Driver assistance device, vehicle and method of controlling a vehicle

Abstract

The present disclosure relates to a driver assistance apparatus, a vehicle, and a method of controlling a vehicle. A vehicle includes a first camera mounted on the vehicle to have a first field of view and configured to acquire first image data, a second camera mounted on the vehicle to have a second field of view and configured to acquire second image data, a display, and a controller. The controller is configured to display surround view data in which the first image data and the second image data are combined such that a boundary between the first image data and the second image data becomes a first reference angle on the display. The controller is further configured to display surround view data in which the first image data and the second image data are combined such that the boundary between the first image data and the second image data becomes a second reference angle on the display based on an obstacle located around the vehicle.

Description

Technical Field

[0001] This disclosure relates to a driver assistance device, a vehicle, and a method for controlling the vehicle, and more specifically, to a driver assistance device, a vehicle, and a method for controlling the vehicle that assists the driver in vehicle control. Background Technology

[0002] Vehicles are the most common mode of transportation in modern society, and the number of people using them is steadily increasing. Thanks to advancements in vehicle technology, long-distance travel has become easier, and life has become more comfortable. However, in areas with high population density, road traffic conditions deteriorate, and traffic congestion frequently occurs.

[0003] Recently, there has been active research on vehicles equipped with Advanced Driver Assistance Systems (ADAS), which proactively provide information about the vehicle's status, the driver's status, and the surrounding environment in order to improve driver convenience while reducing driver workload.

[0004] Examples of ADAS (Advanced Driver Assistance Systems) equipped in vehicles include Forward Collision Avoidance (FCA), Autonomous Emergency Braking (AEB), and Driver Attention Warning (DAW).

[0005] Driver assistance devices can assist in driving and parking a vehicle. Summary of the Invention

[0006] One aspect of this disclosure is to provide a driver assistance device, a vehicle, and a method for controlling the vehicle that can display images of the surrounding environment during parking without distorting surrounding obstacles.

[0007] Therefore, one aspect of this disclosure is to provide a vehicle comprising: a first camera mounted on the vehicle to have a first field of view and configured to acquire first image data; and a second camera mounted on the vehicle to have a second field of view and configured to acquire second image data. The vehicle also includes a display and a controller. The controller is configured to display surround view data on the display wherein the first image data and the second image data are combined such that the boundary between the first image data and the second image data becomes a first reference angle. The controller is also configured to display surround view data on the display wherein, based on obstacles located around the vehicle, the first image data and the second image data are combined such that the boundary between the first image data and the second image data becomes a second reference angle.

[0008] The controller can be configured to combine first image data and second image data based on obstacles located in the first field of view, thereby expanding the area occupied by the first image data in the surround view data.

[0009] The controller can be configured to combine the first image data and the second image data based on obstacles located in the second field of view, thereby expanding the area occupied by the second image data in the surround view data.

[0010] The first camera may have a first field of view facing a first direction. The second camera may have a second field of view facing a second direction. The controller may be configured to combine first image data and second image data based on obstacles located in the first field of view, such that the boundary faces the second direction.

[0011] The first camera may have a first field of view facing a first direction. The second camera may have a second field of view facing a second direction. The controller may be configured to combine the first image data and the second image data based on obstacles located in the second field of view, such that the boundary faces the first direction.

[0012] The first camera can have a first field of view facing the front or rear of the vehicle. The second camera can have a second field of view facing the left or right side of the vehicle.

[0013] The controller can be configured to combine first and second image data based on obstacles located in front of or behind the vehicle, such that the angle between the boundary and the vehicle's direction of travel becomes a second reference angle that is larger than the first reference angle.

[0014] The controller can be configured to combine first image data and second image data based on an obstacle located on the right or left side of the vehicle, such that the angle between the boundary and the vehicle's direction of travel becomes a second reference angle smaller than the first reference angle.

[0015] The controller can be configured to combine first image data and second image data based on the vehicle's speed, which is equal to or greater than a reference speed, such that the angle between the boundary and the vehicle's direction of travel becomes a second reference angle that is smaller than the first reference angle.

[0016] The controller can be configured to combine first and second image data based on the opening of the vehicle door, such that the angle between the boundary and the vehicle's direction of travel becomes a second reference angle that is larger than the first reference angle.

[0017] The controller can be configured to combine first and second image data based on the opening of the vehicle's trunk door, such that the angle between the boundary and the vehicle's direction of travel becomes a second reference angle smaller than the first reference angle.

[0018] The vehicle may further include: a first ultrasonic sensor mounted on the vehicle to have a first detection area overlapping with a first field of view and configured to detect obstacles; and a second ultrasonic sensor mounted on the vehicle to have a second detection area overlapping with a second field of view and configured to detect obstacles.

[0019] The controller can be configured to combine first image data and second image data based on the determination that an obstacle is detected by the first ultrasonic sensor, thereby expanding the area occupied by the first image data in the surround view data.

[0020] The controller can be configured to combine first image data and second image data based on the determination that an obstacle is detected by the second ultrasonic sensor, thereby expanding the area occupied by the second image data in the surround view data.

[0021] The first ultrasonic sensor may have a first detection area facing the front or rear of the vehicle, and the second ultrasonic sensor may have a second detection area facing the left or right side of the vehicle.

[0022] The controller can be configured to combine first image data and second image data based on the determination that an obstacle is detected by the first ultrasonic sensor, so that the angle between the boundary and the vehicle's direction of travel becomes a second reference angle that is larger than the first reference angle.

[0023] The controller can be configured to combine first image data and second image data based on the determination that an obstacle is detected by the second ultrasonic sensor, so that the angle between the boundary and the vehicle's direction of travel becomes a second reference angle that is smaller than the first reference angle.

[0024] Another aspect of this disclosure provides a method for controlling a vehicle including a first camera having a first field of view and a second camera having a second field of view. The method includes: acquiring first image data by the first camera and acquiring second image data by the second camera. The method further includes: displaying first surround view data, in which the first image data and the second image data are combined such that the boundary between the first image data and the second image data becomes a first reference angle. The method further includes: displaying second surround view data, in which the first image data and the second image data are combined based on obstacles located around the vehicle such that the boundary between the first image data and the second image data becomes a second reference angle.

[0025] Another aspect of this disclosure is to provide a driver assistance device, comprising: a first camera mounted on a vehicle to have a first field of view and configured to acquire first image data; a second camera mounted on the vehicle to have a second field of view and configured to acquire second image data; and a controller. The controller is configured to: send surround-view data to a display of the vehicle to display the surround-view data, wherein the first image data and the second image data are combined such that the boundary between the first image data and the second image data becomes a first reference angle. The controller is further configured to combine the first image data and the second image data based on obstacles located around the vehicle, such that the boundary between the first image data and the second image data becomes a second reference angle. Attached Figure Description

[0026] These and / or other aspects of this disclosure will become apparent and more readily understood from the following description of embodiments taken in conjunction with the accompanying drawings, wherein:

[0027] Figure 1 This is a diagram showing the configuration of a vehicle according to an embodiment;

[0028] Figure 2 The field of view of a camera installed in a vehicle according to an embodiment is shown;

[0029] Figure 3 Image data captured by a camera included in a driver assistance device according to an embodiment is shown;

[0030] Figure 4 Image data corrected by a driver assistance device according to an embodiment is shown;

[0031] Figure 5 An embodiment of image data combined by a driver assistance device according to an implementation is shown;

[0032] Figure 6A , Figure 6B , Figure 6C as well as Figure 6D Various embodiments of image data combined by driver assistance devices according to implementation are shown;

[0033] Figure 7A and Figure 7B An embodiment of surround view data generated by a driver assistance device according to an implementation is shown when the vehicle is parked and moving.

[0034] Figure 8A and Figure 8B An embodiment of surround view data generated by a driver assistance device according to an implementation is shown when the vehicle is moving;

[0035] Figure 9A , Figure 9B as well as Figure 9C An embodiment of surround view data generated by a driver assistance device according to an implementation is shown when the vehicle is moving;

[0036] Figure 10A and Figure 10B An embodiment of surround view data generated by a driver assistance device according to an implementation is shown when an obstacle is moving;

[0037] Figure 11A , Figure 11B as well as Figure 11C An embodiment of surround view data generated by a driver assistance device according to an implementation is shown when an obstacle is moving;

[0038] Figure 12A and Figure 12B An embodiment of surround view data generated by a driver assistance device according to an implementation is shown as the vehicle and obstacles move;

[0039] Figure 13 An embodiment of surround view data generated by a driver assistance device according to an implementation is shown when the vehicle is moving and an obstacle passes the right side of the vehicle;

[0040] Figure 14 An embodiment of surround view data generated by a driver assistance device according to an implementation is shown when an obstacle moves and passes the right side of the vehicle;

[0041] Figure 15A , Figure 15B as well as Figure 15C An embodiment of surround view data generated by a driver assistance device according to an implementation is shown when an obstacle moves and passes in front of the vehicle;

[0042] Figure 16A , Figure 16B as well as Figure 16C An embodiment of surround view data generated by a driver assistance device according to an implementation is shown when the vehicle is parked;

[0043] Figure 17 An embodiment is shown that alters the boundaries of surround view data of a driver assistance device according to an implementation.

[0044] Figure 18 The image changes at the boundaries of the surround-view data of the driver assistance device according to the embodiment are shown; and

[0045] Figure 19 A method for generating surround view data from a driver assistance device according to an embodiment is shown. Detailed Implementation

[0046] The following detailed description is provided to help the reader gain a complete understanding of the methods, apparatus, and / or systems described herein. Accordingly, various modifications, alterations, and equivalents of the methods, apparatus, and / or systems described herein will be apparent to those skilled in the art. The described sequence of processing operations is an embodiment. However, the order and / or operations are not limited to those set forth herein and can be changed, except for operations that must be performed in a specific order. Furthermore, for clarity and brevity, descriptions of well-known functions and constructions have been omitted.

[0047] Furthermore, embodiments will now be described more fully below with reference to the accompanying drawings. However, embodiments may encompass many different forms and should not be considered as limited to the embodiments set forth herein. These embodiments are provided to make this disclosure comprehensive and complete, and to fully convey the embodiments to those skilled in the art. Similar reference numerals always denote similar elements.

[0048] It should be understood that although the terms first, second, etc., may be used herein to describe individual elements, these elements should not be limited by these terms. These terms are used only to distinguish one element from another. As used herein, the term "and / or" includes any and all combinations of one or more of the associated listed items.

[0049] It should be understood that when a component is referred to as "connected" or "coupled" to another component, it can be directly connected or coupled to the other component or there may be intermediate components. In contrast, when a component is referred to as "directly connected" or "directly coupled" to another component, there are no intermediate components.

[0050] The terminology used herein is for the purpose of describing particular implementations only and is not intended to be limiting. As used herein, the singular forms “a,” “an,” and “the” are intended to include the plural forms as well, unless the context clearly indicates otherwise.

[0051] Detailed reference will now be made to embodiments of the present disclosure, which are illustrated in the accompanying drawings, wherein similar reference numerals refer to similar elements throughout the disclosure.

[0052] The expression "at least one of a, b, and c" should be understood as including only a, only b, only c, including a and b, a and c, b and c, or all of a, b, and c.

[0053] When a component, device, element, etc., in this disclosure is described as having the purpose of performing an operation, function, etc., the component, device, or element herein shall be regarded as "configured" to satisfy that purpose or perform that operation or function.

[0054] Figure 1 This is a diagram showing the configuration of a vehicle according to an embodiment. Figure 2 The field of view of a camera installed in a vehicle according to an embodiment is shown. Figure 3 Image data captured by a camera included in a driver assistance device according to an embodiment is shown. Figure 4 Image data corrected by a driver assistance device according to an embodiment is shown. Figure 5 An embodiment of image data combined by a driver assistance device according to an implementation is shown. Figure 6A , Figure 6B , Figure 6C as well as Figure 6D Various embodiments of image data combined by driver assistance devices according to implementation are shown.

[0055] like Figure 1 As shown, vehicle 1 includes a display 10 for displaying operating information and a driver assistance device 100 for assisting the driver.

[0056] The display 10 may include a cluster of meters and a multimedia player.

[0057] The instrument panel can be positioned in front of the driver and can display vehicle 1's driving information, including vehicle 1's speed, engine revolutions per minute (RPM), and / or fuel quantity. Furthermore, the instrument panel can display images provided by the driver assistance device 100.

[0058] For the convenience and enjoyment of the driver, the multimedia player can display images (or moving images). Additionally, the multimedia player can display images provided by the driver assistance device 100.

[0059] The driver assistance device 100 includes an image capturing device 110 that captures images of the area surrounding the vehicle 1 and acquires image data. The driver assistance device 100 also includes an obstacle detector 120 that detects obstacles around the vehicle 1 without contact. The driver assistance device 100 further includes a controller 140 that controls the operation of the driver assistance device 100 based on the outputs of the image capturing device 110 and the obstacle detector 120. Here, an obstacle refers to an object that interferes with the driving of the vehicle 1, and obstacles may include, for example, vehicles, pedestrians, buildings on the road, etc.

[0060] The image capturing device 110 includes a first camera 111, a second camera 112, a third camera 113, and a fourth camera 114.

[0061] The first camera 111 can capture images of the front of the vehicle 1 and acquire first image data of the front of the vehicle 1.

[0062] like Figure 2 As shown, the first camera 111 may have a first field of view (FOV) 111a facing forward of the vehicle 1. For example, the first camera 111 may be mounted on the windshield of the vehicle 1 or on the grille of the vehicle 1.

[0063] The first camera 111 may include multiple lenses and an image sensor. The image sensor may include multiple photodiodes for converting light into electrical signals, and the multiple photodiodes may be arranged in a two-dimensional matrix.

[0064] The first camera 111 can be electrically connected to the controller 140. For example, the first camera 111 can be connected to the controller 140 via a vehicle communication network NT, via hard-wiring, or via signal lines on a printed circuit board (PCB).

[0065] The first camera 111 can provide first image data of the front of the vehicle 1 to the controller 140.

[0066] The second camera 112 can capture images of the rear of vehicle 1 and acquire second image data of the rear of vehicle 1.

[0067] like Figure 2 As shown, the second camera 112 may have a second field of view 112a facing the rear of the vehicle 1. For example, the second camera 112 may be mounted in the tailgate of the vehicle 1.

[0068] The second camera 112 can be electrically connected to the controller 140 and can provide second image data of the rear of the vehicle 1 to the controller 140.

[0069] The third camera 113 can capture images of the left side of vehicle 1 and acquire third image data of the left side of vehicle 1.

[0070] like Figure 2 As shown, the third camera 113 may have a third field of view 113a facing the left side of the vehicle 1. For example, the third camera 113 may be mounted on the left rearview mirror of the vehicle 1.

[0071] The third camera 113 can be electrically connected to the controller 140 and can provide third image data of the left side of the vehicle 1 to the controller 140.

[0072] The fourth camera 114 can capture images of the right side of vehicle 1 and acquire fourth image data of the right side of vehicle 1.

[0073] like Figure 2As shown, the fourth camera 114 may have a third field of view 114a facing the right side of the vehicle 1. For example, the fourth camera 114 may be mounted on the right rearview mirror of the vehicle 1.

[0074] The fourth camera 114 can be electrically connected to the controller 140 and can provide fourth image data from the right side of the vehicle 1 to the controller 140.

[0075] like Figure 2 As shown, the first field of view 111a of the first camera 111, the second field of view 112a of the second camera 112, the third field of view 113a of the third camera 113, and the fourth field of view 114a of the fourth camera 114 can overlap with each other. For example, the left end of the first field of view 111a of the first camera 111 overlaps with the front end of the third field of view 113a of the third camera 113, and the right end of the first field of view 111a of the first camera 111 can overlap with the front end of the fourth field of view 114a of the fourth camera 114. Furthermore, the left end of the second field of view 112a of the second camera 112 overlaps with the rear end of the third field of view 113a of the third camera 113, and the right end of the second field of view 112a of the second camera 112 can overlap with the rear end of the fourth field of view 114a of the fourth camera 114.

[0076] The obstacle detector 120 includes a first ultrasonic sensor 121, a second ultrasonic sensor 122, a third ultrasonic sensor 123, and a fourth ultrasonic sensor 124.

[0077] The first ultrasonic sensor 121 can detect obstacles located in front of the vehicle 1 and can output first detection data indicating whether an obstacle has been detected and the location of the obstacle. The first ultrasonic sensor 121 may include a transmitter that sends ultrasonic waves toward the front of the vehicle 1 and a receiver that receives ultrasonic waves reflected from obstacles located in front of the vehicle 1. For example, the first ultrasonic sensor 121 may include multiple transmitters or multiple receivers disposed in front of the vehicle 1 to identify the location of obstacles in front of the vehicle 1.

[0078] The first ultrasonic sensor 121 can be electrically connected to the controller 140. For example, the ultrasonic sensor 121 can be connected to the controller 140 via a vehicle communication network (NT), via hardwiring, or via signal lines on a printed circuit board.

[0079] The first ultrasonic sensor 121 can provide the first detection data of the front of the vehicle 1 to the controller 140.

[0080] The second ultrasonic sensor 122 can detect obstacles located behind the vehicle 1 and output second detection data behind the vehicle 1. For example, the second ultrasonic sensor 122 may include multiple transmitters or multiple receivers disposed behind the vehicle 1 to identify the position of obstacles behind the vehicle 1.

[0081] The second ultrasonic sensor 122 can be electrically connected to the controller 140 and can provide the controller 140 with second detection data of the rear of the vehicle 1.

[0082] The third ultrasonic sensor 123 can detect obstacles on the left side of vehicle 1 and output third detection data on the left side of vehicle 1. For example, the third ultrasonic sensor 123 may include multiple transmitters or multiple receivers disposed on the left side of vehicle 1 to identify the position of obstacles on the left side of vehicle 1.

[0083] The third ultrasonic sensor 123 can be electrically connected to the controller 140 and can provide the third detection data of the left side of the vehicle 1 to the controller 140.

[0084] The fourth ultrasonic sensor 124 can detect obstacles on the right side of vehicle 1 and output fourth detection data on the right side of vehicle 1. For example, the fourth ultrasonic sensor 124 may include multiple transmitters or multiple receivers disposed on the right side of vehicle 1 to identify the position of obstacles on the right side of vehicle 1.

[0085] The fourth ultrasonic sensor 124 can be electrically connected to the controller 140 and can provide the fourth detection data from the right side of the vehicle 1 to the controller 140.

[0086] The controller 140 can be electrically connected to multiple cameras 111, 112, 113, and 114 included in the image capturing device 110 and multiple ultrasonic sensors 121, 122, 123, and 124 included in the obstacle detector 120. In addition, the controller 140 can be connected to the display 10 of the vehicle 1 via vehicle communication.

[0087] Controller 140 may include processor 141 and memory 142. For example, controller 140 may include one or more processors or one or more memories. Each of processor 141 and memory 142 may be implemented as a separate semiconductor device or may be implemented as a single semiconductor device.

[0088] Processor 141 may include one chip (or core) or may include multiple chips (cores). For example, processor 141 may include a digital signal processor that processes detection data from image capturing device 110 and obstacle detector 120, and / or processor 141 may include a microcontroller unit (MCU) that generates driving signals / braking signals / steering signals.

[0089] The processor 141 receives multiple detection data from multiple ultrasonic sensors 121, 122, 123, and 124 and identifies whether an obstacle is located around the vehicle 1 and the location of the obstacle based on the received detection data. For example, the processor 141 can identify whether the obstacle is located in front of, behind, to the left of, or to the right of the vehicle 1. Further, the processor 141 can identify obstacles located to the left front of the vehicle 1, obstacles located to the right front of the vehicle 1, obstacles located to the left rear of the vehicle 1, and obstacles located to the right rear of the vehicle 1.

[0090] Processor 141 receives multiple image data 201, 202, 203, and 204 from multiple cameras 111, 112, 113, and 114, and can generate an around-view image representing the surroundings of vehicle 1 using the received image data 201, 202, 203, and 204. For example, processor 141 can correct the image data 201, 202, 203, and 204 received from multiple cameras 111, 112, 113, and 114 into top-view data 211, 212, 213, and 214, and can generate surround-view data 220 by combining the top-view data 211, 212, 213, and 214.

[0091] The memory 142 processes the detection data from the ultrasonic sensors 121, 122, 123, and 124, as well as the image data 201, 202, 203, and 204 from the cameras 111, 112, 113, and 114, and can store programs and data for controlling the operation of the driver assistance device 100.

[0092] Memory 142 may include volatile memory such as static random access memory (S-RAM) and dynamic random access memory (D-RAM), and non-volatile memory such as read-only memory (ROM) and erasable programmable read-only memory (EPROM). Memory 142 may include one memory device or may include multiple memory devices.

[0093] As described above, the controller 140 can identify obstacles around the vehicle 1 and generate a surround view image of the vehicle 1 by means of programs and data stored in the memory 142 and the operation of the processor 141.

[0094] Specifically, such as Figure 3 As shown, the first camera 111, the second camera 112, the third camera 113 and the fourth camera 114 can provide the first image data 201, the second image data 202, the third image data 203 and the fourth image data 204 to the controller 140.

[0095] For example, each of the first camera 111, the second camera 112, the third camera 113, and the fourth camera 114 may include a fisheye lens to expand the field of view that can be captured. Accordingly, as Figure 3 As shown, the first image data 201, second image data 202, third image data 203, and fourth image data 204 captured by the first camera 111, the second camera 112, the third camera 113, and the fourth camera 114, respectively, can be fisheye images. For example, in the first image data 201, the second image data 202, the third image data 203, and the fourth image data 204, the height of the center portion of the image can be different from the heights of the left and right edges of the image.

[0096] The controller 140 can correct fisheye image data 201, 202, 203, and 204 into top-view image data. For example, the controller 140 can use a de-warping algorithm to correct fisheye image data 201, 202, 203, and 204 into top-view data 211, 212, 213, and 214.

[0097] like Figure 4 As shown, the controller 140 can correct the first image data 201, the second image data 202, the third image data 203, and the fourth image data 204 into the first top view data 211, the second top view data 212, the third top view data 213, and the fourth top view data 214.

[0098] like Figure 5 As shown, the controller 140 can generate surround view data 220 around the vehicle 1 by combining multiple top view data 211, 212, 213, 214.

[0099] The controller 140 can correct the first top view data 211, the second top view data 212, the third top view data 213, and the fourth top view data 214.

[0100] For example, such as Figure 5As shown, the controller 140 cuts the first top view data 211, the second top view data 212, the third top view data 213, and the fourth top view data 214 into approximately trapezoidal shapes and can then combine the cut top view data 211, 212, 213, and 214. Figure 5 As shown, the first top view data 211 and the second top view data 212 are cut such that the angle between the bottom and the hypotenuse (hereinafter referred to as the "angle of the hypotenuse") is 34 degrees. The third top view data 213 and the fourth top view data 214 can be cut such that the angle between the bottom and the hypotenuse (hereinafter referred to as the "angle of the hypotenuse") is 56 degrees.

[0101] The controller 140 can combine the cut top view data 211, 212, 213, and 214 such that the diagonal edges of the cut top view data 211, 212, 213, and 214 face each other. By combining the cut top view data 211, 212, 213, and 214, surround view data 220 can be generated.

[0102] In this configuration, the panoramic data 220 may include multiple boundaries 221, 222, 223, and 224, wherein the cut top view data 211, 212, 213, and 214 are combined along these boundaries. The multiple boundaries 221, 222, 223, and 224 may include: a first boundary 221, wherein first top view data 211 and third top view data 213 are combined along the first boundary 221; a second boundary 222, wherein first top view data 211 and fourth top view data 214 are combined along the second boundary 222; a third boundary 223, wherein second top view data 212 and third top view data 213 are combined along the third boundary 223; and a fourth boundary 224, wherein second top view data 212 and fourth top view data 214 are combined along the fourth boundary 224. The angle between the longitudinal axis of vehicle 1 (the axis extending in the longitudinal direction of the vehicle) and the first boundary 221 (hereinafter referred to as the "angle of the first boundary") and the angle between the longitudinal axis of vehicle 1 and the second boundary 222 (hereinafter referred to as the "angle of the second boundary") can be a first reference angle (e.g., 56 degrees). Furthermore, the angle between the longitudinal axis of vehicle 1 and the third boundary 223 (hereinafter referred to as the "angle of the third boundary") and the angle between the longitudinal axis of vehicle 1 and the fourth boundary 224 (hereinafter referred to as the "angle of the fourth boundary") can also be a first reference angle (e.g., 56 degrees).

[0103] The controller 140 can send the surround view data 220 to the display 10 so that the surround view image is displayed on the display 10.

[0104] As described above, when the first top view data 211, the second top view data 212, the third top view data 213, and the fourth top view data 214 are corrected to have a hypotenuse with a predetermined angle, the obstacle 2 may not be displayed properly.

[0105] For example, such as Figure 5 As shown, when obstacle 2 is located on the left front of vehicle 1, image information about obstacle 2 is removed by correcting (cutting) the first top view data 211 of vehicle 1 and the third top view data 213. In other words, obstacle 2 will not be displayed in the surround view data (220).

[0106] Therefore, in order to prevent the obstacle 2 from not being displayed in the surround view data (220), the controller 140 can correct the first top view data 211, the second top view data 212, the third top view data 213 and the fourth top view data 214 based on whether the obstacle is located around the vehicle 1 and the position of the obstacle.

[0107] When an obstacle is located around vehicle 1, controller 140 can correct (cut) the image data to expand the area occupied by the image data (top view data) indicating the area where the obstacle is located.

[0108] For example, such as Figure 6A As shown, if the obstacle is not located around the vehicle 1, the controller 140 can correct the top view data 211, 212, 213 and 214 to a hypotenuse with a predetermined reference angle (e.g., 34 degrees or 56 degrees).

[0109] As another embodiment, such as Figure 6BAs shown, if obstacle 2 is located behind vehicle 1, controller 140 can correct top view data 211, 212, 213, and 214 to enlarge the second top view data representing the rear of vehicle 1 in the surround view image. Controller 140 can correct second top view data 212 to change the angle of the hypotenuse of the second top view image (e.g., to 10 degrees). Furthermore, controller 140 can correct third top view data 213 and fourth top view data 214 to change the angle of the hypotenuse of the third and fourth top view images (e.g., to 80 degrees). In the surround view image, the angles of the third boundary 223 and the fourth boundary 224 can be changed to a second reference angle (e.g., 80 degrees). In other words, the third boundary 223 can be tilted towards the left side of vehicle 1, and the fourth boundary 224 can be tilted towards the right side of vehicle 1. This structure allows for the expansion of the area captured by the second camera 112 mounted at the rear of vehicle 1 within the surround view image, and enables the display of the obstacle 2 located behind vehicle 1 on the surround view image without distortion.

[0110] As another embodiment, such as Figure 6C As shown, if obstacle 2 is located on the right side of vehicle 1, controller 140 can correct top view data 211, 212, 213, and 214 to enlarge the fourth top view image representing the right side of vehicle 1 in the surround view image. Controller 140 can correct the fourth top view data 214 to change the angle of the hypotenuse of the fourth top view image (e.g., to 10 degrees). Furthermore, controller 140 can correct the first top view data 211 and the second top view data 212 to change the angle of the hypotenuse of the first and second top view images (e.g., to 80 degrees). In the surround view image, the angle of the second boundary 222 and the angle of the fourth boundary 224 can be changed to a third reference angle (e.g., 10 degrees). In other words, the second boundary 222 can be tilted towards the front of vehicle 1, and the fourth boundary 224 can be tilted towards the rear of vehicle 1. This structure allows for the expansion of the area captured by the fourth camera 114 mounted on the right side of vehicle 1 within the surround view image, and enables the display of the obstacle 2 located on the right side of vehicle 1 on the surround view image without distortion.

[0111] As another embodiment, such as Figure 6DAs shown, if obstacle 2 is located behind and to the right of vehicle 1, controller 140 can correct the top-view data to enlarge the second top-view image representing the rear of vehicle 1 and the fourth top-view image representing the right side of vehicle 1 in the surround-view image. In the surround-view image, the angle of the second boundary 222 can be changed to a third reference angle (e.g., 10 degrees), and the angle of the third boundary 223 can be changed to a second reference angle (e.g., 80 degrees). The angle of the fourth boundary 224, where the second top-view data 212 and the fourth top-view data 214 intersect, can remain at a first reference angle (e.g., 56 degrees). In other words, the second boundary 222 can be tilted towards the front of vehicle 1, and the third boundary 223 can be tilted towards the left side of vehicle 1. With this structure, the area of ​​the images captured by the second camera 112 and the fourth camera 114 mounted on the right side of vehicle 1 in the surround-view image can be enlarged, and the obstacle 2 located to the right rear of vehicle 1 can be displayed on the surround-view image without distortion.

[0112] As described above, the controller 140 can generate surround view data 220 based on the detected obstacles and send the surround view data 220 to the display 10 to display the surround view image.

[0113] The various implementation methods for generating surround view data 220 are described below.

[0114] Figure 7A and Figure 7B An embodiment of surround view data generated by a driver assistance device according to an implementation is shown when the vehicle is parked and in motion.

[0115] If vehicle 1 stops or travels at a speed less than the reference speed, driver assistance device 100 can generate surround view data 220 by combining image data captured by the first camera 111, the second camera 112, the third camera 113, and the fourth camera 114. For example... Figure 7A As shown, the driver assistance device 100 can set the angles of the first boundary 221, the second boundary 222, the third boundary 223, and the fourth boundary 224 in the surround view data 220 as a first reference angle (e.g., 56 degrees).

[0116] like Figure 7B As shown, if the vehicle 1's speed is greater than or equal to the reference speed, the driver assistance device 100 can set the angles of the first boundary 221, the second boundary 222, the third boundary 223, and the fourth boundary 224 in the surround view data 220 to a third reference angle (e.g., 10 degrees).

[0117] When vehicle 1 is parked, when the door of vehicle 1 is opened, driver assistance device 100 can set the angles of the first boundary 221, the second boundary 222, the third boundary 223 and the fourth boundary 224 to a second reference angle (e.g., 80 degrees).

[0118] Furthermore, when the vehicle 1 is parked, if the trunk door of the vehicle 1 is open, the driver assistance device 100 can set the angle of the first boundary 221 and the second boundary 222 located in front of the vehicle 1 as a second reference angle (e.g., 80 degrees) and set the angle of the third boundary 223 and the fourth boundary 224 located behind the vehicle 1 as a third reference angle (e.g., 10 degrees).

[0119] Figure 8A and Figure 8B An embodiment of surround view data generated by a driver assistance device according to an implementation is shown when the vehicle is moving. Figure 9A , Figure 9B as well as Figure 9C An embodiment of surround view data generated by a driver assistance device according to an implementation is shown when the vehicle is moving.

[0120] When the vehicle 1 moves backward, the driver assistance device 100 can detect the obstacle 2 located on the right rear side of the vehicle 1 based on the detection data of ultrasonic sensors 121, 122, 123 and 124.

[0121] The driver assistance device 100 can generate surround view data 220 to expand the area of ​​the right-side image captured by the fourth camera 114 in the surround view image based on the detection of an obstacle 2 located on the rear right side of the vehicle 1. For example, as Figure 8A As shown, the driver assistance device 100 maintains the angles of the first boundary 221, the second boundary 222, and the third boundary 223 in the surround view data 220 as a first reference angle (e.g., 56 degrees) and can change the angle of the fourth boundary 224 (i.e., the boundary on the right rear side of the vehicle 1) to a third reference angle (e.g., 10 degrees).

[0122] When the vehicle 1 moves backward, the driver assistance device 100 can detect the obstacle 2 located behind the vehicle 1 based on the detection data of ultrasonic sensors 121, 122, 123 and 124.

[0123] The driver assistance device 100 can generate surround view data 220 to expand the area of ​​the rear view image captured by the second camera 112 within the surround view image based on the detection of an obstacle 2 located behind the vehicle 1. For example, as Figure 8BAs shown, the driver assistance device 100 maintains the angles of the first boundary 221 and the second boundary 222 in the surround view data 220 as a first reference angle (e.g., 56 degrees) and can change the angles of the third boundary 223 and the fourth boundary 224 behind the vehicle 1 to a second reference angle (e.g., 80 degrees).

[0124] Furthermore, when the vehicle 1 moves backward, the driver assistance device 100 can generate surround view data 220 to expand the area of ​​the rear view image in the surround view image based on the distance between the vehicle 1 and the obstacle 2.

[0125] For example, such as Figure 9A As shown, based on the undetected obstacle 2, the driver assistance device 100 can correct the image data so that the angles of the first boundary 221, the second boundary 222, the third boundary 223, and the fourth boundary 224 in the surround view data 220 become a first reference angle (e.g., 56 degrees).

[0126] like Figure 9B As shown, based on the judgment that the obstacle 2 is detected by the movement of vehicle 1 and the distance to the obstacle 2 is greater than or equal to the reference distance, the driver assistance device 100 can still correct the image data so that the angles of the first boundary 221, the second boundary 222, the third boundary 223 and the fourth boundary 224 in the surround view data 220 become the first reference angle (e.g., 56 degrees).

[0127] like Figure 9C As shown, based on the judgment that the obstacle 2 is detected by the movement of vehicle 1 and the distance to the obstacle 2 is less than the reference distance, the driver assistance device 100 can correct the image data so that the angles of the third boundary 223 and the fourth boundary 224 in the surround view data 220 become the second reference angle (e.g., 80 degrees).

[0128] Figure 10A and Figure 10B An embodiment of surround view data generated by a driver assistance device according to an implementation is shown when an obstacle is moving. Figure 11A , Figure 11B as well as Figure 11C An embodiment of surround view data generated by a driver assistance device according to an implementation is shown when an obstacle is moving.

[0129] The driver assistance device 100 can detect an obstacle 2 moving from the right rear side of the vehicle 1 based on detection data from ultrasonic sensors 121, 122, 123, and 124. For example... Figure 10AAs shown, the driver assistance device 100 can change the angle of the fourth boundary 224 in the surround view data 220 to a third reference angle (e.g., 10 degrees) based on the detection of an obstacle 2 moving from the right rear side of the vehicle 1.

[0130] The driver assistance device 100 can detect an obstacle 2 moving from behind the vehicle 1 based on detection data from ultrasonic sensors 121, 122, 123, and 124. For example... Figure 10B As shown, the driver assistance device 100 can change the angles of the third boundary 223 and the fourth boundary 224 in the surround view data 220 to a second reference angle (e.g., 80 degrees) based on the detection of an obstacle 2 moving from behind the vehicle 1.

[0131] Furthermore, as obstacle 2 moves toward vehicle 1, driver assistance device 100 can generate surround view data 220 to expand the area of ​​the rear view image in the surround view image based on the distance between vehicle 1 and obstacle 2.

[0132] For example, such as Figure 11A As shown, based on the absence of an obstacle 2, the driver assistance device 100 can correct the image data so that the angles of the first boundary 221, the second boundary 222, the third boundary 223, and the fourth boundary 224 in the surround view data 220 become a first reference angle (e.g., 56 degrees).

[0133] like Figure 11B As shown, based on the judgment that obstacle 2 is detected by the movement of obstacle 2 and the distance to obstacle 2 is greater than or equal to the reference distance, the driver assistance device 100 can still correct the image data so that the angles of the first boundary 221, the second boundary 222, the third boundary 223 and the fourth boundary 224 in the surround view data 220 become the first reference angle (e.g., 56 degrees).

[0134] like Figure 11C As shown, based on the determination that obstacle 2 is detected and the distance to obstacle 2 is less than a reference distance, the driver assistance device 100 can correct the image data so that the angles of the third boundary 223 and the fourth boundary 224 in the surround view data 220 become the second reference angle (e.g., 80 degrees).

[0135] Figure 12A and Figure 12B An embodiment of surround view data generated by a driver assistance device according to an implementation is shown when the vehicle and obstacles are moving.

[0136] When vehicle 1 moves backward, driver assistance device 100 can detect obstacle 2 located on the right rear side of vehicle 1 based on detection data from ultrasonic sensors 121, 122, 123, and 124. For example... Figure 12A As shown, the driver assistance device 100 can change the angle of the fourth boundary 224 in the surround view data 220 to a third reference angle (e.g., 10 degrees) based on the detection that an obstacle 2 moving backward from the right rear of the vehicle 1 is moving backward.

[0137] When vehicle 1 moves backward, driver assistance device 100 can detect obstacle 2 moving from behind vehicle 1 based on detection data from ultrasonic sensors 121, 122, 123, and 124. For example... Figure 12B As shown, the driver assistance device 100 can change the angles of the third boundary 223 and the fourth boundary 224 in the surround view data 220 to a second reference angle (e.g., 80 degrees) based on the detection that an obstacle 2 moving backward from the right rear of the vehicle 1 is moving backward.

[0138] Figure 13 An embodiment of surround view data generated by a driver assistance device according to an implementation is shown when the vehicle is moving and an obstacle passes the right side of the vehicle.

[0139] like Figure 13 As shown, the driver assistance device 100 can set the angle of the fourth boundary 224 in the surround view data 220 as a second reference angle (e.g., 80 degrees) based on the detection of an obstacle 2 located behind the vehicle 1.

[0140] As vehicle 1 moves, obstacle 2 can move from the rear of vehicle 1 to the right side of vehicle 1 via the right rear of vehicle 1. Driver assistance device 100 can change the angle of the fourth boundary 224 in surround view data 220 to a third reference angle (e.g., 10 degrees) based on the detection of the obstacle on the right side of vehicle 1.

[0141] By moving vehicle 1, obstacle 2 can be moved from the right side of vehicle 1 to the right front side of vehicle 1. Driver assistance device 100 can change the angle of the second boundary 222 in surround view data 220 to a third reference angle (e.g., 10 degrees) and the angle of the fourth boundary 224 to a first reference angle (e.g., 56 degrees) based on the detection of obstacle 2 on the right front side of vehicle 1.

[0142] As vehicle 1 moves, obstacle 2 can move from the right front of vehicle 1 to the front of vehicle 1. Driver assistance device 100 can change the angle of the second boundary 222 in surround view data 220 to a second reference angle (e.g., 80 degrees) based on the detection of the obstacle in front of vehicle 1.

[0143] As described above, when obstacle 2 passes the right side of vehicle 1, driver assistance device 100 can change the angles of the second boundary 222 and the fourth boundary 224 in surround view data 220 according to the position of obstacle 2.

[0144] Figure 14 An embodiment of surround view data generated by a driver assistance device according to an implementation is shown when an obstacle moves and passes the right side of the vehicle.

[0145] like Figure 14 As shown, the driver assistance device 100 can set the angle of the fourth boundary 224 in the surround view data 220 as a second reference angle (e.g., 80 degrees) based on the detection of an obstacle 2 located behind the vehicle 1.

[0146] By moving obstacle 2, obstacle 2 can be moved from the rear of vehicle 1 to the right side of vehicle 1 via the right rear of vehicle 1. Driver assistance device 100 can change the angle of the fourth boundary 224 in surround view data 220 to a third reference angle (e.g., 10 degrees) and then to a first reference angle (e.g., 56 degrees).

[0147] By moving obstacle 2, obstacle 2 can be moved from the right side of vehicle 1 to the front of vehicle 1 via the right front side of vehicle 1. Driver assistance device 100 changes the angle of the second boundary 222 in surround view data 220 to a third reference angle (e.g., 10 degrees) and then to a second reference angle (e.g., 80 degrees).

[0148] As described above, when obstacle 2 passes the right side of vehicle 1, driver assistance device 100 can change the angles of the second boundary 222 and the fourth boundary 224 in surround view data 220 according to the position of obstacle 2.

[0149] Figure 15A , Figure 15B as well as Figure 15C An embodiment of surround view data generated by a driver assistance device according to an implementation is shown when an obstacle moves and passes in front of the vehicle.

[0150] like Figure 15A , Figure 15B as well as Figure 15C As shown, the driver assistance device 100 can set the angle of the first boundary 221 in the surround view data 220 as a third reference angle (e.g., 10 degrees) based on the detection of an obstacle 2 on the left side of the vehicle 1.

[0151] By moving obstacle 2, obstacle 2 can be moved from the left side of vehicle 1 to the front of vehicle 1 via the left front side of vehicle 1.

[0152] Based on the determination that obstacle 2 is detected from the left front side of vehicle 1, driver assistance device 100 can change the angle of the first boundary 221 in surround view data 220 to a first reference angle (e.g., 56 degrees).

[0153] Subsequently, based on the determination that obstacle 2 is detected in front of vehicle 1, driver assistance device 100 can change the angle of the first boundary 221 in surround view data 220 to a second reference angle (e.g., 80 degrees).

[0154] As described above, when obstacle 2 passes in front of vehicle 1, driver assistance device 100 can change the angle of the first boundary 221 in surround view data 220 according to the position of obstacle 2.

[0155] Figure 16A , Figure 16B as well as Figure 16C An embodiment of surround view data generated by a driver assistance device according to an implementation is shown when the vehicle is parked.

[0156] like Figure 16A , Figure 16B as well as Figure 16C As shown, when vehicle 1 is parked, driver assistance device 100 can set the angle of the third boundary 223 in surround view data 220 as a first reference angle (e.g., 56 degrees) and the angle of the fourth boundary 224 in surround view data 220 as a third reference angle (e.g., 10 degrees) based on the determination that obstacle 2 is detected from the right side of vehicle 1.

[0157] When the vehicle 1 stops, the driver assistance device 100 can change the angle of the third boundary 223 in the surround view data 220 to a second reference angle (e.g., 80 degrees) based on the determination that another obstacle 2 is detected from the left rear side of the vehicle 1.

[0158] When vehicle 1 stops, driver assistance device 100 can change the angle of third boundary 223 in surround view data 220 to a third reference angle (e.g., 10 degrees) based on the judgment that another obstacle 2 is detected from the left side of vehicle 1.

[0159] As described above, when vehicle 1 performs a rear parking maneuver, driver assistance device 100 can change the angles of the third boundary 223 and the fourth boundary 224 in the surround view data 220 according to the position of obstacle 2.

[0160] Figure 17 An embodiment is shown that alters the boundaries of surround-view data in a driver assistance device according to an implementation.

[0161] The driver assistance device 100 can change the angles of boundaries 221, 222, 223, and 224 to generate surround view data 220 by combining top view data 211, 212, 213, and 214. For example, the driver assistance device 100 can change the angles of boundaries 221, 222, 223, and 224 from a first reference angle (e.g., 56 degrees) to a second reference angle (e.g., 80 degrees) or from a third reference angle (e.g., 10 degrees) to a second reference angle.

[0162] At this time, as Figure 17 As shown, the angles of boundaries 221, 222, 223, and 224 in the surround view data 220 can be gradually or incrementally changed between predetermined time intervals (between a first time t1 and a second time t2). For example, the driver assistance device 100 can gradually or incrementally change the angles of boundaries 221, 222, 223, and 224 in the surround view data 220 within 0.5 seconds.

[0163] Figure 18 The image shows the changes at the boundaries of the surround view data in a driver assistance device according to an embodiment.

[0164] The driver assistance device 100 can combine top-view data 211, 212, 213, and 214 to generate surround-view data 220. The top-view data 211, 212, 213, and 214 can be changed incrementally or stepwise at the boundaries 221, 222, 223, and 224 of the combination, and the image data can be changed incrementally or stepwise within a predetermined area. For example, the driver assistance device 100 can incrementally or stepwise change the top-view data for internal contact points within a range of approximately 5 degrees.

[0165] As shown in Figure 18, the first top view data 211 can be combined with the third top view data 213. In this case, the first top view data 211 can gradually become transparent within a range of approximately 5 degrees relative to the first boundary 221 that contacts the third top view data 213. Furthermore, the third top view data 213 can also gradually become transparent within a range of approximately 5 degrees relative to the first boundary 221. Accordingly, at the first boundary 221, the panoramic image can naturally change from the first top view image to the third top view image.

[0166] Figure 19 A method for generating surround view data from a driver assistance device according to an embodiment is shown.

[0167] refer to Figure 19 The method 1000 for generating surround view data by the driver assistance device 100 is described.

[0168] Vehicle 1 takes multiple images (1010).

[0169] The driver assistance device 100 can acquire multiple image data 201, 202, 203 and 204 through multiple cameras 111, 112, 113 and 114.

[0170] Vehicle 1 converts multiple images (1020).

[0171] The driver assistance device 100 can convert multiple image data 201, 202, 203 and 204 into multiple top view data 211, 212, 213 and 214.

[0172] Vehicle 1 identifies the location of the obstacle (1030).

[0173] The driver assistance device 100 can acquire multiple detection data through multiple ultrasonic sensors 121, 122, 123 and 124.

[0174] The vehicle (1) combines multiple transformed images based on the location of obstacles (1040).

[0175] The driver assistance device 100 can set boundary angles for combining top view data 211, 212, 213, and 214 based on the location of obstacles.

[0176] The driver assistance device 100 segments the top view data 211, 212, 213 and 214 according to the set boundary angles, and can generate surround view data 220 by combining the segmented top view data 211, 212, 213 and 214.

[0177] Vehicle 1 displays a composite image (1050).

[0178] The driver assistance device 100 can provide surround view data 220 to the display 10 for display of surround view data 220, and the display 10 can display surround view data 220.

[0179] According to one aspect of this disclosure, a driver assistance device, a vehicle, and a method for controlling the vehicle can be provided that can display an image of the surroundings without distorting surrounding obstacles during parking.

[0180] The embodiments of this disclosure have been described above. In the above embodiments, some components may be implemented as "modules". Here, the term 'module' refers to, but is not limited to, software and / or hardware components that perform a specific task, such as field-programmable gate arrays (FPGAs) or application-specific integrated circuits (ASICs). Advantageously, modules may be configured to reside on addressable storage media and configured to execute one or more processors.

[0181] Thus, for example, a module can include components such as software components, object-oriented software components, categorized components and task components, procedures, functions, attributes, programs, subroutines, fragments of program code, drivers, firmware, microcode, circuits, data, databases, data structures, tables, arrays, and variables. The operations provided in components and modules can be combined into fewer components and modules or further divided into additional components and modules. Furthermore, components and modules can be implemented to enable the operation of one or more CPUs within a device.

[0182] Accordingly, and in addition to the embodiments described above, embodiments can be implemented by computer-readable code / instructions in / on a medium, such as a computer-readable medium, to control at least one processing element to implement any of the embodiments described above. The medium can correspond to any medium / media that permits the storage and / or transmission of computer-readable code.

[0183] Computer-readable code can be recorded on a medium or transmitted over the Internet. The medium may include read-only memory (ROM), random access memory (RAM), CD-ROM, magnetic tape, floppy disk, and optical recording media. Furthermore, the medium may be a non-volatile computer-readable medium. The medium may also be a distributed network, thus allowing the computer-readable code to be stored or transmitted and executed in a distributed manner. Further, by way of example only, the processing element may include at least one processor or at least one computer processor, and may be distributed and / or included in a single device.

[0184] Although embodiments have been described with reference to a limited number of implementations, those skilled in the art, upon appreciating the benefits of this disclosure, will recognize that other embodiments can be conceived without departing from the scope of the disclosure described herein. Accordingly, the scope is limited only by the appended claims.

Claims

1. A vehicle comprising: A first camera is mounted on the vehicle to have a first field of view and is configured to acquire first image data; A second camera, mounted on the vehicle, is provided to have a second field of view and is configured to acquire second image data. monitor; as well as The controller is configured as follows: The display shows that the first image data and the second image data are combined into first panoramic data such that the boundary between the first image data and the second image data becomes a first reference angle. Determine that the obstacle is located near the vehicle within the field of view of the first camera and / or the second camera; as well as In response to the determination, the display shows second surround view data in which the first image data and the second image data based on obstacles near the vehicle are combined such that the boundary between the first image data and the second image data becomes a second reference angle. Wherein, the first reference angle and the second reference angle are the angles formed between the boundary and the axis extending in the longitudinal direction of the vehicle.

2. The vehicle according to claim 1, wherein, The controller is configured to combine the first image data and the second image data based on the obstacles located in the first field of view, thereby expanding the area occupied by the first image data in the second surround view data.

3. The vehicle according to claim 1, wherein, The controller is configured to combine the first image data and the second image data based on the obstacles located in the second field of view, thereby expanding the area occupied by the second image data in the second surround view data.

4. The vehicle according to claim 1, wherein: The first camera has a first field of view facing a first direction; The second camera has a second field of view facing a second direction; and The controller is configured to combine the first image data and the second image data based on the obstacle located in the first field of view, such that the boundary faces the second direction.

5. The vehicle according to claim 1, wherein: The first camera has a first field of view facing a first direction; The second camera has a second field of view facing a second direction; and The controller is configured to combine the first image data and the second image data based on the obstacle located in the second field of view, such that the boundary faces the first direction.

6. The vehicle according to claim 1, wherein: The first camera has a first field of view facing the front or rear of the vehicle; and The second camera has a second field of view facing the left or right side of the vehicle.

7. The vehicle according to claim 6, wherein, The controller is configured to combine the first image data and the second image data based on the obstacle located in front of or behind the vehicle, such that the angle between the boundary and the vehicle's direction of travel becomes a second reference angle that is larger than the first reference angle.

8. The vehicle according to claim 6, wherein, The controller is configured to combine the first image data and the second image data based on the obstacle located on the right or left side of the vehicle, such that the angle between the boundary and the direction of travel of the vehicle becomes a second reference angle smaller than the first reference angle.

9. The vehicle according to claim 6, wherein, The controller is configured to combine the first image data and the second image data based on the vehicle's speed, which is equal to or greater than a reference speed, such that the angle between the boundary and the vehicle's direction of travel becomes a second reference angle that is smaller than the first reference angle.

10. The vehicle according to claim 6, wherein, The controller is configured to combine the first image data and the second image data based on the opening degree of the vehicle door, such that the angle between the boundary and the vehicle's direction of travel becomes a second reference angle that is larger than the first reference angle.

11. The vehicle according to claim 6, wherein, The controller is configured to combine the first image data and the second image data based on the opening degree of the vehicle's trunk door, such that the angle between the boundary and the vehicle's direction of travel becomes a second reference angle smaller than the first reference angle.

12. The vehicle according to claim 1, further comprising: A first ultrasonic sensor is mounted on the vehicle to have a first detection area overlapping with the first field of view and is configured to detect the obstacle. and A second ultrasonic sensor is mounted on the vehicle to have a second detection area that overlaps with the second field of view, and is configured to detect the obstacle.

13. The vehicle according to claim 12, wherein, The controller is configured to combine the first image data and the second image data based on the determination that the obstacle is detected by the first ultrasonic sensor, thereby expanding the area occupied by the first image data in the second surround view data.

14. The vehicle according to claim 12, wherein, The controller is configured to combine the first image data and the second image data based on the determination that the obstacle is detected by the second ultrasonic sensor, thereby expanding the area occupied by the second image data in the second surround view data.

15. The vehicle according to claim 12, wherein, The first ultrasonic sensor has a first detection area facing the front or rear of the vehicle, and the second ultrasonic sensor has a second detection area facing the left or right side of the vehicle.

16. The vehicle according to claim 12, wherein, The controller is configured to combine the first image data and the second image data based on the determination that the obstacle is detected by the first ultrasonic sensor, so that the angle between the boundary and the vehicle's direction of travel becomes a second reference angle that is larger than the first reference angle.

17. The vehicle according to claim 12, wherein, The controller is configured to combine the first image data and the second image data based on the determination that the obstacle is detected by the second ultrasonic sensor, so that the angle between the boundary and the vehicle's direction of travel becomes a second reference angle that is smaller than the first reference angle.

18. A method for controlling a vehicle including a first camera having a first field of view and a second camera having a second field of view, the method comprising: The first image data is acquired by the first camera; The second image data is acquired by the second camera; Displaying first surround view data, in which the first image data and the second image data are combined such that the boundary between the first image data and the second image data becomes a first reference angle; Determine that the obstacle is located near the vehicle within the field of view of the first camera and / or the second camera; as well as In response to the determination, second surround view data is displayed, in which the first image data and the second image data are combined based on obstacles located near the vehicle such that the boundary between the first image data and the second image data becomes a second reference angle. Wherein, the first reference angle and the second reference angle are the angles formed between the boundary and the axis extending in the longitudinal direction of the vehicle.

19. A driver assistance device, comprising: A first camera, mounted on the vehicle, is configured to have a first field of view and to acquire first image data; A second camera, mounted on the vehicle, is provided to have a second field of view and is configured to acquire second image data. as well as The controller is configured as follows: The first surround view data is sent to the vehicle's display to display the first surround view data, wherein the first image data and the second image data are combined such that the boundary between the first image data and the second image data becomes a first reference angle; Determine that the obstacle is located near the vehicle within the field of view of the first camera and / or the second camera; as well as In response to the determination, the first image data and the second image data are combined into second surround view data based on obstacles located near the vehicle, such that the boundary between the first image data and the second image data becomes a second reference angle, and the second surround view data is displayed. Wherein, the first reference angle and the second reference angle are the angles formed between the boundary and the axis extending in the longitudinal direction of the vehicle.

Images