Driver assistance system and vehicle having the same

Abstract

The present invention relates to a driver assistance system and a vehicle having the same. The vehicle of an embodiment includes a display configured to output visual type alert information, a sound output device configured to output audible type alert information, a vibration generator installed in a driver seat and configured to output tactile type alert information by generating vibration, a sound input device configured to receive sound, and a controller configured to determine whether a driver is in a talking state according to sound information about sound received by the sound input device, determine the visual type and the tactile type as alert types when it is determined that the driver is in the talking state, and determine the visual type, the tactile type, and the audible type as alert types when it is determined that the driver is not in the talking state.

Description

Technical Field

[0001] This invention relates to driver assistance systems and vehicles having such systems. Background Technology

[0002] In recent years, various advanced driver assistance systems (ADAS) have been developed. These systems transmit vehicle driving information to the driver to prevent accidents caused by driver error or to perform automated driving for the convenience of the driver.

[0003] As an example, there is a technology that detects obstacles around a vehicle by installing distance sensors on the vehicle and warns the driver.

[0004] As another example, there is a technology that uses an electromagnet mounted on a vehicle's bumper to determine the distance to another vehicle. If the distance is within a certain range, a collision is determined, and the electromagnet is powered to generate magnetic force, thereby automatically braking the vehicle in the event of a collision.

[0005] Although driver assistance systems are designed for driver safety and convenience, the timing, type, and level of alerts to dangerous situations should be adjusted based on surrounding factors such as road area, traffic volume, number of bicycles or pedestrians, and the driver's driving habits and environment. In other words, driver assistance technologies need to be adapted to the surrounding conditions and driving environment. Summary of the Invention

[0006] This invention relates to a driver assistance system and a vehicle having the system. Specific embodiments relate to a driver assistance system for controlling the output of a warning system that notifies of danger while driving, and a vehicle having the system.

[0007] In view of the above, embodiments of the present invention provide a driver assistance system and a vehicle having the system, the driver assistance system being used to change at least one of the output time, output type, and output level of warning information used to notify the driver of dangerous situations in response to changes in the driving environment.

[0008] Another embodiment provides a vehicle that sends alarm information to a driver assistance system regarding the alarm type, alarm level, and alarm duration, determined based on the vehicle's driving environment (e.g., external and internal conditions).

[0009] According to an embodiment of the present invention, a vehicle includes: a display, a sound output device, a vibration generator, a sound input device, and a controller. The display is configured to output visual type alarm information; the sound output device is configured to output auditory type alarm information; the vibration generator is mounted in a driver's seat and configured to output tactile type alarm information by generating vibration; the sound input device is configured to receive sound; and the controller is configured to determine whether the driver is speaking based on sound information received by the sound input device, wherein when the driver is determined to be speaking, visual type and tactile type are determined as alarm types, and when the driver is determined not to be speaking, visual type, tactile type, and auditory type are determined as alarm types.

[0010] The controller can be configured to: when it is determined that the driver is not speaking, set the reference alarm level as the alarm level; when it is determined that the driver is speaking, set the first alarm level, which is higher than the reference alarm level, as the alarm level.

[0011] The controller can be configured to: when it is determined that the driver is not speaking, determine the reference alarm level as the alarm level and store the determined alarm level as a primary alarm message; when it is determined that the driver is speaking, determine the first alarm level higher than the reference alarm level as the alarm level and store the determined alarm level as a primary alarm message.

[0012] The controller can be configured to: when it is determined that the driver is speaking, store the second alarm level, which is higher than the first alarm level, as a secondary alarm message, and store the third alarm level, which is higher than the second alarm level, as a tertiary alarm message.

[0013] When storing secondary and tertiary alarm information, the controller may further include auditory alarm types as secondary and tertiary alarm information.

[0014] The controller can be configured to send primary, secondary, and tertiary alarm messages to the driver assistance system.

[0015] The vehicle may further include an obstacle detector, and the controller may be configured to control the output of primary, secondary, and tertiary alarm information based on obstacle information detected by the obstacle detector.

[0016] The controller can be configured to store the first alarm level as a second alarm message and the second alarm level as a third alarm message when it is determined that the driver is not speaking.

[0017] The controller can be configured to: when it is determined that the driver is not in a speaking state, determine the reference alarm time as the alarm time and store the determined alarm time as an alarm message; when it is determined that the driver is in a speaking state, determine the first alarm time that is longer than the reference alarm time as the alarm time and store the determined alarm time as an alarm message.

[0018] The controller can be configured to: when it is determined that the driver is in a speaking state, store a second alarm time that is longer than the first alarm time as a secondary alarm message, and store a third alarm time that is longer than the second alarm time as a tertiary alarm message.

[0019] The controller can be configured to store the first alarm time as a second alarm message and the second alarm time as a third alarm message when it is determined that the driver is not speaking.

[0020] The controller can be configured to: when outputting an auditory type alarm message, determine whether the function of outputting an audio signal through a sound output device is being executed; when it is determined that the function is being executed, control the cancellation of the audio signal and output the auditory type alarm message through the sound output device.

[0021] According to another embodiment of the present invention, a vehicle includes: a display, a sound output device, a vibration generator, a sound input device, an occupant detector, and a controller, wherein the display is configured to output visual alarm information; the sound output device is configured to output auditory alarm information; the vibration generator is mounted in a driver's seat and configured to output tactile alarm information by generating vibration; the sound input device is configured to receive sound; the occupant detector is configured to detect occupants and output occupant information about the detected occupants; and the controller is configured to determine visual and tactile alarm types as alarm types when it is determined based on the occupant information that two or more occupants are present, and to determine visual, tactile, and auditory alarm types as alarm types when it is determined based on the occupant information that one occupant is present.

[0022] The controller can be configured to: obtain the speaker's location information based on the sound information received by the sound input device; determine whether the driver is the speaker based on the obtained speaker's location information; when it is determined that the driver is not the speaker, set the alarm level of the determined alarm type as the reference alarm level; and when it is determined that the driver is the speaker, set the alarm level of the determined alarm type as an alarm level higher than the reference alarm level.

[0023] The controller can be configured to obtain the speaker's location information based on sound information received from the sound input device, determine whether the driver is the speaker based on the obtained speaker's location information, and when it is determined that the driver is not the speaker, set the alarm time of the determined alarm type as the reference alarm time, and when it is determined that the driver is the speaker, set the alarm time of the determined alarm type as an alarm time longer than the reference alarm time.

[0024] The controller can be configured to obtain the speaker's location information based on sound information received from the sound input device, determine whether the driver is the speaker based on the obtained speaker's location information, and when it is determined that the driver is not the speaker, set the alarm period of the determined alarm type as the reference alarm period, and when it is determined that the driver is the speaker, set the alarm period of the determined alarm type as an alarm period shorter than the reference alarm period.

[0025] The controller can be configured to: when outputting an auditory type alarm message, determine whether the function of outputting an audio signal through a sound output device is being executed; when it is determined that the function is being executed, control the cancellation of the audio signal and output the auditory type alarm message through the sound output device.

[0026] The controller can be configured to send identified alarm information to driver assistance systems.

[0027] According to another embodiment of the present invention, a driver assistance system includes: a display, a sound output device, a vibration generator, and a controller, wherein the display is configured to output visual type alarm information; the sound output device is configured to output auditory type alarm information; the vibration generator is mounted in a driver's seat and configured to output tactile type alarm information by generating vibration; the controller is configured to determine whether there are two or more occupants and whether the driver is a speaker based on sound information in the vehicle and occupant information in the vehicle; when it is determined that there is only one occupant and the driver is not a speaker, the visual type, tactile type, and auditory type are determined as alarm types; when it is determined that there are two or more occupants and the driver is a speaker, the visual type and tactile type are determined as alarm types; and the output of alarm information is controlled based on the determined alarm types.

[0028] The controller can be configured to: when it is determined that there is only one occupant and the driver is not the speaker, determine the reference alarm level, reference alarm time and reference alarm period as alarm information; when it is determined that there are two or more occupants and the driver is the speaker, determine the alarm level that is higher than the reference alarm level, the alarm time that is longer than the reference alarm time and the alarm period that is shorter than the reference alarm period as alarm information.

[0029] The driver assistance system may further include an obstacle detector, and the controller may be configured to control the output of determined alarm information based on obstacle information detected by the obstacle detector. Attached Figure Description

[0030] These and / or other aspects of the embodiments of the invention will become clearer and more readily understood by describing the following exemplary embodiments in conjunction with the accompanying drawings, in which:

[0031] Figure 1 This is an exemplary schematic diagram showing the interior of a vehicle according to an embodiment;

[0032] Figure 2 This is an exemplary schematic diagram of a seat installed in a vehicle according to the implementation scheme;

[0033] Figure 3 It is a control configuration diagram of the vehicle according to the implementation plan;

[0034] Figure 4 This is a detailed configuration diagram of the vehicle controller according to the implementation plan. Detailed Implementation

[0035] Throughout this specification, the same reference numerals refer to the same elements. This specification does not describe all elements of exemplary embodiments of the invention, and may omit detailed descriptions of content well known in the art or redundant descriptions of substantially the same configurations. The terms "part, module, component, block" as used herein may be implemented in software or hardware, and multiple "parts, modules, components, blocks" may be implemented as a single component. A single "part, module, component, block" may also comprise multiple components.

[0036] Throughout the specification, when an element is referred to as being “connected to” another element, the element may be directly or indirectly connected to the other element, and “indirectly connected to” includes being connected to the other element via a wireless communication network.

[0037] Additionally, when a component is referred to as "including" a certain component, it means that the component may further include other components, rather than excluding other components, unless otherwise stated.

[0038] The terms first, second, etc., are used to distinguish one component from another, and the components are not limited by the terms mentioned above.

[0039] Singular expressions include plural expressions, unless the context clearly indicates otherwise.

[0040] In each step, the reference numerals are used for ease of description, and the reference numerals do not describe the order of each step. Unless the context explicitly specifies a particular order, each step may be performed in a different order than described.

[0041] The working principle and implementation of the invention will be described below with reference to the accompanying drawings.

[0042] Figure 1 This is an exemplary schematic diagram showing the interior of a vehicle according to an implementation scheme. Figure 2 This is an exemplary schematic diagram of a seat installed in a vehicle according to the implementation scheme.

[0043] Vehicle 1 includes a body with an interior and an exterior, and a chassis corresponding to the rest of the body and equipped with mechanical devices required for driving.

[0044] The exterior of the vehicle body includes a front bulkhead, engine hood, roof, rear cover, luggage compartment, front / rear / left / right doors 101, and windows that are configured to open and close on the front / rear / left / right doors.

[0045] like Figure 1 As shown, the interior of the vehicle body may include: seats 102 (102a, 102b) for occupants, instrument panel 103, instrument cluster (i.e., instrument panel) 104 and central instrument panel 105, wherein the instrument cluster (i.e., instrument panel) 104 is arranged on the instrument panel and guides vehicle information and driving functions, such as vehicle speed, engine speed, fuel quantity and coolant; the central instrument panel 105 is provided with a control panel for the air conditioning.

[0046] like Figure 2 As shown, seat 102 is a vehicle seat in which occupants can sit, and includes a driver's seat 102a for the driver and a front passenger seat 102b located next to the driver's seat for occupants to sit. The seat 102 may further include rear seats in which occupants can sit behind the driver's seat and the front passenger seat.

[0047] The rear seats may include a first rear seat 102c behind the driver's seat and a second rear seat 102d behind the front passenger seat, and may further include a third rear seat disposed between the first and second rear seats.

[0048] In the seat, the driver's seat 102a may be provided with a first vibration generator 110 (111) that generates vibration. At this time, the vibration generated by the first vibration generator 111 can be transmitted to the driver's seat.

[0049] Second vibration generator 110 for generating vibration ( Figure 3The second vibration generator 112) can be installed in the driver's seat 102a. In this case, the vibration generated by the second vibration generator 112 can be transmitted to the driver's seat belt.

[0050] The vehicle may be equipped with either a first vibration generator or a second vibration generator. Alternatively, both a first vibration generator and a second vibration generator may be installed in the vehicle.

[0051] Each seat may further include an occupant detector 130 (131, 132, 133, 134), which detects the presence of an occupant and outputs occupant information.

[0052] The occupant detector 130 can be a seatbelt connection / disconnection detector that detects the connection / disconnection of seatbelts on multiple seats inside a vehicle.

[0053] The occupant detector 130 may be a weight detector installed on each of the multiple seats inside the vehicle and detecting the weight applied to the seat.

[0054] The vehicle may include an on-board unit 106, which is located in the central dashboard and is used to control audio devices, air conditioning, Bluetooth devices and seat heating wires.

[0055] The vehicle-mounted host 106 may include an input device 106a for receiving user input and a display 106b for displaying various types of information.

[0056] Input device 106a may include hardware devices such as various buttons, switches, pedals, keyboards, mice, trackballs, various levers, handles, or sticks.

[0057] In addition, the input device 106a may include a graphical user interface (GUI) such as a touchpad or touch panel, i.e., a software device.

[0058] The input device 106a can be installed on the vehicle's head unit or the central dashboard. An input device installed in the vehicle's head unit or the central dashboard is described as a first input device.

[0059] The display 106b can be mounted on the vehicle's head unit or the central dashboard. A display mounted on the vehicle's head unit or the central dashboard is described as a first display.

[0060] The display 106b may include a display panel.

[0061] The display panel may include, but is not limited to, a cathode ray tube (CRT), a digital light processing (DLP) panel, a plasma display panel, a liquid crystal display (LCD) panel, an electroluminescence (EL) panel, an electrophoretic display (EPD) panel, an electrochromic display (ECD) panel, a light-emitting diode (LED) panel, or an organic light-emitting diode (OLED) panel.

[0062] The vehicle may further include an in-vehicle terminal 107, which displays images for audio, video and navigation functions, and receives user input for audio, video and navigation functions.

[0063] The vehicle-mounted terminal 107 can receive user commands and display operation information for various functions or operation information for various electronic devices.

[0064] The vehicle terminal 107 may include a display and may further include an input device.

[0065] The touchpad of the input device and the display panel of the display in the vehicle terminal 107 can be implemented as a touch screen panel (TSP). That is, the touchpad of the input device in the vehicle terminal 107 can form a layered structure with the display panel. In this case, the touchpad and the display panel can have the same shape and the same size, and the position information of the touchpad and the position information of the display panel can be perfectly matched.

[0066] The input device provided in the vehicle terminal 107 is described as a second input device, and the display provided in the vehicle terminal 107 is described as a second display.

[0067] The vehicle terminal 107 may further perform at least one of the following functions: broadcasting (DMB function), radio function, audio function, content playback function, call function, and Internet search function.

[0068] The vehicle may further include a sound output device 108 that outputs a sound corresponding to a function being performed by the vehicle. The sound output device 108 may be associated with an in-vehicle terminal 107 to output a sound for a function being performed by the in-vehicle terminal 107.

[0069] The sound output device 108 may include a speaker installed in the vehicle, and may also include a speaker installed in the vehicle terminal 107.

[0070] The loudspeaker converts amplified low-frequency audio signals into raw sound waves, generating longitudinal waves in the air and radiating sound waves, thereby outputting audio data in the form of sound that the user can hear.

[0071] The sound output device 108 may include an amplifier that amplifies and outputs a compensation signal generated by the controller 150. The amplifier performs digital-to-analog conversion on the sound, amplifies the converted sound, and then outputs it through a speaker.

[0072] The sound output device 108 may include one or more speakers.

[0073] When multiple speakers are installed, some speakers can be located on the first A-pillar (located between the left front door and the windshield) and the second A-pillar (located between the right front door and the windshield).

[0074] Some speakers can be installed inside the driver's side door and the passenger side door, while the remaining speakers can be installed inside the left and right rear door doors, respectively.

[0075] The remaining speakers can be installed in the first B-pillar (located between the left front door and the left rear door) and the second B-pillar (located between the right front door and the right rear door).

[0076] The remaining speakers can be installed in the left rear first fender and the right rear second fender, respectively.

[0077] Vehicle 1 may include a steering wheel 109 for adjusting the direction of travel, a brake pedal pressed by the user according to the user's braking intention, and an accelerator pedal pressed by the user according to the user's acceleration intention.

[0078] The vehicle can be optionally equipped with lighting, air conditioning, heated seats, heated steering wheel, ventilated seats, audio equipment, and radio equipment as convenience features.

[0079] Steering wheel 109 may be equipped with a third vibration generator to produce vibration. Figure 3(113 in the middle). In this case, the vibration generated by the third vibration generator 113 can be transmitted to the steering wheel 109.

[0080] The third vibration generator 113 may include a vibration motor.

[0081] The third vibration generator 113 includes motor-driven power steering (MDPS) and can also generate vibrations by controlling the MDPS.

[0082] The vehicle may further include a voice input device 120 for receiving internal sounds.

[0083] The audio input device 120 may further include one or more microphones.

[0084] The audio input device 120 may also include a microarray.

[0085] like Figure 2 As shown, the sound input device 120 can be respectively installed on multiple seats 102a, 102b, 102c and 102d.

[0086] For example, when there are four seats in a vehicle, the voice input device 120 may include a first voice input device 121, a second voice input device 122, a third voice input device 123 and a fourth voice input device 124 respectively disposed on a plurality of seats 102a, 102b, 102c and 102d.

[0087] The vehicle may further include an image acquisition device 180 for acquiring images of the road environment. The vehicle may further include an image acquisition device 180 for acquiring images of the interior.

[0088] Figure 3 It is a control configuration diagram of the vehicle according to the implementation plan. Figure 4 This is a detailed configuration diagram of the vehicle controller according to the implementation plan.

[0089] The vehicle includes an instrument cluster 104, a first input device 106a, a first display 106b, an on-board host 106, an on-board terminal 107, a sound output device 108, a vibration generator 110, a sound input device 120, an occupant detector 130, a driver assistance system 140, a controller 150, a storage device 150a, and a transceiver 160, and further includes a road surface detector 170 and an image acquisition device 180 (see...). Figure 1 It may further include a driving information detector (not shown) and an obstacle detector (not shown).

[0090] omission Figure 1 and Figure 2 Description of the configuration.

[0091] The instrument cluster 104, the first display 106b, the vehicle terminal 107, and the vehicle host 106 can display alarm information about dangerous situations in response to control commands from the controller 150.

[0092] For example, the instrument cluster 104 can change and display the color information, image information, and flashing information of the lights set in the instrument cluster. Here, the flashing information may include the flashing interval, total flashing time, etc.

[0093] The second display of the vehicle terminal 107 can change color information or display an image corresponding to the alarm.

[0094] The second display of the vehicle terminal 107 can display map information, and may also display map information and direction information that match the route to the destination.

[0095] The second display of the vehicle terminal 107 can display the autonomous driving mode or the manual driving mode, and can also display the activation / deactivation information of the collision avoidance notification mode.

[0096] The second display of the vehicle terminal 107 can display collision risk information indicating a collision with an obstacle as an image.

[0097] The second display of the vehicle terminal 107 can display deceleration and steering information used for obstacle avoidance as images.

[0098] The first input device 106a, the vehicle terminal 107, and the vehicle host 106 can receive operation commands, parking commands, function adjustment commands, and so on, such as radio functions, audio functions, call functions, communication functions with user terminals, and navigation functions.

[0099] The first input device 106a, the vehicle terminal 107, and the vehicle host 106 can receive vehicle information, such as whether the passenger is currently in the vehicle and their location, as user input.

[0100] The first input device 106a may be an input device installed in the vehicle host, but it may also be an input device installed on the steering wheel, central instrument panel, joystick, door, etc.

[0101] The first input device 106a and the vehicle terminal 107 receive the driver's manual driving mode or automatic driving mode and send the input signal to the controller 150.

[0102] The first input device 106a and the vehicle terminal 107 can receive destination information when executing autonomous driving mode or navigation mode, and can receive route information of at least one of multiple routes.

[0103] In autonomous driving mode, the first input device 106a and the vehicle terminal 107 can receive the input of the target driving speed.

[0104] The sound output device 108 outputs sound in response to the control command of the controller 150, and outputs sound corresponding to the function being performed in the vehicle.

[0105] The sound output device 108 can output sound for noise cancellation in response to the control command of the controller 150.

[0106] The sound output device 108 outputs sound in response to the control command of the controller 150, and can output a level of sound corresponding to the control command of the controller 150, and can also output a type of sound corresponding to the control command of the controller 150 as sound.

[0107] The vibration generator 110 generates vibration in response to the control command of the controller 150.

[0108] The sound input device 120 receives sounds from inside the vehicle while it is in motion.

[0109] The voice input device 120 can receive sounds from inside the vehicle, i.e., the user's voice, when the call function is executed.

[0110] The occupant detector 130 can send seating information (i.e., boarding information) about the presence of occupants to the controller 150.

[0111] The driver assistance system 140 assists the driver in operating the vehicle 1 (driving, braking, steering).

[0112] The driver assistance system 140 includes a road surface detector 170, an image acquisition device 180, a driving information detector (not shown), an obstacle detector (not shown), and a position receiver, or receives various information by communicating with the road surface detector 170, the image acquisition device 180, the driving information detector (not shown), the obstacle detector (not shown), and the position receiver located in the vehicle, and can assist driving by utilizing the various types of information received.

[0113] The location receiver receives the vehicle's location information and may include a Global Positioning System (GPS) receiver that calculates the vehicle's location by communicating with multiple satellites.

[0114] For example, driver assistance system 140 can detect obstacles around vehicle 1 (e.g., other vehicles, pedestrians, cyclists, lanes, road signs, etc.) and can control the driving and / or braking and / or steering of vehicle 1 in response to obstacle information about the detected obstacles.

[0115] The driver assistance system 140 can provide the driver with lane departure warning (LDW), lane keeping assist (LKA), automatic emergency braking (AEB), traffic sign recognition (TSR), smart cruise control (SCC), blind spot detection (BSD), and other functions.

[0116] The driver assistance system 140 may include a collision avoidance device that outputs notification information about a collision with an obstacle or avoids an obstacle to prevent a collision.

[0117] The driver assistance system 140 is equipped with an automatic driving control device. The automatic driving control device determines obstacles and driving conditions through the vehicle itself, and controls the vehicle's driving according to the planned driving route while avoiding obstacles, thereby automatically driving towards the destination.

[0118] The autonomous driving device can automatically control the vehicle to drive towards its destination and control the vehicle to drive at a target speed. When performing autonomous driving, it performs image processing on the image information acquired by the image acquisition device 180 to identify lanes and obstacles on the road. Based on the position information of the identified lane, it identifies the lane in which the vehicle is driving. Based on the obstacle information detected by the obstacle detector, it obtains the distance to the identified obstacle and controls lane changing, acceleration, deceleration and steering based on the obtained distance to the obstacle.

[0119] The aforementioned electronic components can communicate with each other via a vehicle communication network (NT). For example, electronic components can communicate data via Ethernet, media-oriented systems transport (MOST), FlexRay, controller area network (CAN), local interconnect network (LIN), etc.

[0120] The controller 150 can check the passenger's boarding position based on the passenger information detected by the passenger detector 130, and store the boarding position information about the confirmed boarding position.

[0121] The controller 150 can activate the operation of the sound input device and the sound output device based on the passenger's location information.

[0122] When an image acquisition device for acquiring images of the vehicle interior is provided, the controller 150 can obtain the occupant's riding position information based on the image information about the vehicle interior acquired by the image acquisition device.

[0123] The controller 150 checks the functions performed by the vehicle host 106 and the vehicle terminal 107, and obtains the driver's status based on the information about the confirmed functions.

[0124] The controller 150 can determine whether the driver is speaking, listening, watching, or focused on driving based on functional information about the functions being performed in the vehicle.

[0125] The functions performed by the vehicle-mounted host 106 may include audio functions, radio functions, call functions (hands-free functions), and voice recognition functions.

[0126] The functions performed on the vehicle terminal 107 may include audio functions, radio functions, content playback functions, broadcasting functions, call functions, internet functions, search functions, navigation functions, etc.

[0127] In addition, the audio functions, radio functions, content playback functions, broadcasting functions, calling functions, internet functions, search functions, and navigation functions are described as audio signals when the sound output device is used.

[0128] The controller 150 can determine whether the driver assistance system 140 is operating based on the first input device 106a, the second input device of the vehicle terminal 107, and the input information received through the vehicle host 106.

[0129] For example, controller 150 can determine the on / off status of intelligent cruise control (SCC), blind spot detection (BSD), and lane departure warning (LDW).

[0130] The controller 150 can communicate with the driver assistance system 140 to determine whether the driver assistance system 140 is operating.

[0131] The controller 150 can check the functions performed by the vehicle host 106 and the vehicle terminal 107. By performing the identified functions, it checks the output information output by the vehicle host 106 and the vehicle terminal 107 to determine whether there is sound information in the checked output information. When it is determined that there is sound information, it checks the output level of the sound based on the sound information.

[0132] The controller 150 can check the output level of sound that the occupants can hear in the vehicle based on the sound information input through the sound input device 120.

[0133] The controller 150 determines whether the environment in the vehicle is in a dialogue state based on the voice information input through the voice input device 120 and the function information about the functions performed by the vehicle host 106 and the vehicle terminal 107.

[0134] The controller 150 can determine whether the environment in the vehicle is in a conversational state based on the sound input through the voice input device 120.

[0135] The controller 150 can check the vehicle location of the speaker in the conversation based on the audio information input through the audio input device 120.

[0136] The controller 150 can check the position of the occupant (i.e., the speaker) in the conversation based on occupant information detected by the occupant detector and voice information input through the voice input device 120.

[0137] The controller 150 first checks the position of the occupant (i.e., the speaker) in the conversation based on the sound information input through the sound input device 120, and then checks the position of the occupant (i.e., the speaker) in the conversation based on the position information of the occupant in the conversation checked first and the position information of the occupant detected by the occupant detector.

[0138] The controller 150 can determine whether the driver is included among the occupants in the conversation based on the occupant's location information.

[0139] For example, controller 150 can determine whether the conversation is between the driver and the occupant in the front passenger seat, between the driver and the occupant in the first or second rear seat, between the occupant in the front passenger seat and the occupant in the first or second rear seat, or between the occupant in the first rear seat and the occupant in the second rear seat. Additionally, controller 150 can determine, based on the determination result, whether the driver is included among the occupants in the conversation.

[0140] The configuration used to determine whether the driver is included among the occupants in the conversation will be described in more detail.

[0141] The controller 150 can acquire only the occupant's speech signal by using a noise cancellation algorithm to remove audio signals and noise from the audio signal input via the audio input device. Furthermore, the controller 150 can check the audio input device receiving the acquired speech signal and acquire the location information of the occupant engaging in the conversation based on the location information of the checked audio input device.

[0142] The controller 150 can obtain the location information of the occupants in the conversation based on the level of speech volume in the speech signal input to each voice input device.

[0143] For example, when the driver speaks, the volume level of the voice signal input through the voice input device located in the driver's seat can be the largest, the volume level of the voice signal input through the voice input device located in the front passenger seat can be the second largest, the volume level of the voice signal input through the voice input device located in the first rear seat can be the third largest, and the volume level of the voice signal input through the voice input device located in the second rear seat can be the smallest.

[0144] When the passenger in the front passenger seat speaks, the volume of the voice signal input through the voice input device in the front passenger seat can be at its maximum, the volume of the voice signal input through the voice input device in the driver's seat can be at its second maximum, the volume of the voice signal input through the voice input device in the second rear seat can be at its third maximum, and the volume of the voice signal input through the voice input device in the first rear seat can be at its minimum.

[0145] When the occupant of the first rear seat speaks, the volume level of the voice signal input through the voice input device in the first rear seat can be the largest, the volume level of the voice signal input through the voice input device in the second rear seat can be the second largest, the volume level of the voice signal input through the voice input device in the driver's seat can be the third largest, and the volume level of the voice signal input through the voice input device in the front passenger seat can be the smallest.

[0146] When an occupant speaks in the second rear seat, the volume of the voice signal input through the voice input device in the second rear seat can be the highest, the volume of the voice signal input through the voice input device in the first rear seat can be the second highest, the volume of the voice signal input through the voice input device in the front passenger seat can be the third highest, and the volume of the voice signal input through the voice input device in the driver's seat can be the lowest.

[0147] The controller 150 can obtain the location information of the occupant in the conversation based on the location information of the sound input device with a high volume level.

[0148] The controller 150 can obtain the location information of the occupants in the conversation based on the audio frequency of the acquired voice signal.

[0149] The controller 150 can determine whether the driver is engaging in conversation (i.e., speaking) based on the level and frequency of the voice input from multiple voice input devices.

[0150] The controller 150 can determine whether the driver is speaking in response to whether the call function is executed.

[0151] When it is determined that the driver is speaking and there is an occupant in the front passenger seat, the controller 150 can determine the visual and tactile types as the alarm type, the first level which is higher than the reference level as the alarm level, the alarm time as the first alarm time which is longer than the reference alarm time, and store the determined alarm type, alarm level and alarm time as an alarm message.

[0152] The speaking status can include a conversation with another occupant and a call status.

[0153] When it is determined that the driver is speaking and there is an occupant in the front passenger seat, the controller 150 can determine the alarm type as auditory, visual, and tactile, determine the second level (higher than the first level) as the alarm level, determine the alarm duration as a second alarm duration that is longer than the first alarm duration, and store the determined alarm type, alarm level, and alarm duration as secondary alarm information.

[0154] When it is determined that the driver is speaking and there is an occupant in the front passenger seat, the controller 150 can determine the alarm type as auditory, visual, and tactile, determine the third level (higher than the second level) as the alarm level, determine the alarm duration as a third alarm duration that is longer than the second alarm duration, and store the determined alarm type, alarm level, and alarm duration as three alarm messages.

[0155] For example, if the distance to the obstacle is the first distance, the controller 150 outputs an alarm message once; if the distance to the obstacle is the second distance, which is closer than the first distance, the controller 150 outputs a second alarm message; and if the distance to the obstacle is the third distance, which is closer than the second distance, the controller 150 outputs a third alarm message.

[0156] As another example, if the predicted collision time with the obstacle is the first time, the controller 150 outputs an alarm message once; if the predicted collision time with the obstacle is the second time, which is shorter than the first time, the controller 150 outputs a second alarm message; and if the predicted collision time with the obstacle is the third time, which is shorter than the second time, the controller 150 outputs a third alarm message.

[0157] When it is determined that the driver is not speaking and there is no occupant in the front passenger seat, the controller 150 can determine the alarm type (auditory, visual, and tactile) as the alarm type, the alarm level as the reference level, and the alarm duration as the reference time. Furthermore, the controller 150 can store the determined alarm type, alarm level, and alarm duration as primary alarm information, and can store secondary and tertiary alarm information by increasing the alarm level and alarm duration.

[0158] When it is determined that the driver is in a calling state and there is no occupant in the front passenger seat, the controller 150 can identify the alarm type (auditory, visual, and tactile) as the alarm type, the alarm level as the first level, and the alarm duration as the first alarm duration. Furthermore, the controller 150 can store the identified alarm type, alarm level, and alarm duration as primary alarm information, and can store secondary and tertiary alarm information by increasing the alarm level and alarm duration.

[0159] When the controller outputs three alarm messages, it determines whether the driver is in a state of driving focus. If it determines that the driver is in a state of driving focus, it adjusts the alarm level and alarm duration.

[0160] When it is determined that the driver is in a state of focused driving, the controller 150 can reduce the display intensity of the image corresponding to the alarm stage based on the display status of the display, and can stop the output of alarm information when the alarm is cleared.

[0161] If it is determined that there is only a driver in the vehicle and the interior noise level is below the reference noise level, the controller can determine the alarm type as either visual or auditory. If it is determined that there is only a driver in the vehicle and the interior noise level exceeds the reference noise level, the controller can determine the alarm type as either tactile or auditory.

[0162] If it is determined that there is only a driver in the vehicle and the interior noise level is below the reference noise level, the controller can determine secondary and tertiary alarm information by adjusting only the tactile alarm level. Alternatively, if it is determined that there is only a driver in the vehicle and the interior noise level is below the reference noise level, the controller can determine secondary and tertiary alarm information by adjusting at least one of the visual and auditory alarm levels.

[0163] If it is determined that there is only a driver in the vehicle and the interior noise level exceeds the reference noise level, the controller can determine the secondary and tertiary alarm information by adjusting only the hearing type alarm level.

[0164] If there are occupants in the driver's and front passenger's seats in the vehicle, the controller can determine secondary alarm information by adjusting the tactile alarm level and tertiary alarm information by adjusting the auditory alarm level.

[0165] The controller 150 determines alarm information based on the occupant's location information, the location information of the occupant speaking, and the level of the audio signal. Based on the determined alarm information, the controller 150 controls the operation of at least one of the instrument cluster, the first display, the in-vehicle terminal, the sound output device, and the vibration generator.

[0166] Here, alarm information may include alarm type, alarm level, and alarm time, and may further include alarm cycle.

[0167] Alarm types can include visual types such as video displays and lights, auditory types such as sirens, and tactile types such as vibrations.

[0168] Alarm levels can include color brightness level, color saturation level, light flashing brightness level, flashing interval level, vibration intensity level, and volume level.

[0169] Alarm time is the time during which alarm information is output, and alarm cycle is the time interval between outputting alarm information.

[0170] When it is determined that the alarm information is an output time, the controller 150 may temporarily stop the output of the audio signal to be output through the sound output device 108.

[0171] The controller 150 can generate a cancellation signal to cancel the audio signal to be output through the sound output device 108, and output the generated cancellation signal through the sound output device 108. Thus, the sound output device 108 can output only the alarm information, or the occupants can only hear the sound of the alarm information.

[0172] When a sound signal corresponding to the sound input through the sound input device 120 is received, the controller 150 can identify the noise signal in the sound signal, generate an inverse signal of the identified noise signal, and output the generated inverse signal as a noise cancellation signal.

[0173] Noise signals can be generated by external noise and vibrations of the vehicle, such as the sound of rain and the sound produced by another vehicle driving.

[0174] Noise signals can be any signals other than audio signals corresponding to the function execution and audio signals for occupant speech.

[0175] The controller 150 can select at least one of a plurality of sound output devices based on the occupant's position information and output a noise control signal generated by the selected sound output device 108.

[0176] The controller 150 can mix the noise control signal with the sound source (i.e., the audio signal) to be output through the vehicle host or vehicle terminal, and then output it through the speaker of at least one selected sound output device.

[0177] In this configuration, the phase of the noise signal generated inside vehicle 1 and the phase of the audio signal mixed with the noise control signal can be opposite to each other. Therefore, the internally generated noise signal can be attenuated, thereby reducing or eliminating noise within the vehicle.

[0178] The controller 150 can send alarm information to the driver assistance system regarding the determined alarm type, alarm level, and alarm duration. Accordingly, the driver assistance system can control alarm output based on the alarm information regarding the received alarm type, alarm level, and alarm duration.

[0179] For example, when an obstacle is detected in the blind spot, the blind spot detection (BSD) device can output a collision alarm based on the received alarm information, including the received alarm level, alarm type, and alarm time.

[0180] The controller 150 can check the level of the audio signal output through the sound output device and adjust the alarm level based on the sound output level of the checked audio signal.

[0181] The controller 150 can adjust the alarm level based on whether the driver is speaking and the sound output level of the audio signal used for functions performed in the vehicle.

[0182] Here, the alarm level can include the sound level and the vibration intensity level.

[0183] When there is only a driver present and the noise level is below the reference noise level, the controller 150 can gradually increase the alarm level.

[0184] If there is only a driver and the noise level is below the reference noise level, the controller 150 can gradually increase the alarm level in response to the risk.

[0185] When only the driver is present, the controller 150 can control the output of auditory alarm information.

[0186] When there is an occupant in the front passenger seat, the controller 150 can reduce the inconvenience of the occupant by limiting the output of auditory alarm information.

[0187] The controller 150 can determine the alarm type as visual or tactile during call, content playback, or broadcast functions, and can add an auditory type when a secondary alarm is executed.

[0188] When the call function is in progress, the controller 150 can determine the alarm type as visual or tactile, and when a secondary alarm is triggered, the controller 150 can add an auditory type.

[0189] The vehicle may further include a road surface detector 170, a rainwater detector, and an image acquisition device.

[0190] The road surface detector 170 may include a wheel speed sensor and an acceleration sensor.

[0191] Wheel speed sensors and acceleration sensors can be sensors installed in electronically controlled suspension (ECS) or electronic stability control (ESC) systems.

[0192] The vehicle may further include a rain detector for detecting rainwater.

[0193] Vehicles can identify road surfaces and whether it is raining based on road images acquired by image acquisition devices.

[0194] The controller 150 can identify the road surface based on the road surface information detected by the road surface detector 170, identify the external environment based on the road surface information of the identified road surface and the lane information detected by the lane detector, and determine alarm information based on the identified external environment.

[0195] When the road surface detector 170 is an acceleration sensor, the controller 150 can acquire a reference signal based on the acceleration signal detected by the acceleration sensor, generate an inverted signal (i.e., a noise control signal) for removing noise from the acquired reference signal, and output a sound corresponding to the generated noise control signal through the sound output device 108.

[0196] The controller 150 can pre-identify vibrations that cause internal noise based on acceleration signals detected by the accelerometer.

[0197] The controller 150 identifies the direction of the collected sound, obtains the location information of the speaking occupant based on the identified direction, and performs speech recognition based on the sound.

[0198] The controller 150 can communicate with the driver assistance system and send alarm information to the driver assistance system.

[0199] The controller 150 can send alert information to intelligent cruise control (SCC), blind spot detection (BSD), and lane departure warning (LDW) systems that require alert information.

[0200] The image acquisition device 180 acquires an image of the road and sends the information of the acquired image to the controller 150. Here, the image information can be image data.

[0201] The image acquisition device 180 may include a front-facing camera to acquire image information of the road from image data captured by the front-facing camera, and to acquire the shape of obstacles.

[0202] The image acquisition device 180 can be installed inside the vehicle to acquire images of the occupants.

[0203] In this way, the image acquisition device 180 installed inside the vehicle can be used as an occupant detector.

[0204] The environment recognition unit 151 can be an internal environment recognition unit that identifies the internal environment of the vehicle.

[0205] The external environment recognition unit for identifying the external environment may further include a road surface recognition unit, and may also include a rainwater detector for detecting rainwater.

[0206] When road surface unevenness and noise increase, the controller can receive road environment and ambient noise information and adjust the output levels of sound and tactile intensity. For example, the controller can increase the output level of sound and vibration on uneven road surfaces.

[0207] The controller can receive road environment and ambient noise information, and when road unevenness and noise increase, it changes the color of the lights in the instrument cluster, the alarm image or background color of the first display or the display of the vehicle terminal.

[0208] When control is transferred in autonomous driving mode, the controller can also adjust the alarm sound and vibration intensity based on the time of the transfer request. In this case, the alarm sound and vibration can be generated at the user-defined time.

[0209] The controller can also adjust the alarm sound and vibration generation time and cycle when road unevenness and noise increase by receiving road environment and ambient noise information.

[0210] For example, when the road surface is uneven or the audio volume level is higher than a baseline, the controller can increase the alarm time and shorten the alarm cycle.

[0211] The controller 150 can be implemented using a single processor.

[0212] The controller 150 can be implemented as a memory (not shown) and a processor (not shown), wherein the memory stores algorithms for controlling the operation of components in the vehicle or data about programs for reproducing the algorithms, and the processor uses the data stored in the memory to perform the aforementioned operations. In this case, the memory and processor can be implemented as separate chips. Alternatively, the memory and processor can be implemented as a single chip.

[0213] The storage device 150a stores identification and position information of multiple seats, and also stores identification and position information of multiple occupant detectors. Here, the position information of the multiple occupant detectors can each correspond to the position information of multiple seats.

[0214] The storage device 150a stores identification information and location information of multiple voice input devices. Here, the location information of the multiple voice input devices can each correspond to the location information of multiple seats.

[0215] The storage device 150a can store identification information and location information of multiple sound output devices. Here, the location information of the multiple sound output devices can each correspond to the location information of multiple seats.

[0216] The storage device 150a may be implemented using at least one of a non-volatile storage element (e.g., cache memory, read-only memory (ROM), programmable ROM (PROM), erasable programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM), and flash memory), a volatile storage element (e.g., random access memory (RAM)), or a storage medium (e.g., hard disk drive (HDD) and CD-ROM). The implementation of the storage device is not limited thereto.

[0217] Storage device 150a may be a memory implemented by a chip separate from the aforementioned processor associated with controller 150, or storage device 150a may be implemented by a single chip having a processor.

[0218] Transceiver 160 communicates with user terminal 2.

[0219] Transceiver 160 may include one or more components capable of communicating between components within the vehicle. For example, transceiver 160 may include at least one of a short-range communication module, a wired communication module, and a wireless communication module.

[0220] Short-range communication modules can include various short-range communication modules that transmit and receive signals using wireless communication networks over short distances, such as Bluetooth modules, infrared communication modules, radio frequency identification (RFID) communication modules, wireless local area network (WLAN) communication modules, NFC communication modules, and Zigbee communication modules.

[0221] Wired communication modules can include various cable communication modules, such as Controller Area Network (CAN) communication modules, Local Area Network (LAN) modules, Wide Area Network (WAN) modules, or Value-Added Network (VAN) modules, and include various wired communication modules, such as Universal Serial Bus (USB), High Definition Multimedia Interface (HDMI), Digital Video Interface (DVI), Recommended Standard-232 (RS-232), Power Line Communication, or Ordinary Old Telephone Service (POTS).

[0222] The wired communication module may further include a local interconnect network (LIN).

[0223] In addition to Wi-Fi and Wi-Bro modules, wireless communication modules may include wireless communication modules that support various wireless communication methods, such as Global System for Mobile Communications (GSM), Code Division Multiple Access (CDMA), Wideband Code Division Multiple Access (WCDMA), Universal Mobile Telecommunications System (UMTS), Time Division Multiple Access (TDMA), Long Term Evolution (LTE), and Ultra Wideband (UWB) modules.

[0224] User terminal 2 communicates with the vehicle.

[0225] User terminal 2 can be implemented as a computer or portable terminal that can be connected to vehicle 1 via network communication.

[0226] Here, computers include, for example, laptops, desktop computers, tablets, and tablet computers equipped with web browsers. Portable terminals are, for example, wireless communication devices that ensure portability and mobility, and include various handheld wireless communication devices, such as Personal Communication Systems (PCS), Global System for Mobile Communications (GSM), Personal Digital Cellular (PDC), Personal Handheld Telephone Systems (PHS), Personal Digital Assistants (PDAs), International Mobile Telecommunications (IMT)-2000, Code Division Multiple Access (CDMA)-2000, Wideband Code Division Multiple Access (W-CDMA), Wireless Broadband Internet (WiBro) terminals, smartphones, etc. Furthermore, portable terminals can include wearable devices, such as watches, rings, bracelets, anklets, necklaces, glasses, contact lenses, or head-mounted devices (HMDs).

[0227] Corresponding to Figure 3 The authentication device shown has the capability to add or remove at least one component. Furthermore, those skilled in the art will readily understand that the relative positions of the components can change in response to system performance or structure.

[0228] at the same time, Figure 3 Each component shown refers to a software and / or hardware component such as a field-programmable gate array (FPGA) and an application-specific integrated circuit (ASIC).

[0229] like Figure 4 As shown, the controller 150 includes an environment recognition unit 151 for recognizing the interior environment of the vehicle and an alarm determination unit 152 for determining alarm information of the route to be output, and may further include a road recognition unit 153 for recognizing the road surface type.

[0230] The alarm determination unit 152 may include: a type determination unit 152a, a level determination unit 152b, and a time determination unit 152c. The type determination unit 152a determines at least one of visual, auditory, and tactile types as alarm types based on the internal environment. The level determination unit 152b determines the alarm level for the visual type, the alarm level for the auditory type, and the alarm level for the tactile type based on the internal environment. The time determination unit 152c determines the alarm time for outputting alarm information for the visual type, the alarm time for outputting alarm information for the auditory type, and the alarm time for outputting alarm information for the tactile type based on the internal environment.

[0231] When the alarm type is determined to be visual, alarm information can be output through the displays of the instrument cluster, the primary display, and the in-vehicle terminal. The background color and image on the displays of the instrument cluster, the primary display, and the in-vehicle terminal can be displayed, or lights can be illuminated.

[0232] When the alarm type is determined to be visual, the alarm level can be indicated by changing the color to red, orange, and yellow.

[0233] When the alarm type is determined to be visual, the time for changing the background color, the display time of the alarm image, and the lighting time of the light can be defined as the alarm time.

[0234] When the alarm type is determined to be auditory, the alarm information can be output through the sound output device.

[0235] When the alarm type is determined to be auditory, the alarm level can be indicated by changing the volume level of the alarm sound.

[0236] When the alarm type is determined to be auditory, the output time of the alarm sound can be defined as the alarm time.

[0237] When the alarm type is determined to be tactile, alarm information can be output through a vibration generator.

[0238] When the alarm type is determined to be tactile, the alarm level can be indicated by changing the level of vibration intensity.

[0239] When the alarm type is determined to be tactile, the vibration occurrence time can be defined as the alarm time.

[0240] Embodiments of the present invention can improve the user's awareness of driving risks and minimize the discomfort caused to the user by excessive alarms by changing the alarm type, alarm level and alarm duration according to the vehicle's driving environment (e.g., external and internal conditions of the vehicle).

[0241] Accordingly, embodiments of the present invention can improve vehicle safety and reduce the risk of traffic accidents.

[0242] Embodiments of the present invention can change the alarm type, alarm level, and alarm duration output from the driver assistance system according to the vehicle's driving environment (e.g., external conditions and internal conditions of the vehicle).

[0243] Even without adding hardware configuration, the embodiments of the present invention can improve the marketability of the vehicle while avoiding increasing vehicle costs by changing the alarm algorithm.

[0244] Therefore, the embodiments of the present invention can improve the quality of driver assistance systems and vehicles equipped with driver assistance systems, and further improve user satisfaction and ensure product competitiveness.

[0245] Furthermore, the disclosed implementation can be implemented in the form of a recording medium storing computer-executable instructions. These instructions can be stored as program code, and when executed by a processor, they can generate program modules to perform the operations of the disclosed implementation. The recording medium can be implemented as a computer-readable recording medium.

[0246] Computer-readable recording media can include all types of recording media that store instructions that can be interpreted by a computer. For example, computer-readable recording media can be ROM, RAM, magnetic tape, magnetic disk, flash memory, optical data storage devices, etc.

[0247] Exemplary embodiments of the invention have been described so far with reference to the accompanying drawings. It will be apparent to those skilled in the art that the invention can be practiced in other forms than those described above without altering its technical concept or essential characteristics. The disclosed embodiments are illustrative and should not be construed as restrictive.

Claims

1. A vehicle comprising: A display configured to output visual alarm information; A sound output device configured to output auditory alarm information; A vibration generator is installed in the driver's seat and configured to output tactile alarm information by generating vibrations; A sound input device configured to receive sound; An occupant detector, configured to detect occupants and output occupant information about the detected occupants; as well as The controller is configured as follows: The controller determines whether the driver is speaking based on sound information received from the sound input device. Specifically, the controller acquires the speaker's location information based on the sound information and determines whether the driver is the speaker based on the acquired speaker's location information, thus determining whether the driver is speaking. Determine whether there is a passenger in the front passenger seat based on occupant information. When it is determined that the driver is speaking and there is a passenger in the front passenger seat, the visual and tactile types are determined as the alarm types. When it is determined that the driver is speaking and there is no occupant in the front passenger seat, the visual, tactile, and auditory types are identified as the alarm types. When it is determined that the driver is not speaking and there is no occupant in the front passenger seat, the visual, tactile, and auditory types are identified as alarm types. When it is determined that the driver is not the speaker, the alarm level of the determined alarm type is set as the reference alarm level; when it is determined that the driver is the speaker, the alarm level of the determined alarm type is set as an alarm level higher than the reference alarm level.

2. The vehicle according to claim 1, wherein, The controller is configured to: when it is determined that the driver is not speaking, determine the reference alarm level as the alarm level and store the determined alarm level as an alarm message; when it is determined that the driver is speaking, determine the first alarm level, which is higher than the reference alarm level, as the alarm level and store the determined alarm level as an alarm message.

3. The vehicle according to claim 2, wherein, The controller is configured to: when it is determined that the driver is in a speaking state, store the second alarm level, which is higher than the first alarm level, as secondary alarm information, and store the third alarm level, which is higher than the second alarm level, as tertiary alarm information.

4. The vehicle according to claim 3, wherein, The controller is configured to store auditory alarm types as secondary alarm information and tertiary alarm information when storing secondary alarm information and tertiary alarm information.

5. The vehicle according to claim 4, wherein, The controller is configured to send a first alarm message, a second alarm message, and a third alarm message to the driver assistance system.

6. The vehicle of claim 4, further comprising an obstacle detector, wherein, The controller is configured to output primary alarm information, secondary alarm information, and tertiary alarm information based on obstacle information detected by the obstacle detector.

7. The vehicle according to claim 3, wherein, The controller is configured to: when it is determined that the driver is not speaking, store the first alarm level as a secondary alarm message and the second alarm level as a tertiary alarm message.

8. The vehicle according to claim 1, wherein, The controller is configured to: when it is determined that the driver is not in a speaking state, determine the reference alarm time as the alarm time and store the determined alarm time as an alarm message; when it is determined that the driver is in a speaking state, determine a first alarm time that is longer than the reference alarm time as the alarm time and store the determined alarm time as an alarm message.

9. The vehicle according to claim 8, wherein, The controller is configured to: when it is determined that the driver is in a speaking state, store the second alarm time, which is longer than the first alarm time, as secondary alarm information, and store the third alarm time, which is longer than the second alarm time, as tertiary alarm information.

10. The vehicle according to claim 8, wherein, The controller is configured to: when it is determined that the driver is not speaking, store the first alarm time as a second alarm message, and store the second alarm time as a third alarm message.

11. The vehicle according to claim 1, wherein, The controller is configured to: when outputting auditory type alarm information, determine whether the function of outputting audio signals through a sound output device is being executed; when it is determined that the function is being executed, control the cancellation of the audio signal and output auditory type alarm information through the sound output device.

12. The vehicle according to claim 1, wherein, The controller is configured to: when it is determined that the driver is not the speaker, determine the alarm time of the determined alarm type as the reference alarm time; when it is determined that the driver is the speaker, determine the alarm time of the determined alarm type as an alarm time longer than the reference alarm time.

13. The vehicle according to claim 1, wherein, The controller is configured to: when it is determined that the driver is not the speaker, determine the alarm period of the determined alarm type as the reference alarm period; when it is determined that the driver is the speaker, determine the alarm period of the determined alarm type as an alarm period shorter than the reference alarm period.

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