Vehicle and method of providing information about surroundings of vehicle

Abstract

The present disclosure relates to a method of providing vehicle surrounding information, the method including detecting at least one sensor-based obstacle using sensor detection information acquired through a surrounding environment sensor, detecting at least one image-based obstacle using image information acquired through a plurality of cameras, detecting at least one matched obstacle from the at least one sensor-based obstacle and the at least one image-based obstacle, and correcting a position of the at least one matched obstacle using at least one of a sensor-based detection result or an image-based detection result for the at least one matched obstacle.

Description

TECHNICAL FIELD

[0001] The present disclosure relates to a vehicle and a method of providing information about surroundings of the vehicle, and more particularly, to a vehicle and a method of providing a surrounding image and obstacle information. BACKGROUND

[0002] The description in this section merely provides background information related to the present disclosure and can not constitute the prior art.

[0003] Conventionally, a vehicle is equipped with a rear ultrasonic sensor or a rear camera to detect surrounding obstacles. Recently developed vehicles are equipped not only with a front ultrasonic sensor but also with an Around View Monitor (AVM) or a Surround View monitor (SVM) to provide a real-time all-around image to an occupant.

[0004] In a situation where collision sensing with objects around a vehicle becomes common, more and more drivers will rely on a collision warning sound and an all-around image. The basic function of a device for sensing obstacles around a vehicle is to prevent collision between the obstacles and the vehicle body. Therefore, in general, an obstacle sensing device cannot sense collision of a portion protruding from the vehicle body, such as a rearview mirror. Thus, when a driver parks using only the obstacle sensing device without special attention, collisions such as a collision of a rearview mirror with a pillar often occur, causing damage. This will be described with reference to FIGS. 1A to 1C.

[0005] FIGS. 1A, 1B, and 1C are views showing a form in which a rearview mirror collision occurs in a general vehicle.

[0006] Referring to FIG. 1A, when the gear of a vehicle 10 is changed to R, a rear ultrasonic sensor is activated. When a pillar 20 located at the rear side of the vehicle enters a sensing range 30 of the rear ultrasonic sensor, a warning sound is generated, so the driver can easily recognize the pillar 20.

[0007] In a case where the vehicle 10 is equipped with an SVM system, as shown in FIG. 1B, a surrounding image 40 of the vehicle can be output through a display provided in the vehicle. Referring to FIG. 1B, a top view 10' image of the vehicle is displayed in the middle of the image, and an all-around image of the surroundings of the vehicle including the pillar 20' is displayed. In addition, an estimated travel trajectory 50 of the vehicle according to a steering angle of the vehicle can be further displayed in the surrounding image 40 of the vehicle.

[0008] However, we have found that, in such a general vehicle, when an obstacle is outside the sensing range of the ultrasonic sensor, a warning sound related to the obstacle is not output. Although the SVM system provides a predicted movement trajectory 50 of the vehicle, the SVM system generates the predicted movement trajectory 50 based on the vehicle body, and thus does not take into account any other part protruding from the vehicle body. For example, as shown in FIG. 1C, a predicted trajectory 60 of a rearview mirror protruding laterally from the vehicle body is not provided. Thus, even if the driver drives the vehicle using the predicted movement trajectory 50 of the vehicle provided by the SVM system to avoid a collision between the vehicle body and the pillar 20, a collision of the rearview mirror with the pillar 20 often occurs.

[0009] In particular, in the case where the rearview mirror is equipped with a side repeater or a camera for the SVM system, the repair cost is very high. In addition, in recently developed vehicles, it is difficult to replace the rearview mirror alone in many cases, and replacement of an assembly including the rearview mirror is required, which increases the economic burden on the vehicle owner. SUMMARY

[0010] The present disclosure provides a vehicle and a method of providing vehicle surrounding information, which can more effectively provide vehicle surrounding information to a driver.

[0011] However, the objects to be achieved by the present disclosure are not limited to the above-described objects, and other objects not mentioned will be clearly understood by those skilled in the art in the following exemplary forms.

[0012] In one form of the present disclosure, a method of providing vehicle surrounding information can include detecting at least one sensor-based obstacle using sensor detection information acquired through a surrounding environment sensor, detecting at least one image-based obstacle using image information acquired through a plurality of cameras, detecting at least one matched obstacle from the at least one sensor-based obstacle and the at least one image-based obstacle, and correcting a position of the at least one matched obstacle using at least one of a sensor-based detection result or an image-based detection result for the at least one matched obstacle.

[0013] A vehicle according to one form of the present disclosure can include an input unit including a surrounding environment sensor and a plurality of cameras, a controller configured to detect and track at least one surrounding obstacle based on information acquired through the input unit, and an output unit configured to output guidance information in response to a distance to the at least one surrounding obstacle detected and tracked by the controller. The controller can include an obstacle detector configured to detect at least one sensor-based obstacle using sensor detection information acquired through the surrounding environment sensor, and at least one image-based obstacle using image information acquired through the plurality of cameras, and an obstacle matching / correction unit configured to detect at least one matched obstacle from the at least one sensor-based obstacle and the at least one image-based obstacle, and correct a position of the at least one matched obstacle using at least one of a sensor-based detection result or an image-based detection result for the at least one matched obstacle.

[0014] Other applicational areas will become apparent from the description provided herein. It should be understood that the description and specific examples are intended for purposes of illustration only and are not intended to limit the scope of the present disclosure. BRIEF DESCRIPTION OF DRAWINGS

[0015] In order to facilitate a fuller understanding of the present disclosure, various forms thereof will now be described by way of example and with reference to the accompanying drawings, in which:

[0016] FIGS. 1A, 1B, and 1C are views showing a rearview mirror of an ordinary vehicle colliding;

[0017] Figure 2 is a block diagram showing an exemplary configuration of a surrounding information providing apparatus for a vehicle according to one form of the present disclosure;

[0018] Figure 3 is a flowchart showing an exemplary surrounding information providing process according to one form of the present disclosure;

[0019] FIGS. 4A and 4B show exemplary output forms of image guidance according to one form of the present disclosure;

[0020] Figure 5 shows another exemplary output form of image guidance according to another form of the present disclosure;

[0021] FIGS. 6A, 6B, Figure 6C and Figure 6D respectively show exemplary output forms of image guidance according to certain forms of the present disclosure; and

[0022] FIGS. 7A and 7B are views showing a pillar sensing principle in one form of the present disclosure.

[0023] The drawings described herein are for purposes of illustration only and are not intended to limit the scope of the present disclosure in any way. DETAILED DESCRIPTION

[0024] The following description is merely exemplary in nature and is not intended to limit the present disclosure, application, or uses. It should be understood that throughout the drawings, corresponding reference numerals indicate like or corresponding parts and features.

[0025] Hereinafter, various forms of the present disclosure will be described in detail with reference to the accompanying drawings, so that those skilled in the art can easily implement the forms. However, the present disclosure can be implemented in many different forms, and should not be interpreted as being limited to the forms set forth herein. In the drawings, parts irrelevant to the description of the present disclosure will be omitted for the sake of clarity.

[0026] Throughout the specification, when a certain part "comprises" or "includes" a certain component, unless otherwise indicated, other components are not excluded, and other components can be further included. Identical reference numerals used throughout the specification refer to identical constituent elements.

[0027] According to an exemplary form of the present disclosure, the position of an obstacle around a vehicle is detected by an omnidirectional image and a sensor, and the position of the obstacle detected by the omnidirectional image and the position of the obstacle detected by the sensor are matched with each other to be corrected. In addition, when the omnidirectional image is displayed, an image guide considering a trajectory of an exterior portion protruding from a vehicle body is provided during movement of the vehicle.

[0028] Figure 2 is a block diagram illustrating an exemplary configuration of a surrounding information providing apparatus for a vehicle according to a form of the present disclosure.

[0029] Referring to Figure 2 , the surrounding information providing apparatus can include an input unit 110 acquiring information for sensing and tracking an obstacle around a vehicle, a controller 120 processing information acquired through the input unit 110 to generate alarm information in response to sensing and tracking of the position of the obstacle and proximity of the vehicle, and an output unit 130 outputting various types of surrounding information and alarm information. Hereinafter, each component will be described in detail.

[0030] The input unit 110 can include a camera 111 and a surrounding environment sensor 113.

[0031] The camera 111 can include a plurality of cameras constituting an SVM (AVM) system and capturing a full view image. For example, the camera 111 can include a front camera for capturing a front of the vehicle, a rear camera for capturing a rear of the vehicle, and two or more side cameras for capturing right and left sides of the vehicle. Typically, each side camera is mounted to a lower portion of a corresponding one of left and right side mirrors. However, the present disclosure is not limited thereto.

[0032] The surrounding environment sensor 113 can include at least one of a plurality of ultrasonic sensors and a plurality of radars mounted to at least one region of a front, a front side, a rear, or a rear side of the vehicle to sense an obstacle located around the corresponding region.

[0033] The controller 120 can include a position determiner 121, an obstacle detector 123, an obstacle matching / correction unit 125, an obstacle tracker 127, and a visual effect controller 129.

[0034] The position determiner 121 can determine whether a current position of the vehicle is a position corresponding to activation of a function for determining whether to perform a function such as an alarm in response to sensing and tracking of an obstacle and a trajectory of a protruding exterior portion of the vehicle, determining whether to perform a general sensor alarm, or determining whether to display a full view image. To this end, the position determiner 121 can receive information about the current position of the vehicle from a global positioning system (GPS). The position corresponding to the activation of the function can be pre-set in the form of coordinates, or can be pre-set in the form of a category (e.g., a parking lot). Alternatively, the position determiner 121 can determine the activation of the function based on a basic setting input of a driver, a key input, or a gear (e.g., an R gear), regardless of the current position of the vehicle.

[0035] The obstacle detector 123 can detect presence and a position of an obstacle based on information input from the input unit 110. For example, the obstacle detector 123 can perform image-based obstacle detection through image processing such as edge detection of a full view image acquired through the camera 111, and sensor information-based obstacle detection using sensor information acquired through the surrounding environment sensor 113.

[0036] The obstacle matching / correction unit 125 can match the obstacle detected by the image-based obstacle detector 123 through the image-based obstacle detection with the obstacle detected by the sensor information-based obstacle detector 123 through the sensor information-based obstacle detection, and when these obstacles are located within a certain error range with respect to the vehicle, it can determine that the obstacle detected through the image-based obstacle detection and the obstacle detected through the sensor information-based obstacle detection are the same obstacle. In addition, the obstacle matching / correction unit 125 can correct the position of the matched obstacle. For example, the obstacle matching / correction unit 125 can determine the position of the matched obstacle as an intermediate point between the image-based detection result and the sensor information-based detection result, a point obtained by assigning a predetermined weight to either result, or a point corresponding to either result.

[0037] When the matched obstacle is included in the omnidirectional image, the obstacle tracker 127 can track the position of the matched obstacle even if the matched obstacle is no longer detected through the sensor-based detection (i.e., even if the matched obstacle deviates from the sensing range of the sensor due to movement of the vehicle). For example, in the case where a pillar located at the rear side of the vehicle is detected through both the image-based obstacle detection and the sensor information-based obstacle detection and is set as the matched obstacle, even if the pillar deviates from the sensing range of the sensor and is located at the side of the vehicle due to movement of the vehicle, the obstacle tracker 127 can track the position of the pillar based on the distance and direction of movement of the vehicle, and thus can determine the distance between the pillar and the vehicle.

[0038] The visual effect controller 129 can synthesize the respective omnidirectional images photographed by the cameras 111, and can convert it into an omnidirectional image in the form of a bird's-eye view. In addition, the visual effect controller 129 can generate image guides corresponding to the calculation / judgment results of the obstacle detector 123, the obstacle matching / correction unit 125, and the obstacle tracker 127, and can superimpose the image guides on the omnidirectional image. For example, the visual effect controller 129 can generate an image guide corresponding to the position of the obstacle detected by the obstacle detector 123, and the generated image guide can be displayed at a position corresponding to the position correction result of the obstacle matching / correction unit 125 in the omnidirectional image.

[0039] Further, even when a certain obstacle is not sensed by the surrounding environment sensor 113 due to movement of the vehicle, the image guide related to the corresponding obstacle can be continuously displayed at a position corresponding to the tracking result of the obstacle tracker 127. In addition, the visual effect controller 129 can generate the image guide corresponding to the predicted trajectory of the vehicle and the predicted trajectory of the exterior portion protruding from the vehicle body in real time in response to the steering angle and the forward / backward movement of the vehicle. Accordingly, when any one of the predicted trajectories overlaps with the position of the detected obstacle, the visual effect controller 129 can output different types of alarm image guides in response to the proximity.

[0040] The output unit 130 can include a display 131 and a speaker 133. The display 131 can output the full view image including the image guide, and can be a display provided in a head unit or an audio / video / navigation (AVN) system. However, the present disclosure is not limited thereto. The speaker 133 can output an alarm sound in response to the detected obstacle and the vehicle body or the exterior portion protruding from the vehicle body approaching.

[0041] Hereinafter, an exemplary surrounding information providing process in one form of the present disclosure will be described with reference to the accompanying drawings. Figure 3 A surrounding information providing process based on the configuration of the above-described apparatus will be described.

[0042] Figure 3 FIG. 1 is a flowchart illustrating an exemplary surrounding information providing process in one form of the present disclosure.

[0043] Referring to FIG. 1, a full view image output function can be activated (S301). The activation of the full view image output function indicates the activation of an AVM or an SVM system. The full view image output function can be activated by manipulating an AVM / SVM activation button or shifting to an R range. Figure 3

[0044] The position determiner 121 can determine whether the current position of the vehicle corresponds to a predetermined area (e.g., a parking lot). Upon determining that the current position of the vehicle corresponds to the predetermined area, the position determiner 121 can perform an image guide providing function (S302). In some forms, this step can be omitted.

[0045] ​The obstacle detector 123 can utilize the image acquired through the camera 111 to perform image-based obstacle detection (S304A), and can utilize the sensor information acquired through the surrounding environment sensor 113 to perform sensor information-based obstacle detection (S304B). At this time, as described above, the image-based obstacle detection (S304A) can utilize an edge detection method. However, the present disclosure is not limited thereto. As will be described later with reference to FIG. 7, an obstacle can be detected by specifying a portion that changes shape according to movement of the vehicle. Also, in the image-based obstacle detection (S304A), a distance from the vehicle can be referenced with respect to information in which a pixel position in the omnidirectional image matches a distance from the vehicle.

[0046] The obstacle matching / correction unit 125 can match the position of the obstacle detected based on the image with the position of the obstacle detected based on the sensor information with each other to determine whether the detected obstacles are the same obstacle (S305). When there is an error in the position of the same obstacle (YES in S306), the position of the obstacle is corrected (S307). As described above, the position of the obstacle can be corrected by at least one of a mutual correction method, a weight value assignment method, or a correction method utilizing a position corresponding to any one of the two detection methods.

[0047] When there is no error in the position of the same obstacle (NO in S306) or when the position correction is completed (S307), the obstacle tracker 127 judges whether there is an obstacle that deviates from the sensing range of the surrounding environment sensor 113 due to movement of the vehicle (S308). When there is an obstacle that deviates from the sensing range (YES in S308), the obstacle tracker 127 can track the position of the corresponding obstacle in response to movement of the vehicle (S309). As described above, the position of the corresponding obstacle can be continuously tracked until the distance between the corresponding obstacle and the vehicle exceeds a predetermined level (e.g., a distance included in the omnidirectional image).

[0048] The visual effect controller 129 can generate an image guide according to the detected obstacle around the vehicle, the steering angle, and the exterior portion protruding from the vehicle body (e.g., a rearview mirror), and can output the image guide through the display 131 (S310). The visual effect controller 129 can consider at least one of the position of the obstacle that is not matched by the obstacle matching / correction unit 125, the corrected position of the obstacle that is matched by the obstacle matching / correction unit 125, and the position of the obstacle that is being tracked by the obstacle tracker 127 among at least one obstacle detected by the obstacle detector 123.

[0049] Based on the steering angle and the movement of the vehicle, the visual effect controller 129 can determine the possibility of collision between the detected at least one obstacle and each of the vehicle body and the protruding exterior portion (S311). Upon determining the possibility of collision (YES in S311), the visual effect controller 129 can apply the visual warning effect to the image guidance (S312). For example, the visual effect controller 129 can control the form of at least one of the color, shape, and repeated blinking of the image guidance in response to the distance to provide the visual effect. However, the disclosure is not limited thereto.

[0050] Hereinafter, specific forms of the image guidance according to the disclosure will be described with reference to FIGS. 4 to 7.

[0051] FIGS. 4A and 4B illustrate exemplary output forms of the image guidance in some forms of the disclosure. FIGS. 4A and 4B and the following drawings illustrate the all-around image to which the image guidance is applied, which is output through the display 131.

[0052] Referring to FIG. 4A, the vehicle image 410 can be displayed in the middle of the display, and the all-around image and the image guidance superimposed on the all-around image can be displayed around the vehicle image 410. At least a specific visual effect 430 can be applied to the edge of the obstacle 420 detected through the surrounding environment sensor 113 as one of the image guidance.

[0053] As shown in FIG. 4B, even when the obstacle 420 deviates from the sensing range of the surrounding environment sensor 113 due to the movement of the vehicle, the obstacle tracker 127 can track the position of the corresponding obstacle 420, and thus the visual effect 430 can be displayed at a position corresponding to the position of the corresponding obstacle 420.

[0054] Figure 5 Another exemplary output form of the image guidance according to one form of the disclosure is illustrated.

[0055] Referring to Figure 5 , the image of the obstacle 520 existing around the vehicle 510 and the visual effect 550 corresponding to the position of the detected obstacle 520 can be applied to the all-around image. In addition, when the gear position is the R gear, the image guidance 530 corresponding to the predicted movement trajectory of the two rear wheels of the vehicle 510 starting from the current positions of the two rear wheels of the vehicle 510 in response to the steering angle can be displayed. When the gear position is the D gear, the image guidance 530 can be displayed to extend forward from the current positions of the two front wheels of the vehicle 510 in response to the steering angle.

[0056] In addition, in Figure 5In the all-around view image shown, an image guide 540 corresponding to the predicted trajectory of the exterior portion of the vehicle body that protrudes most laterally, i.e., the rearview mirror 511, can also be displayed in response to the steering angle and the current gear. When the image guide 540 corresponding to the predicted trajectory of the rearview mirror 511 encounters (overlaps or intersects) the detected position of the obstacle 520, at least one of the image guide 540 corresponding to the predicted trajectory of the rearview mirror 511 and the visual effect 550 corresponding to the detected position of the obstacle 520 can be modified to the form of an alarm (e.g., color change, repeated blinking, etc.).

[0057] FIGS. 6A, 6B, Figure 6C and Figure 6D show some exemplary output forms of the image guide in certain forms of the present disclosure.

[0058] Referring to FIGS. 6A to Figure 6D , unlike Figure 5 the output form of the image guide shown, different visual effects can be provided in response to the distance. Specifically, referring to FIG. 6A, even when the predicted trajectory 640 of the rearview mirror 611 encounters the obstacle 620, if the separation distance between them is greater than or equal to a predetermined distance, the predicted trajectory 640 can be displayed in a predetermined first color (e.g., yellow, i.e., a first thin dotted line).

[0059] As shown in FIG. 6B, even when the obstacle 620 deviates from the sensing range of the surrounding environment sensor 113 due to movement of the vehicle, the obstacle tracker 127 can continuously track the position of the obstacle and the position of the obstacle edge. When the distance between the rearview mirror 611 and the edge of the obstacle becomes equal to or less than a predetermined first distance, the predicted trajectory 640' of the rearview mirror 611 can change to a predetermined second color (e.g., orange, i.e., a second thick dotted line), and a visual effect 650 can be displayed at a position corresponding to the position of the edge of the obstacle 620.

[0060] Subsequently, as Figure 6C shown, when the vehicle further moves backward and thus the distance between the rearview mirror 611 and the edge of the obstacle becomes equal to or less than a second distance smaller than the first distance, the predicted trajectory 640" of the rearview mirror 611 can change to a predetermined third color (e.g., red, i.e., a third thicker dotted line), and the visual effect 650' applied to the edge of the obstacle 620 can also change to another color indicating a higher alarm level.

[0061] As described above with reference to FIGS. 6A to Figure 6C , the visual effect applied to the predicted trajectory is changed in response to the actual change in the distance between the obstacle 620 and the rearview mirror 611. However, as Figure 6DAs illustrated, when the door mirror 611 is not actually close to the obstacle 620, different visual effects can be applied to the predicted trajectory according to the distance therebetween. That is, when the predicted trajectory overlaps the obstacle, the visual effect can be applied to the predicted trajectory such that at least one of the color or shape of the predicted trajectory is gradually changed according to the distance (e.g., color change, color gradient, etc.).

[0062] As illustrated in FIGS. 6A to 6C, the rear view mirror 611 and the vehicle body 610 are predicted to move in the same direction as the vehicle moves. Figure 6D As illustrated, when there is no possibility of collision between the vehicle body and the obstacle 620, the predicted trajectory 630 of the vehicle body remains in a single form. However, when there is a possibility of collision between the vehicle body and the obstacle 620, a visual effect can be applied to the predicted trajectory 630 of the vehicle body, or the visual effect can be changed according to the distance in a similar manner as applied to the predicted trajectory 640 of the rear view mirror 611.

[0063] FIGS. 7A and 7B are views illustrating a pole sensing principle, respectively, according to one form of the present disclosure.

[0064] Referring to FIG. 7A, in the case of a three-dimensional obstacle such as a pole 720, a bottom surface 723 and one or more surfaces 721 and 722 extending from the bottom surface 723 are detected. As illustrated in FIG. 7B, since the position of the pole 720 with respect to the camera changes due to the movement of the vehicle, the shape of each surface 721' and 722' changes. For example, when the vehicle moves backward, the angle between the diagonal component of each of the surfaces 721 and 722 and the bottom surface 723 gradually decreases. However, the shape of the bottom surface 723 is almost constant. Accordingly, when image-based obstacle detection is performed, the obstacle detector 123 can recognize a combination of a constant portion and a changing portion extending from the constant portion and changing in angle and shape according to the movement of the vehicle as a three-dimensional obstacle. Accordingly, a portion that is not an actual obstacle (e.g., a stop line) but can be detected through edge detection can be filtered.

[0065] Although the method of providing surrounding information according to the present disclosure is described above based on a parking situation, the present disclosure is not limited thereto. For example, the method of providing surrounding information according to the present disclosure can be applied to protecting a rear view mirror when driving on a narrow alley, or can be applied to a remote parking or automatic parking function.

[0066] For example, when a remote parking or automatic parking function is performed, especially during parking, a situation in which automatic parking is not possible due to the detection of an obstacle existing around the vehicle by the surrounding environment sensor 113 can occur. However, when image-based obstacle detection through the camera 111 is applied together, it can be additionally determined whether the obstacle is close enough to collide with the vehicle. Accordingly, parking can be performed regardless of the detection result of the surrounding environment sensor 113.

[0067] Also, in the above-described forms, mainly the visual alarm is described, but the disclosure is not limited thereto. The disclosure can also be applied to the audible alarm through the speaker 133. For example, when the vehicle approaches an obstacle, or there is a possibility of collision between the rearview mirror and the obstacle due to the movement of the vehicle, a different type of alarm sound can be output in response to the collision risk. For example, the volume of the alarm sound or the frequency of outputting the alarm sound can be increased in response to the proximity.

[0068] Also, although various forms are described above based on the case where the vehicle moves backward, the disclosure is not limited thereto, and it will be apparent to those skilled in the art that the disclosure can also be applied to the case where the vehicle moves forward.

[0069] The disclosure can be implemented as a code that can be recorded on a computer-readable recording medium and thus read by a computer system. The computer-readable recording medium includes all types of recording devices in which data that can be read by a computer system is stored. Examples of the computer-readable recording medium include a hard disk drive (HDD), a solid state drive (SSD), a silicon disk drive (SDD), a read-only memory (ROM), a random access memory (RAM), a compact disk ROM (CD-ROM), a magnetic tape, a floppy disk, and an optical data storage device.

[0070] Furthermore, terms such as "unit" or "module" should be understood as a unit that processes at least one function or operation and can be implemented in a hardware manner (for example, a processor), a software manner, or a combination of the hardware manner and the software manner.

[0071] As is apparent from the above description, the vehicle of at least one form of the disclosure according to the above-described configuration and the method of providing vehicle surrounding information can more effectively provide the driver with information about surrounding obstacles.

[0072] In particular, the predicted trajectory of the exterior portion protruding from the vehicle body is considered, and the positions of the obstacles acquired through different methods are mutually corrected, thereby exhibiting an improved anti-collision effect.

[0073] However, the effects obtainable through the disclosure are not limited to the above-described effects, and other effects not mentioned herein will be clearly understood by those skilled in the art in light of the above description.

[0074] It will be apparent to those skilled in the art that various changes can be made in form and details without departing from the idea and essential characteristics of the disclosure set forth herein.

Claims

1.A method of providing surrounding information of a vehicle, comprising: detecting, by a surrounding sensor, at least one sensor-based obstacle using sensor detection information acquired by the surrounding sensor; detecting, by a plurality of cameras, at least one image-based obstacle using image information acquired by the plurality of cameras; determining, by a controller, at least one matched obstacle from among the at least one sensor-based obstacle and the at least one image-based obstacle based on at least one of the sensor detection information or the image information; correcting, by the controller, a position of the at least one matched obstacle using at least one of a sensor-based detection result or an image-based detection result for the at least one matched obstacle; tracking, by an obstacle tracker, a position of the at least one sensor-based obstacle based on a moving distance and a direction of the vehicle when the at least one sensor-based obstacle deviates from a sensing range of the surrounding sensor; and determining, by the controller, whether a position of each of the at least one sensor-based obstacle, the at least one image-based obstacle, the at least one sensor-based obstacle whose position is tracked, and the at least one matched obstacle whose position is corrected overlaps with a first trajectory corresponding to a predicted moving trajectory of a vehicle body and a second trajectory corresponding to a predicted moving trajectory of an exterior portion protruding from the vehicle body, continuing the tracking when the position of the at least one sensor-based obstacle is within a predetermined distance from the vehicle. 2.The method of claim 1, wherein the exterior portion protruding from the vehicle body includes a rearview mirror. 3.The method of claim 1, further comprising: outputting, by the controller, alert information based on a distance from the vehicle to an obstacle when the obstacle overlaps with at least one of the first trajectory or the second trajectory. 4.The method of claim 3, wherein the alert information includes a visual effect having a predetermined form, the visual effect is superimposed on an all-around image constituted by images acquired by the plurality of cameras. 5.The method of claim 4, further comprising: changing at least one of a color or a shape of the visual effect based on the distance from the obstacle overlapping with at least one of the first trajectory or the second trajectory. 6.The method of claim 1, wherein detecting at least one sensor-based obstacle includes: performing edge detection on the image information acquired by the plurality of cameras; and detecting at least one three-dimensional obstacle based on a degree of change in shape and a degree of change in a diagonal angle in response to movement of the vehicle with respect to at least one candidate obstacle detected by the edge detection. 7.A non-transitory computer-readable recording medium having a program recorded thereon, the program causing a processor to perform operations of: detecting, by a surrounding sensor, at least one sensor-based obstacle using sensor detection information acquired by the surrounding sensor; ​ The plurality of cameras detect at least one image-based obstacle using image information acquired by the plurality of cameras; The controller determines at least one matched obstacle from among the at least one sensor-based obstacle and the at least one image-based obstacle based on at least one of the sensor detection information or the image information; The controller corrects a position of the at least one matched obstacle using at least one of a sensor-based detection result or an image-based detection result for the at least one matched obstacle; When the at least one sensor-based obstacle deviates from a sensing range of the surrounding environment sensor, an obstacle tracker tracks a position of the at least one sensor-based obstacle based on a moving distance and a direction of the vehicle, and The controller determines whether a position of each of the at least one sensor-based obstacle, the at least one image-based obstacle, the at least one sensor-based obstacle whose position is tracked, and the at least one matched obstacle whose position is corrected overlaps with a first trajectory corresponding to a predicted moving trajectory of a vehicle body and a second trajectory corresponding to a predicted moving trajectory of an exterior portion protruding from the vehicle body, The tracking is continuously performed when the position of the at least one sensor-based obstacle is within a predetermined distance from the vehicle. 8.A vehicle comprising: an input unit including a surrounding environment sensor and a plurality of cameras; a controller that detects and tracks at least one surrounding obstacle based on information acquired by the input unit; and an output unit that outputs alarm information based on a distance from the vehicle to the at least one surrounding obstacle detected and tracked by the controller, wherein the controller includes: an obstacle detector configured to: detect at least one sensor-based obstacle using sensor detection information acquired by the surrounding environment sensor, and detect at least one image-based obstacle using image information acquired by the plurality of cameras; and an obstacle matching / correction unit configured to: determine at least one matched obstacle from among the at least one sensor-based obstacle and the at least one image-based obstacle based on at least one of the sensor detection information or the image information, and correct a position of the at least one matched obstacle using at least one of a sensor-based detection result or an image-based detection result for the at least one matched obstacle, wherein the controller further includes an obstacle tracker that tracks a position of the at least one sensor-based obstacle based on a moving distance and a direction of the vehicle when the at least one sensor-based obstacle deviates from a sensing range of the surrounding environment sensor, and continuously tracks the position of the at least one sensor-based obstacle when the position of the at least one sensor-based obstacle is within a predetermined distance from the vehicle, ​ ​ The controller determines whether a position of each of the at least one sensor-based obstacle, the at least one image-based obstacle, the at least one sensor-based obstacle whose position is tracked, and the at least one matched obstacle whose position is corrected overlaps with a first trajectory corresponding to a predicted moving trajectory of a vehicle body and a second trajectory corresponding to a predicted moving trajectory of an exterior portion protruding from the vehicle body. 9.The vehicle according to claim 8, wherein The exterior portion protruding from the vehicle body includes a rearview mirror. 10.The vehicle according to claim 8, wherein When an obstacle overlaps with at least one of the first trajectory or the second trajectory, the controller outputs alarm information through the output unit in response to a distance to the obstacle. 11.The vehicle according to claim 10, wherein The controller further includes a visual effect controller that superimposes a visual effect having a predetermined form corresponding to the alarm information on an all-around image constituted by the images acquired by the plurality of cameras. 12.The vehicle according to claim 11, wherein The visual effect controller controls the visual effect and changes at least one of a color or a shape of the visual effect based on a distance to the obstacle overlapping with at least one of the first trajectory or the second trajectory. 13.The vehicle according to claim 12, wherein The visual effect controller controls the visual effect and further changes at least one of a color or a shape of the visual effect step by step based on a remaining distance to the obstacle overlapping with at least one of the first trajectory or the second trajectory. 14.The vehicle according to claim 8, wherein The obstacle detector is configured to: perform edge detection on the image information acquired by the plurality of cameras, and detect at least one three-dimensional obstacle based on a degree of change in shape and a degree of change in a diagonal angle in response to a movement of the vehicle with respect to at least one candidate obstacle detected by the edge detection.

Images