherein the control unit controls the camera to acquire an exterior image of the vehicle based on the signal. Claim 4 The vehicle according to claim 1 further comprises a second sensor for detecting an impact applied to the vehicle, and the control unit controls the camera to acquire an exterior image of the vehicle when the impact is detected. Claim 5 A vehicle according to claim 1, wherein the camera acquires a user’s gesture image, and the control unit determines the reference area based on the user’s gesture image. Claim 6 In paragraph 5, the control unit determines a position indicated by the user based on the user's gesture image, and determines a reference area based on the position indicated by the user. Claim 7 In paragraph 5, the control unit controls the camera to acquire the user's gesture image if the reference area cannot be determined based on the vehicle exterior image acquired by the camera. Claim 8 A vehicle according to claim 1, further comprising a communication unit capable of communicating with a user terminal; wherein the control unit determines the reference area based on an exterior image of the vehicle received from the user terminal. Claim 9 In claim 8, the vehicle, wherein the control unit controls the communication unit to transmit a signal requesting the vehicle's exterior image to be captured to the user terminal if the reference area cannot be determined based on the vehicle exterior image acquired by the camera. Claim 10 A vehicle according to claim 1, further comprising a drive unit that provides rotational force for driving; wherein the control unit receives road information from a navigation system, generates a command to control autonomous driving of the vehicle based on the reference area and the road information, and outputs the command to control autonomous driving to the drive unit. Claim 11 In claim 10, the control unit determines a driving path to a destination based on the reference area and the road information, and outputs a command to the drive unit to control the autonomous driving so that the vehicle drives along the driving path. Claim 12 A method for controlling a vehicle, comprising: acquiring an exterior image of the vehicle; determining a reference area based on the exterior image of the vehicle; detecting the location of an object adjacent to the vehicle; and controlling an alarm unit to output an alarm when the detected location of the object adjacent to the vehicle is included in the reference area; wherein the reference area is an area set by extending from the vehicle body to an area including a load mounted on the exterior of the vehicle body, and controlling the alarm unit includes controlling to output the alarm when the detected object adjacent to the vehicle is detected within the range of the reference area set by extending from the vehicle body to an area including a load mounted on the exterior of the vehicle body. Claim 13 A method for controlling a vehicle according to claim 12, wherein determining the reference area is based on information regarding a load loaded on the exterior of the vehicle included in an exterior image of the vehicle. Claim 14 A method for controlling a vehicle according to claim 12, further comprising: receiving a signal from a digital key; and controlling a camera to acquire an exterior image of the vehicle based on said signal. Claim 15 A method for controlling a vehicle according to claim 12, further comprising: detecting an impact applied to the vehicle; and controlling a camera to acquire an image of the vehicle's exterior when the impact is detected. Claim 16 A method for controlling a vehicle according to claim 12, further comprising: acquiring a user’s gesture image; and determining a reference area based on the user’s gesture image. Claim 17 A method for controlling a vehicle according to claim 16, wherein determining the reference area based on the user’s gesture image comprises determining a position indicated by the user based on the user’s gesture image; and determining the reference area based on the position indicated by the user. Claim 18 A method for controlling a vehicle according to claim 16, wherein acquiring a user’s gesture image involves controlling the camera to acquire the user’s gesture image if the reference area cannot be determined based on the vehicle exterior image acquired by the camera. Claim 19 A method for controlling a vehicle according to claim 12, further comprising determining the reference area based on an exterior image of the vehicle received from a user terminal. Claim 20 A method for controlling a vehicle according to claim 19, further comprising: controlling a communication unit to transmit a signal requesting to capture the vehicle's exterior image to the user terminal if the reference area cannot be determined based on the vehicle exterior image acquired by the camera. Claim 21 A method for controlling a vehicle according to claim 12, further comprising: receiving road information from a navigation system; generating a command to control autonomous driving of the vehicle based on the reference area and the road information; and outputting the command to control autonomous driving to a drive unit. Claim 22 A method for controlling a vehicle according to claim 21, wherein outputting a command to control the autonomous driving to the drive unit comprises determining a driving path to a destination based on the reference area and the road information; and outputting a command to control the autonomous driving to the drive unit so that the vehicle drives along the driving path.

Images