Method and device for assisting the vision of a vehicle driver

Abstract

A method and apparatus for assisting a driver's vision are provided. The method includes receiving a signal indicating that weather information is emergency weather information from a navigation device according to a driver's setting of a vehicle; turning on a vision assistance device included in the vehicle in response to the signal; obtaining an image of an infrared thermal camera that photographs a front of the vehicle while the vehicle is traveling and an image of a camera that photographs the front of the vehicle while the vehicle is traveling; controlling an image processor of the vision assistance device to determine whether a matching rate between the image data of the infrared thermal camera and the camera is less than or equal to a first threshold value; and generating a surrounding state image of the vehicle including distances between the vehicle and respective objects located in front of, behind, and to the sides of the traveling vehicle, speeds of the respective objects detected by a radar sensor of the vision assistance device, and the image of the infrared thermal camera that photographs the front of the vehicle when the matching rate is less than or equal to the first threshold value.

Description

[0001] Cross-reference of related applications

[0002] This application claims priority and benefit to Korean Patent Application No. 10-2020-0172014, filed with the Korean Intellectual Property Office on December 10, 2020, the entire contents of which are incorporated herein by reference. Technical Field

[0003] This disclosure relates to driver assistance systems (DAS) for vehicle drivers, and more specifically, to methods and apparatus for assisting vehicle drivers' vision. Background Technology

[0004] Generally speaking, a vehicle refers to a mobile or transport vehicle that uses fossil fuels, electricity, or other energy sources to travel on roads or railways. Vehicles primarily use one or more wheels mounted on their bodies to move to multiple locations. Such vehicles can include three-wheeled or four-wheeled vehicles that travel on railway tracks, two-wheeled vehicles (such as motorcycles), construction machinery, bicycles, and trains.

[0005] In recent years, there has been active research on vehicles equipped with Advanced Driver Assistance Systems (ADAS), which proactively provide information about vehicle status, driver status, and the surrounding environment to reduce driver workload and improve driver convenience.

[0006] Examples of ADAS provided on vehicles include: Forward Collision Avoidance (FCA), Autonomous Emergency Braking (AEB), or Driver Attention Warning (DAW).

[0007] The information disclosed in this background section is provided solely to enhance understanding of the context. Therefore, this background section may include information that does not constitute prior art known to those skilled in the art. Summary of the Invention

[0008] This disclosure aims to provide a method and apparatus for assisting a vehicle driver's vision. The method and apparatus generate an image based on data obtained by comparing an image captured by an infrared thermal camera in front of the vehicle with an image from another camera, the distance between the vehicle and an object located in front of the vehicle, the speed of the object, and the thermal camera image, when the vehicle is traveling in emergency weather conditions due to rain or snow. Therefore, the image can be provided to the vehicle driver to prevent traffic accidents.

[0009] Embodiments of this disclosure provide a method for assisting a vehicle driver's vision. The method includes: receiving, by a controller, a signal from a navigation device indicating that weather information is emergency weather information, based on settings of the vehicle driver; and, in response to the signal, activating a vision assistance device for the vehicle driver included in the vehicle. The method further includes: acquiring, by the controller, an image from an infrared thermal camera of the vision assistance device, the infrared thermal camera capturing images of the area in front of the vehicle while the vehicle is in motion. The method also includes acquiring an image from another camera of the vision assistance device, the other camera capturing images of the area in front of the vehicle while the vehicle is in motion. The method further includes: controlling, by the controller, an image processor of the vision assistance device to determine whether a matching rate between image data from the infrared thermal camera and image data from the other camera is less than or equal to a first threshold. The method further includes: when the matching rate is less than or equal to the first threshold, generating, by the controller, an image of the vehicle's surroundings, including distances and speeds, using distances between the vehicle and various objects located in front of, behind, and to the sides of the vehicle while in motion, speeds of the various objects detected by radar sensors of the vehicle driver's vision assistance device, and the image captured by the infrared thermal camera in front of the vehicle.

[0010] The method may also include controlling a head-up display (HUD) device to display an image of the vehicle's surroundings on the vehicle's windshield.

[0011] The method may further include: generating a warning message based on distance and speed by the controller, the warning message being included in an image of the vehicle's surroundings; and controlling a head-up display (HUD) device to display the warning message on the vehicle's windshield by the controller.

[0012] The method may further include: when the matching rate is less than or equal to a first threshold, the controller turns on the emergency light switch included in the vision aid device and turns on the vehicle's emergency lights.

[0013] The method may also include: the controller receiving weather information about the vehicle's location from a server located outside the vehicle via a communicator of the vision aid device.

[0014] Emergency weather information may include: rain or snow.

[0015] The image processor can convert image data from an infrared thermal camera and another camera into grayscale images, and compare the converted image data to calculate the matching rate.

[0016] Another embodiment of this disclosure provides a method for assisting a vehicle driver's vision. The method includes: receiving, by a controller, a signal from a navigation device indicating that weather information is emergency weather information according to settings of the vehicle driver; and, in response to the signal, activating a vision assistance device for the vehicle driver included in the vehicle. The method further includes: acquiring, by the controller, an image from an infrared thermal camera of the vision assistance device, which captures images of the front of the vehicle while the vehicle is in motion, and acquiring an image from another camera of the vision assistance device, which also captures images of the front of the vehicle while the vehicle is in motion. The method further includes: controlling, by the controller, an image processor of the vision assistance device to determine whether a matching rate between the image data from the infrared thermal camera and the image data from the other camera is greater than a first threshold and less than or equal to a second threshold. The method further includes: when the matching rate is greater than the first threshold and less than or equal to the second threshold, determining whether the controller has received a signal from the navigation device indicating that the vision assistance device needs to be used. The method further includes, when a signal indicating that the driver's vision aid needs to be used is received, the controller uses the distance between the vehicle and various objects located in front of, behind and to the sides of the vehicle while it is in motion, the speed of the various objects detected by the radar sensors of the vision aid, and an image taken from an infrared thermal camera in front of the vehicle to generate an image of the vehicle's surroundings including the distance and the speed.

[0017] The method may also include: controlling a head-up display (HUD) device to display an image of the vehicle's surroundings on the vehicle's windshield.

[0018] The method may further include: generating a warning message based on distance and speed by the controller, the warning message being included in an image of the vehicle's surroundings; and controlling a head-up display (HUD) device to display the warning message on the vehicle's windshield by the controller.

[0019] The method may further include: when a signal indicating that a vision aid is needed is received, the controller turns on the hazard light switch included in the vision aid and turns on the vehicle's hazard lights.

[0020] The method may also include: the controller receiving weather information about the vehicle's location from a server located outside the vehicle via a communicator of the vision aid device.

[0021] Emergency weather information may include: rain or snow.

[0022] The image processor can convert image data from an infrared thermal camera and another camera into grayscale images, and compare the converted image data to calculate the matching rate.

[0023] Another embodiment of this disclosure provides an apparatus for assisting a vehicle driver's vision. The apparatus includes: an infrared thermal camera for capturing images of the area in front of the vehicle while the vehicle is in motion; another camera for capturing images of the area in front of the vehicle while the vehicle is in motion; and a controller that, according to settings of the vehicle driver, receives a signal from a navigation device indicating that weather information is emergency weather information, and activates the apparatus for assisting the vehicle driver's vision, included in the vehicle, in response to the signal. The controller acquires images from the infrared thermal camera and the other camera. The controller controls the image processor of the apparatus for assisting the vehicle driver's vision to determine whether the matching rate between the image data from the infrared thermal camera and the image data from the other camera is less than or equal to a first threshold. When the matching rate is less than or equal to the first threshold, the controller uses the distances between the vehicle and various objects located in front of, behind, and to the sides of the vehicle while in motion, the speeds of the various objects detected by radar sensors of the apparatus for assisting the vehicle driver's vision, and the images from the infrared thermal camera to generate an image of the vehicle's surroundings, including distances and speeds.

[0024] The controller can control the head-up display (HUD) device to display images of the vehicle's surroundings on the vehicle's windshield.

[0025] The controller can generate warning messages based on distance and speed, which are included in an image of the vehicle's surroundings. The controller can also control a head-up display (HUD) to show the warning messages on the vehicle's windshield.

[0026] When the matching rate is less than or equal to a first threshold, the controller can turn on the emergency light switch included in the device for assisting the driver's vision, and can turn on the vehicle's emergency lights.

[0027] The controller can receive weather information about the vehicle's location from a server located outside the vehicle via the communicator of the device used to assist the driver's vision.

[0028] The image processor can convert image data from an infrared thermal camera and another camera into grayscale images, and compare the converted image data to calculate the matching rate.

[0029] According to embodiments of this disclosure, a method and apparatus for assisting a vehicle driver's vision generate multiple images based on data obtained by comparing images from an infrared thermal camera and another camera positioned in front of the vehicle (the vehicle is traveling in emergency weather conditions due to rain or snow), the distance between the vehicle and an object in front of the vehicle, the speed of the object, and the thermal camera image. The method and apparatus provide these multiple images to the vehicle driver to prevent traffic accidents.

[0030] Furthermore, according to embodiments of this disclosure, for the driver's safe driving, images for emergency weather conditions can be provided by using reliable information received from sensors such as cameras for external vehicle conditions. Attached Figure Description

[0031] To provide a fuller understanding of the accompanying drawings used in the detailed description of this disclosure, a brief description of each drawing is provided.

[0032] Figure 1 This is a flowchart describing a method for assisting a vehicle driver's vision according to embodiments of the present disclosure.

[0033] Figure 2 This is a flowchart describing a method for assisting a vehicle driver's vision according to another embodiment of the present disclosure.

[0034] Figure 3 This is a block diagram describing a device for assisting a vehicle driver's vision, which utilizes... Figure 1 or Figure 2 The method shown is for assisting the driver's vision in a vehicle. Detailed Implementation

[0035] To fully understand the objectives achieved through the concepts of this invention and the embodiments of this disclosure, reference should be made to the accompanying drawings illustrating embodiments of this disclosure and the content disclosed therein.

[0036] The present disclosure is described in detail below with reference to the accompanying drawings, illustrating embodiments thereof. Detailed descriptions of known configurations or functions have been omitted in the following description to avoid obscuring the subject matter of the disclosure. The terminology used in this specification is for describing particular embodiments only and is not intended to limit the scope of the disclosure.

[0037] The singular form may include the plural form unless the context clearly indicates otherwise. In this specification, it should be understood that the terms "comprising" or "having" indicate the presence of the features, numbers, steps, operations, components, parts, or combinations thereof described in the specification. These terms do not preclude the possibility of the presence of or addition of one or more other features, numbers, steps, operations, components, parts, or combinations thereof.

[0038] Throughout the specification, when a component is described as being “connected” to another component, it means that the particular component can be “directly connected” to the other component, or that the components are “electrically or mechanically connected” to each other, and that a third element is inserted between them.

[0039] Unless otherwise defined, all terms used herein, including technical or scientific terms, shall have the same meaning as commonly understood by one of ordinary skill in the art. Terms defined in generally used dictionaries shall be interpreted as having the same meaning as in the relevant technical context and shall not be construed as having an ideal or overly formal meaning unless expressly defined herein. When components, apparatuses, elements, etc., of this disclosure are described as having a purpose or performing an operation, function, etc., they shall be regarded herein as being "configured" to satisfy that purpose or perform that operation or function.

[0040] Regardless of the weather, cars are the most commonly used means of movement or travel. However, rainy or snowy weather can adversely affect drivers' vision, creating a stark contrast with clear skies. Because raindrops fall directly onto the windshield, objects in front of the vehicle may become difficult to see. Therefore, drivers should be more vigilant than usual to ensure their visibility. The incidence of traffic accidents is high in rainy or snowy conditions.

[0041] According to related technologies, vehicle video systems use infrared cameras in environments without external lighting during nighttime driving to ensure the wide field of view required for safe driving. However, vehicle video systems cannot provide the driver with an adequate visual view of the vehicle's surroundings by reflecting various external environmental factors (e.g., weather information).

[0042] Figure 1 This is a flowchart describing a method for assisting a vehicle driver's vision according to embodiments of the present disclosure. Figure 2 This is a flowchart describing a method for assisting a vehicle driver's vision according to another embodiment of the present disclosure. Figure 3 This is a block diagram describing a device for assisting a vehicle driver's vision, which applies... Figure 1 or Figure 2 The method shown is for assisting the driver's vision in a vehicle.

[0043] Reference Figure 1 and Figure 3 In receiving step 100, the controller 330 can receive weather information about the vehicle's location from a server (e.g., a telematics server) installed outside the vehicle via the communicator 300. The telematics server can provide the vehicle with mobile communication service information including weather and traffic information.

[0044] Devices for assisting a vehicle driver’s vision may include: a communicator 300, an infrared thermal camera or infrared camera 305, a camera (including a conventional camera in a vehicle’s driving video recording system (or black box), which is a vehicle-built driving video recording device) 310, an image processor 315, a radar sensor 320, a head-up display (HUD) device 325, and a controller 330.

[0045] The controller 330, acting as an electronic control unit (ECU), controls the overall operation of the vision assistance device. The controller 330 may be, for example, one or more microprocessors, which operate via a program (control logic) or hardware (e.g., a microcomputer) including the microprocessor. The program may include a series of instructions for performing methods for assisting a vehicle driver's vision according to embodiments of this disclosure.

[0046] The instructions can be stored in the memory of the vision assist device or controller 330.

[0047] According to step 105, when the vehicle driver confirms that the weather information is emergency weather information including rain or snow, the controller 330 can activate visual assistance devices other than the controller. For example, the vehicle driver can activate the visual assistance devices in the user-defined mode (USM) of the audio-visual navigation (AVN) device (or navigation device) included in the visual assistance devices. The controller 330 can receive a signal from the navigation device indicating that the weather information is rain or snow.

[0048] According to step 110, the controller 330 can obtain an image of the infrared thermal camera 305 in front of the vehicle when the vehicle is in motion from the infrared thermal camera, and obtain an image of the camera 310 in front of the vehicle when the vehicle is in motion from another camera.

[0049] According to step 115, controller 330 can control image processor 315 to determine whether the matching rate between image data from infrared thermal camera 305 and image data from camera 310 is less than or equal to a first threshold (threshold 1). For example, image processor 315 can convert the image data from infrared thermal camera 305 and image data from camera 310 into grayscale images respectively, and compare the converted image data (e.g., brightness values) to calculate the matching rate. The first threshold is a value used to drive the visual aid device and can be determined through testing (or experimentation).

[0050] When the matching rate is less than or equal to the first threshold, the visual assistance method can proceed to step 120.

[0051] According to step 120, controller 330 can turn on the hazard light switch included in the vision aid device and automatically turn on the vehicle's hazard lights (e.g., the hazard lights at the front or rear of the vehicle). In another embodiment of this disclosure, step 120 may be omitted.

[0052] According to step 125, after step 120, controller 330 uses the distances between the vehicle and various objects (e.g., other vehicles) located in front of, behind, and to the sides of the vehicle while it is traveling. Controller 330 also uses the speeds of the various objects detected by radar sensor 320 using electromagnetic waves. Controller 330 also uses images captured by infrared thermal camera 305 in front of the vehicle. Therefore, in step 125, a surrounding state image (e.g., a thermal image) of the vehicle, including distance and speed, can be generated. Controller 330 can generate warning messages included in the surrounding state image of the vehicle based on the distance and speed. For example, when the distance is 50m or longer and the speed does not change, the warning message could be the message "Maintain current vehicle speed." When the distance is greater than or equal to 50m and the vehicle speed changes, the warning message could be the message "The speed of the vehicle ahead is X km / h, be careful of speed." To enable the driver of the vehicle to view images of the vehicle's surroundings or warning messages, the controller 330 can control the HUD device 325 to display images of the vehicle's surroundings or warning messages on the vehicle's windshield (or front windshield).

[0053] In another embodiment of this disclosure, steps 120 and 125 may be performed simultaneously.

[0054] Reference Figure 2 and Figure 3 In receiving step 200, the controller 330 can receive weather information about the vehicle's location from a server (e.g., a telematics server) installed (located) outside the vehicle via a communicator 300.

[0055] According to step 205, when the vehicle driver confirms that the weather information is emergency weather information including rain or snow, the controller 330 can activate visual assistance devices other than the controller. For example, the vehicle driver can activate the visual assistance devices in the user-defined mode (USM) of the audio-visual navigation (AVN) device (or navigation device) included in the visual assistance devices. The controller 330 can receive a signal from the navigation device indicating that the weather information is rain or snow.

[0056] According to step 210, the controller 330 can obtain an image of the infrared thermal camera 305 in front of the vehicle taken while the vehicle is in motion from the infrared thermal camera, and obtain an image of the camera 310 in front of the vehicle taken while the vehicle is in motion from the camera.

[0057] According to step 215, controller 330 can control image processor 315 to determine whether the matching rate between image data from infrared thermal camera 305 and image data from camera 310 is greater than a first threshold and less than or equal to a second threshold. The second threshold is a value used by the vehicle driver to selectively drive a visual aid device for the vehicle driver, and this second threshold can be determined through testing (or experimentation).

[0058] When the matching rate is greater than the first threshold and less than or equal to the second threshold, the visual assistance method can proceed to step 220.

[0059] According to step 220, controller 330 can determine whether the controller has received a signal from the navigation device indicating that a visual aid is needed. For example, the driver of the vehicle can configure whether a visual aid is needed in the navigation device.

[0060] According to step 225, when it is determined that the visual assistance device is needed, the controller 330 can automatically turn on the hazard light switch (turn on the vehicle's hazard light switch). In another embodiment of this disclosure, step 225 may be omitted.

[0061] According to step 230, after step 225, controller 330 uses the distances between the vehicle and various objects (e.g., other vehicles) located in front of, behind, and to the sides of the vehicle while it is traveling. Controller 330 also uses the speeds of the various objects detected by radar sensor 320. Controller 330 also uses images captured by infrared thermal camera 305 in front of the vehicle. Therefore, in step 230, a surrounding state image (e.g., a thermal image) of the vehicle, including distance and speed, can be generated. Controller 330 can generate warning messages included in the surrounding state image of the vehicle based on distance and speed. For example, when the distance is 50m or longer and the speed does not change, the warning message could be the message "Maintain current vehicle speed." When the distance is greater than or equal to 50m and the vehicle speed changes, the warning message could be the message "Vehicle ahead traveling at X km / h, be careful of speed." To allow the driver of the vehicle to view the surrounding state image or warning message, controller 330 can control HUD device 325 to display the surrounding state image or warning message on the vehicle's windshield.

[0062] In another embodiment of this disclosure, steps 225 and 230 may be performed simultaneously.

[0063] The components (e.g., “cells”) or blocks or modules used in the embodiments of this disclosure may be implemented as software such as tasks, classes, subroutines, procedures, objects, threads of execution, and programs that execute in a predetermined area on memory or hardware such as field-programmable gate arrays (FPGAs) or application-specific integrated circuits (ASICs). The constituent elements used in the embodiments of this disclosure, such as “...cells”, blocks, or modules, may be implemented by combining software and hardware. Components or “cells” may be included in computer-readable storage media (i.e., non-transitory storage media), and some components or “cells” may be distributed across multiple computers.

[0064] As described above, this embodiment is disclosed in the accompanying drawings and specification. Although specific terminology is used herein, it is for descriptive purposes only and should not be used to limit the meaning or scope of the disclosure as defined in the claims. Therefore, those skilled in the art will understand that various modifications and equivalent embodiments can be made based on this disclosure. Consequently, the true technical scope of this disclosure should be defined by the technical spirit of the appended claims.

[0065] List of reference numerals

[0066] 300: Communicator

[0067] 305: Infrared thermal camera

[0068] 310: Another camera

[0069] 315: Image Processor

[0070] 320: Radar sensor

[0071] 325: HUD device

[0072] 330: Controller.

Claims

1. A method for assisting a vehicle driver's vision, the method comprising: The controller receives a signal from the navigation device indicating that the weather information is an emergency weather information according to the settings of the vehicle's driver, and in response to the signal, activates the visual assistance device for the vehicle driver included in the vehicle. The controller obtains images from the infrared thermal camera of the vision aid device, the infrared thermal camera capturing images of the front of the vehicle while the vehicle is in motion; And obtain an image from another camera of the visual aid device, the other camera of the visual aid device capturing the front of the vehicle while the vehicle is in motion; The controller controls the image processor of the vision assist device to determine whether the matching rate between the image data of the infrared thermal camera and the image data of the other camera is less than or equal to a first threshold. and When the matching rate is less than or equal to the first threshold, the controller uses the distance between the vehicle and various objects located in front of, behind and to the side of the vehicle while the vehicle is driving, the speed of each object detected by the radar sensor of the vision aid device, and an image taken by the infrared thermal camera in front of the vehicle to generate an image of the vehicle's surroundings including the distance and the speed. The image processor converts the image data from the infrared thermal camera and the image data from the other camera into grayscale images, and compares the converted image data to calculate the matching rate.

2. The method according to claim 1, further comprising: The controller controls the head-up display (HUD) device to display an image of the vehicle's surroundings on the vehicle's windshield.

3. The method according to claim 2, further comprising: The controller generates a warning message based on the distance and the speed, and the warning message is included in the surrounding state image of the vehicle; and The controller controls the head-up display (HUD) device to display the warning message on the windshield of the vehicle.

4. The method according to claim 1, further comprising: When the matching rate is less than or equal to the first threshold, the controller turns on the emergency light switch included in the vision assist device and turns on the emergency light of the vehicle.

5. The method according to claim 1, further comprising: The controller receives weather information about the vehicle's location from a server located outside the vehicle via the communicator of the vision assist device.

6. The method according to claim 1, wherein: The emergency weather information includes weather information such as rain or snow.

7. A method for assisting a vehicle driver's vision, the method comprising: The controller receives a signal from the navigation device indicating that the weather information is an emergency weather information according to the settings of the vehicle's driver, and in response to the signal, activates the visual assistance device for the vehicle driver included in the vehicle. The controller obtains images from the infrared thermal camera of the vision aid device, the infrared thermal camera capturing images of the front of the vehicle while the vehicle is in motion; And obtain an image from another camera of the visual aid device, the other camera of the visual aid device capturing the front of the vehicle while the vehicle is in motion; The controller controls the image processor of the vision assist device to determine whether the matching rate between the image data of the infrared thermal camera and the image data of the other camera is greater than a first threshold and less than or equal to a second threshold. When the matching rate is greater than the first threshold and less than or equal to the second threshold, the controller determines whether the controller has received a signal from the navigation device indicating that the visual assistance device needs to be used. and When the signal indicating that the visual aid device needs to be used is received, the controller uses the distance between the vehicle and various objects located in front of, behind and to the side of the vehicle while the vehicle is in motion, the speed of each object detected by the radar sensor of the visual aid device, and an image taken by an infrared thermal camera in front of the vehicle to generate an image of the vehicle’s surroundings, including distance and speed. The image processor converts the image data from the infrared thermal camera and the image data from the other camera into grayscale images, and compares the converted image data to calculate the matching rate.

8. The method according to claim 7, further comprising: The controller controls the head-up display (HUD) device to display an image of the vehicle's surroundings on the vehicle's windshield.

9. The method according to claim 8, further comprising: The controller generates a warning message based on the distance and the speed, and the warning message is included in the surrounding state image of the vehicle; and The controller controls the head-up display (HUD) device to display the warning message on the windshield of the vehicle.

10. The method of claim 7, further comprising: When a signal indicating that the driver of the vehicle needs to use the visual aid is received, the controller turns on the hazard light switch included in the visual aid and turns on the vehicle's hazard lights.

11. The method of claim 7, further comprising: The controller receives weather information about the vehicle's location from a server located outside the vehicle via the communicator of the vision assist device.

12. The method according to claim 7, wherein: The emergency weather information includes weather information such as rain or snow.

13. A device for assisting a vehicle driver's vision, the device comprising: An infrared thermal camera captures images of the front of the vehicle while it is in motion; Another camera photographs the front of the vehicle while it is in motion; as well as The controller, based on the vehicle driver's settings, receives a signal from the navigation device indicating that the weather information is an emergency, and in response to the signal, activates the device included in the vehicle to assist the driver's vision. The controller acquires images from the infrared thermal camera and the other camera. The controller controls the image processor of the device used to assist the driver's vision in determining whether the matching rate between image data from the infrared thermal camera and image data from another camera is less than or equal to a first threshold. When the matching rate is less than or equal to a first threshold, the controller uses the distances between the vehicle and various objects located in front of, behind, and to the sides of the vehicle while it is in motion, the speeds of the various objects detected by the radar sensors of the device used to assist the driver's vision, and the image from the infrared thermal camera to generate a surrounding state image of the vehicle including the distances and speeds. The image processor converts the image data from the infrared thermal camera and the image data from the other camera into grayscale images, and compares the converted image data to calculate the matching rate.

14. The apparatus according to claim 13, wherein: The controller controls the head-up display (HUD) device to display an image of the vehicle's surroundings on the vehicle's windshield.

15. The apparatus according to claim 14, wherein: The controller generates a warning message based on the distance and the speed, the warning message being included in the surrounding state image of the vehicle, and The controller controls the head-up display (HUD) device to display the warning message on the windshield of the vehicle.

16. The apparatus according to claim 13, wherein: When the matching rate is less than or equal to a first threshold, the controller turns on the emergency light switch included in the device for assisting the driver's vision, and turns on the vehicle's emergency lights.

17. The apparatus according to claim 13, wherein: The controller receives weather information about the vehicle's location from a server located outside the vehicle via a communicator of the device used to assist the driver's vision.

Images