Vehicle blind area monitoring device and method based on rear camera

Abstract

The invention provides a vehicle blind area monitoring device and method based on a rear camera. According to at least one implementation mode, the invention provides a vehicle blind area monitoring device based on a rear camera, and the device comprises an image acquisition unit, a control unit and a display unit. The image acquisition unit is configured to acquire a rear image from a rear camera mounted on a vehicle. The control unit is configured to set a region of interest in the rear image based on a steering signal or a lane departure signal of the vehicle, determine whether there is a risk of approaching an object in the region of interest to the vehicle, and generate a blind spot image based on whether there is a risk of approaching. The display unit is configured to display a blind spot image.

Description

Technical Field

[0001] The present disclosure relates to a vehicle blind spot monitoring device based on a rear camera and an operation method thereof. More specifically, the present disclosure relates to a technology for assisting a driver in safe driving by displaying a vehicle blind spot view based on a driving state using an image obtained by a rear camera. Background Art

[0002] The statements in this section merely provide background information related to the present disclosure and may not constitute prior art.

[0003] There are blind spots in front of, behind and to the sides of the vehicle's passenger seat that the driver cannot check with the exterior mirrors. In particular, if there is an object in the blind spot when the driver changes lanes while driving, it is difficult for the driver to detect the object, so the risk of property and personal damage caused by a collision is high.

[0004] Blind Spot View Monitor (BVM) is a technology that displays an image of the rear blind spot in the corresponding direction on the instrument panel screen when the turn signal switch is operated to assist the driver in driving safely.

[0005] Conventional blind spot view monitors usually use side cameras installed at the bottom of the exterior rearview mirror to provide rear blind spot images. For example, when the driver operates the turn signal switch to change lanes, the rear side view image is acquired from the side camera in the corresponding direction and displayed on the instrument panel, interior rearview mirror, head-up display (HUD), navigation system, etc., to assist the driver in driving safely.

[0006] However, the image provided by the conventional blind spot monitor is taken from the viewpoint of the exterior rearview mirror, and therefore, based on the image, it is difficult to accurately determine the distance from the end of the rear bumper of the vehicle to another vehicle approaching from the rear side or the speed of the other vehicle. In other words, it is difficult to identify the risk of approaching another vehicle approaching from the rear side, so that the driver has to additionally check whether another vehicle is approaching the driver's vehicle when changing lanes. Summary of the invention

[0007] According to an embodiment of the present disclosure, a rear camera may be used to provide a rear blind spot image of a vehicle.

[0008] According to an embodiment of the present disclosure, a rear blind spot image of a vehicle may be provided to accurately determine the distance between an object in the blind spot and the vehicle.

[0009] According to an embodiment of the present disclosure, a hazard warning may be provided according to the proximity of another vehicle and a rear blind spot image of the vehicle.

[0010] According to an embodiment of the present disclosure, when lane departure is detected, a rear blind spot image of the vehicle may be automatically provided.

[0011] The objects of the present disclosure are not limited to the aforementioned objects, and other objects not mentioned above will be clearly understood by those skilled in the art through the following description.

[0012] According to at least one embodiment, the present disclosure provides a vehicle blind spot view monitoring device based on a rear camera, including: an image acquisition unit, a control unit and a display unit. The image acquisition unit is configured to obtain a rear image from a rear camera installed on the vehicle. The control unit is configured to set a focus area in the rear image according to a turn signal or a lane departure signal of the vehicle, determine whether there is a risk of an object in the focus area approaching the vehicle, and generate a blind spot image according to whether there is a risk of approaching. The display unit is configured to display the blind spot image.

[0013] When it is determined that there is a risk of approach, the control unit may transmit a control signal for generating vibration based on steering information of the vehicle to the steering wheel haptic drive unit.

[0014] When it is determined that there is a risk of approach, the control unit may send a control signal to the brake unit to apply a braking force to the rear wheels in the steering direction based on the steering information of the vehicle.

[0015] According to another embodiment, the present disclosure provides a method for monitoring a blind spot by means of a vehicle blind spot view monitoring device based on a rear camera, comprising: obtaining a rear image from a rear camera mounted on a vehicle in response to receiving a turn signal or a lane departure signal of the vehicle; setting a focus area in the rear image based on the turn signal or the lane departure signal; determining whether there is a risk of an object in the focus area approaching the vehicle; generating a blind spot image based on whether there is a risk of approaching; and displaying the blind spot image.

[0016] The method may further include, when it is determined that there is a risk of approach, transmitting a control signal for generating vibration based on steering information of the vehicle to a steering wheel haptic drive unit.

[0017] The method may further include, when it is determined that there is a risk of approach, sending a control signal to a brake unit to apply a braking force to the rear wheels in a steering direction based on steering information of the vehicle.

[0018] According to the embodiments of the present disclosure, driving convenience and safety can be improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 is a conceptual diagram of a vehicle blind spot view monitoring system based on a rear camera according to an embodiment of the present disclosure.

[0020] Figure 2A and Figure 2B1 and 2 are exemplary diagrams respectively showing an original image having asymmetric lens distortion caused by a wide-angle lens and a portion of a corrected image corrected by the asymmetric lens distortion.

[0021] Figure 3 is a block diagram of a vehicle blind spot view monitoring device based on a rear camera according to an embodiment of the present disclosure.

[0022] Figure 4A and Figure 4B is an example diagram for describing auxiliary lines and / or proximity risk warnings displayed on a blind spot image based on whether there is a proximity risk according to an embodiment of the present disclosure.

[0023] Figure 5 It is a flow chart of a vehicle blind spot monitoring method based on a rear camera according to an embodiment of the present disclosure. DETAILED DESCRIPTION

[0024] Hereinafter, some embodiments of the present disclosure will be described in detail with reference to the accompanying drawings. In the following description, the same reference numerals preferably represent the same elements, although these elements are shown in different drawings. In addition, in the following description of some embodiments, for the purpose of clarity and brevity, detailed descriptions of related known components and functions will be omitted when it is considered that they will confuse the subject matter of the present disclosure.

[0025] Various ordinal numbers or letter codes, such as first, second, i), ii), a), b), etc., are used only as prefixes to distinguish one component from another, and do not imply or suggest the substance, order or sequence of the components. Throughout the specification, when a component "includes" or "contains" a component, the component means to also include other components, rather than excluding other components, unless there is a clear statement to the contrary. Terms such as "unit", "module" and the like refer to one or more units for processing at least one function or operation, which can be implemented by hardware, software or a combination thereof.

[0026] The description of the present disclosure given below in conjunction with the accompanying drawings is intended to describe exemplary embodiments of the present disclosure, but does not represent the only embodiments in which the technical ideas of the present disclosure can be practiced.

[0027] The present disclosure relates to monitoring a blind spot of a vehicle based on a rear camera, and in particular, to a blind spot view monitoring device for a vehicle, which uses a rear image obtained based on a rear camera with a wide-angle lens and an asymmetric lens distortion correction function to provide a rear blind spot view and simultaneously issues a hazard warning alarm according to driving conditions, and relates to an operation method thereof.

[0028] Figure 1is a conceptual diagram of a vehicle blind spot view monitoring system based on a rear camera according to an embodiment of the present disclosure.

[0029] like Figure 1 As shown, the vehicle blind spot view monitoring system based on the rear camera according to the embodiment of the present disclosure may include a blind spot view monitoring device 100, a rear camera 200, a lane departure warning system (LDWS) 210, a body control module (BCM) 220, a steering angle sensor (SAS) 230, and a distance sensor 240. The vehicle blind spot view monitoring system based on the rear camera according to the embodiment of the present disclosure may also include a steering wheel haptic drive unit (not shown) and a brake unit (not shown).

[0030] The components of the rear camera-based vehicle blind spot view monitoring system may use various communication protocols in the vehicle to send or receive signals or data. Here, the communication protocol may include at least one of a controller area network (CAN), a CAN with flexible data rate (CAN FD), a local interconnect network (LIN), FlexRay, and Ethernet.

[0031] The rear camera 200 can obtain an image behind the vehicle. The rear camera 200 can provide the obtained rear view image to a rear-view monitor (RVM), a surround view monitor (SVM), etc. In addition, the rear camera 200 can provide the obtained rear view image to the blind spot view monitoring device 100. The rear camera 200 can have a wide-angle lens and an asymmetric lens distortion correction function, but is not limited thereto.

[0032] Wide-angle lenses or fisheye lenses for vehicle cameras are usually designed to have a horizontal viewing angle greater than the vertical viewing angle, with the focus on ensuring the driver's left and right viewing angles. This will cause asymmetric distortion. Asymmetric lens distortion correction refers to correcting this asymmetric distortion. Figure 2A shows an example of a raw rear image with asymmetric lens distortion caused by the wide-angle lens of the rear camera, Figure 2B shows that the asymmetric lens distortion correction function of the rear camera is corrected by Figure 2A An example of an image of the left rear area obtained by illustrative purposes only.

[0033] The lane departure warning system 210 can detect lane departure due to the driver's negligence and issue a warning alert to the driver. When lane departure is detected, the lane departure warning system 210 can issue a warning alert through an indicator light, a warning sound, and / or a tactile signal on the instrument panel, but without displaying the rear side image. However, when an image from the rear side of the lane departure direction is also displayed together with the lane departure warning, driving safety and convenience can be improved.

[0034] When lane departure is detected, the lane departure warning system 210 may provide a lane departure warning signal to the blind spot view monitoring device 100 to perform cooperative control with the blind spot view monitoring device 100 .

[0035] The body control module 220 may provide a turn signal to the blind spot view monitoring device 100. Here, the turn signal may include a left turn or right turn direction indication signal.

[0036] The steering angle sensor 230 may be a sensor that senses an angle, a direction, and an angular velocity of a steering wheel, and may provide steering information to the blind spot view monitoring apparatus 100 .

[0037] The distance sensor 240 may be a sensor that measures the distance to an object to be measured, and may operate based on an image or time of flight (ToF). Examples of the distance sensor may include an ultrasonic sensor, an infrared sensor, a lidar, a radar, a camera, etc., but preferably may be an ultrasonic sensor for identifying a parking space. The distance sensor 240 may provide information about the distance and proximity to the sensing object, etc. to the blind spot view monitoring device 100.

[0038] The blind spot view monitoring device 100 can provide a rear blind spot image by using a rear image obtained based on the rear camera 200. The blind spot view monitoring device 100 can provide a rear blind spot image according to a driving state. The driving state may include a risk of approaching an object approaching from the rear side of the vehicle. The blind spot view monitoring device 100 can also perform a tactile warning and / or one-side braking according to the driving state. Hereinafter, reference will also be made to Figure 3 to describe.

[0039] The blind spot view monitoring device 100 may include all or part of an image acquisition unit 110 , a control unit 120 , and a display unit 130 .

[0040] Figure 3The blind spot view monitoring device 100 shown is an embodiment of the present disclosure, and some components thereof may be added, changed or removed in other embodiments. For example, in other embodiments, the blind spot view monitoring device 100 may further include a communication unit (not shown) that sends or receives signals or data with components of a vehicle blind spot view monitoring system based on a rear camera.

[0041] exist Figure 3 In the embodiment, for the convenience of description, the blind spot view monitoring device 100 is shown as a device. In other embodiments, the blind spot view monitoring device 100 and each of its components may be in the form of hardware or software, or in the form of a combination of hardware and software. In addition, the function of each component may be implemented in software, and one or more processors may be formed to execute the software function corresponding to each component.

[0042] The image acquisition unit 110 may obtain a rear image from the rear camera 200. Here, the rear image refers to an image in which asymmetric lens distortion has been corrected.

[0043] The control unit 120 can start blind spot monitoring by using the vehicle's turn signal or lane departure signal as a trigger. Specifically, the control unit 120 can set a corresponding area of ​​interest in the rear image obtained by the image acquisition unit 110 based on the vehicle's turn signal or lane departure signal. The control unit 120 can determine whether there is a risk of the vehicle approaching an object in the area of ​​interest so as to provide a blind spot image according to the driving state. The control unit 120 can generate a blind spot view image from the rear image, including a warning signal based on whether there is a risk of approaching. The generated blind spot view image can be displayed on at least one of the instrument panel, the interior rearview mirror, the head-up display (HUD), and the navigation system through the display unit 130. The control unit 120 can control the overall operation of the blind spot view monitoring device 100.

[0044] The control unit 120 may set a corresponding focus area in the rear image based on the turn signal or lane departure signal of the vehicle. This may be to form a blind spot view image by setting the area to be monitored from the rear image. The focus area may be pre-set. When the turn signal indicates a left turn or the lane departure signal indicates a left lane departure, the control unit 120 may set a certain area in the rear image corresponding to the left side of the vehicle's driving direction as the focus area. For example, Figure 2A As shown, the area surrounded by a rectangle can be set as the focus area. When the turn signal indicates a right turn or the lane departure signal indicates a right lane departure, the control unit 120 can set a certain area corresponding to the right side of the vehicle's driving direction in the rear image as the focus area.

[0045] When there is an object in the set area of ​​interest, the control unit 120 may determine whether there is a risk of approaching between the object and the vehicle. This may be to provide a blind spot image with a warning signal when there is a risk of approaching. The control unit 120 may determine whether there is a risk of approaching based on the distance or relative speed between the object and the vehicle.

[0046] The control unit 120 may calculate the distance between the object and the vehicle using the ultrasonic sensor, and may compare the calculated distance with a threshold distance to determine whether there is a risk of approach.

[0047] The control unit 120 can calculate the relative speed or distance between the object and the vehicle based on the rear image, and can determine whether there is a risk of approaching based on the calculated relative speed or distance. For example, the control unit 120 can calculate the distance between the object and the vehicle based on a virtual grid in the rear image, and can compare the calculated distance with a threshold distance to determine whether there is a risk of approaching. For example, the control unit 120 can calculate the relative speed between the object and the vehicle based on the position change of the same object in images taken by the rear camera at different times, and can compare the calculated relative speed with a threshold speed to determine whether there is a risk of approaching. In this case, a virtual grid can be used to determine the position change of the same object. In addition, it goes without saying that within the technical scope of the present disclosure, a person of ordinary skill in the art can calculate the distance or relative speed in various ways.

[0048] The control unit 120 may generate a blind spot image including auxiliary lines from the rear image, and when there is a risk of approaching, may generate the blind spot image further including a warning signal.

[0049] When the control unit 120 determines that there is no object or no risk of approach in the area of ​​interest, it can crop the portion of the rear image corresponding to the area of ​​interest and add multiple guide lines (i.e., auxiliary lines that are spaced a certain distance from the vehicle in the horizontal and vertical directions on the cropped portion of the image) to generate a blind spot image.

[0050] For example, Figure 4AAs shown, a first longitudinal distance guide line 321 and a second longitudinal distance guide line 323 spaced a certain distance from the vehicle in the longitudinal direction may be displayed, and a left lateral distance guide line 331 and a right lateral distance guide line 333 spaced a certain distance from the vehicle in the lateral direction may be displayed. Here, the first longitudinal distance guide line 321 may be a guide line indicating a longitudinal distance for warning the risk of the left rear vehicle 311 and / or the right rear vehicle 313 approaching, and the second longitudinal distance guide line 323 may be a guide line indicating a longitudinal distance for warning the driver of the left rear vehicle 311 and / or the right rear vehicle 313 approaching. The first longitudinal distance guide line 321 and the second longitudinal distance guide line 323 may be displayed in different colors.

[0051] When the control unit 120 determines that there is a risk of approach, it can crop a portion corresponding to the area of ​​concern in the rear image, and add a plurality of guide lines spaced a certain distance from the vehicle in the lateral and longitudinal directions to the cropped portion of the image to generate a blind spot image that further includes an approach risk warning signal.

[0052] For example, Figure 4B As shown, when the left rear vehicle 311 and / or the right rear vehicle 313 are very close to the vehicle 300 through the first longitudinal distance guide line, the approach risk warning signal can be displayed by changing the color of the left lateral distance guide line 331 and / or the right lateral distance guide line 333 or flashing them. In addition, it goes without saying that the approach risk warning signal can be displayed in various other ways.

[0053] The control unit 120 may determine whether the driver is turning in a direction where there is a risk of approaching and perform a tactile warning and / or a one-side braking control. The control unit 120 may determine whether the driver is turning in a direction where there is a risk of approaching based on the steering information. The steering information may include at least one of the angle, direction, and angular velocity of the steering wheel. The steering information may be obtained using a steering angle sensor 230 or an electronic stability control device (ESC) (not shown), but the present disclosure is not limited thereto.

[0054] When it is determined that the driver is turning in a direction where there is a risk of approaching, the control unit 120 may send a control signal for generating vibration to the steering wheel haptic drive unit. In addition, when it is determined that the driver is turning in a direction where there is a risk of approaching, the control unit 120 may send a control signal to the brake unit to apply a braking force to the rear wheels in the turning direction.

[0055] The display unit 130 may display the blind spot image generated by the control unit 120. The display unit 130 may display the blind spot image on a dashboard, an interior rearview mirror, a head-up display (HUD), a navigation system, or the like.

[0056] The communication unit (not shown) can use various communication protocols in the vehicle to send or receive signals or data. For example, the communication unit can exchange signals or data with the lane departure warning system 210, the body control module 220, the steering angle sensor 230, the distance sensor 240, the steering wheel haptic drive unit (not shown), the brake unit (not shown), the electronic stability control (not shown), etc.

[0057] Figure 5 It is a flow chart of a vehicle blind spot monitoring method based on a rear camera according to an embodiment of the present disclosure.

[0058] Reference Figure 5 At S510, the blind spot view monitoring device 100 may start operating upon receiving a turn signal or a lane departure signal of the vehicle and obtain a rear image from a rear camera 200 mounted on the vehicle. The turn signal may be a signal indicating a left turn or a right turn received from the body control module 220. The lane departure signal may be a signal received from the lane departure warning system 210.

[0059] At S520, the blind spot view monitoring device 100 may set a focus area in the rear image based on the turn signal or the lane departure signal. The focus area corresponding to the rear side of the vehicle may be set.

[0060] At S530 , when there is an object in the area of ​​interest, the blind spot view monitoring device 100 determines whether there is a risk of the object in the area of ​​interest approaching the vehicle.

[0061] At S540 , the blind spot view monitoring device 100 may generate a blind spot image based on whether there is a risk of approaching. The blind spot view monitoring device 100 may generate a blind spot image including auxiliary lines from the rear image and may also generate a blind spot image including a warning signal when there is a risk of approaching.

[0062] At S550, the blind spot view monitoring device 100 may display the generated blind spot image on a display. Here, examples of the display may include a dashboard, an interior rearview mirror, a head-up display (HUD), a navigation system, etc., but are not limited thereto.

[0063] The above method may also include the following process: when it is determined that there is a risk of approaching, the blind spot view monitoring device 100 may determine whether the driver is turning in the direction where there is a risk of approaching, and then perform a tactile warning and / or one-side braking control. For example, the above method may also include the following process: when it is determined that there is a risk of approaching, the blind spot view monitoring device 100 may send a control signal for generating vibration to the steering wheel tactile drive unit based on the steering information of the vehicle. For example, the above method may also include the following process: when it is determined that there is a risk of approaching, the blind spot view monitoring device 100 may send a control signal to the braking unit to apply braking force to the rear wheels in the steering direction based on the steering information of the vehicle.

[0064] Each component or method of the device according to the present disclosure can be in the form of hardware or software or a combination of hardware and software. In addition, the function of each component can be implemented in software, and the microprocessor can be formed to execute the function of the software corresponding to each component.

[0065] Various embodiments of the systems and techniques described in the present disclosure may be implemented as digital electronic circuits, integrated circuits, field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), computer hardware, firmware, software, and / or combinations thereof. Such various embodiments may be implemented as one or more computer programs executable on a programmable system. The programmable system may include at least one programmable processor (which may be a dedicated processor or a general-purpose processor) coupled to receive data and instructions from a storage system and send data and instructions to the storage system, at least one input device, and at least one output device. A computer program (also referred to as a program, software, software application, or code) may include instructions for a programmable processor and may be stored in a "computer-readable recording medium."

[0066] Examples of computer-readable recording media may include all types of recording devices in which data that can be read by a computer system is stored. Such computer-readable recording media may be non-volatile or non-transitory media such as ROM, CD-ROM, magnetic tape, floppy disk, memory card, hard disk, magneto-optical disk, and storage device, or may be temporary media such as data transmission media. In addition, the computer-readable recording medium may be distributed in computer systems connected via a network, and the computer-readable code may be stored and executed in a distributed manner.

[0067] In the flowcharts of this specification, each process is described to occur sequentially, but this is merely an example of the technology of the embodiments of the present disclosure. In other words, a person skilled in the art of the embodiments of the present disclosure can make various modifications and variations by changing the order described in the flowcharts in this specification or by performing one or more processes in parallel. Therefore, the flowcharts in this specification are not limited to the chronological order.

[0068] Although exemplary embodiments of the present disclosure are described for illustrative purposes, it will be understood by those skilled in the art that various modifications, additions and substitutions may be made without departing from the concept and scope of the present disclosure as claimed. Therefore, for the sake of brevity and clarity, exemplary embodiments of the present disclosure have been described. The scope of the technical ideas of the embodiments of the present disclosure are not limited by the accompanying drawings. Therefore, it will be understood by those of ordinary skill in the art that the scope of the invention as claimed is not limited by the embodiments explicitly described above, but is limited by the claims and their equivalents.

Claims

1. A blind spot view monitoring device for a vehicle based on a rear camera, comprising: an image acquisition unit configured to obtain a rear image from a rear camera installed on the vehicle; a control unit configured to set a focus area in the rear image based on a turn signal or a lane departure signal of the vehicle, determine whether there is a risk of an object in the focus area approaching the vehicle, and generate a blind spot image based on whether there is a risk of approaching; and The display unit is configured to display the blind area image.

2. The device according to claim 1, wherein: The rear camera is a wide-angle camera or a fisheye camera and has a function of correcting asymmetric lens distortion, and The rear image obtained from the rear camera is an image whose asymmetric lens distortion has been corrected.

3. The device according to claim 1, wherein: The control unit calculates a distance between an object in the area of ​​interest and the vehicle using an ultrasonic sensor, and determines whether there is a risk of approach based on the calculated distance.

4. The device according to claim 1, wherein: The control unit calculates a relative speed between the object in the area of ​​interest and the vehicle, and determines whether there is a risk of approach based on the calculated relative speed.

5. The device according to claim 4, wherein: The control unit calculates a relative speed between the object in the area of ​​interest and the vehicle using a plurality of consecutive rear images obtained from the rear camera.

6. The device according to claim 1, wherein: The control unit generates a blind spot image including one or more lateral distance guide lines and one or more longitudinal distance guide lines, and When it is determined that there is a risk of approaching, the generated blind spot image also includes an approaching risk warning.

7. The device according to claim 1, wherein: When it is determined that there is a risk of approach, the control unit transmits a control signal for generating vibration based on steering information of the vehicle to a steering wheel haptic drive unit.

8. The device according to claim 1, wherein: When it is determined that there is a risk of approach, the control unit sends a control signal to a brake unit to apply a braking force to the rear wheels in a steering direction based on steering information of the vehicle.

9. A method for monitoring a blind spot by using a vehicle blind spot view monitoring device based on a rear camera, comprising the following steps: In response to receiving a turn signal or a lane departure signal of the vehicle, obtaining a rear image from a rear camera mounted on the vehicle; setting a focus area in the rear image based on the turn signal or the lane departure signal; determining whether there is a risk of an object in the area of ​​interest being in proximity with the vehicle; generating a blind spot image based on whether there is a risk of approach; as well as The blind area image is displayed.

10. The method according to claim 9, wherein: The rear camera is a wide-angle camera or a fisheye camera and has a function of correcting asymmetric lens distortion, and The rear image obtained from the rear camera is an image whose asymmetric lens distortion has been corrected.

11. The method according to claim 9, wherein: The determining step includes calculating a distance between an object in the area of ​​interest and the vehicle using an ultrasonic sensor, and determining whether there is a risk of approach based on the calculated distance.

12. The method according to claim 9, wherein: The determining step includes calculating a relative speed between the object in the area of ​​interest and the vehicle, and determining whether there is a risk of approach based on the calculated relative speed.

13. The method according to claim 12, wherein: The calculating step includes calculating a relative speed between the object in the area of ​​interest and the vehicle using a plurality of consecutive rear images obtained from the rear camera.

14. The method according to claim 9, wherein: The generating step includes: generating a blind area image including one or more transverse distance guide lines and one or more longitudinal distance guide lines, and When it is determined that there is a risk of approaching, the generated blind spot image also includes an approaching risk warning.

15. The method according to claim 9, further comprising: When it is determined that there is a risk of approach, a control signal for generating vibration based on steering information of the vehicle is transmitted to a steering wheel haptic drive unit.

16. The method according to claim 9, further comprising: When it is determined that there is a risk of approach, a control signal is sent to a brake unit to apply a braking force to the rear wheels in a steering direction based on steering information of the vehicle.

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