Vehicle and control method thereof

Abstract

The invention relates to a vehicle and a control method thereof. A vehicle may include a sensor mounted in the vehicle, a display unit mounted in the vehicle, and a processor configured to control the sensor and the display unit. A combination of the processor, the sensor, and the display unit may be configured to sense driving information of a traveling vehicle and surrounding information about a periphery of the vehicle, collect the sensed driving information of the vehicle and the sensed surrounding information of the vehicle, and select a target object among a plurality of objects present in front of the vehicle based on the sensed information, and collecting target information related to the target object, setting a target area based on the collected target information, matching the target object with the set target area, and projecting an indication related to the target object onto a windshield of the vehicle.

Description

Technical Field

[0001] The present invention relates to a vehicle and a control method thereof. Background Art

[0002] The Forward Collision Assist (FCA) function can be used to provide visual, auditory, and tactile warnings to the driver in the presence of a collision risk so that the driver can recognize such a dangerous situation.

[0003] For example, the FCA function using a front camera sensor has limitations because it only recognizes a target when the target is visible, and thus may not provide accurate information about a target that poses a potential collision risk.

[0004] Therefore, the driver may not be aware of an object that is the target of the FCA warning / control, which may increase the likelihood that the driver will respond inadequately or apply incorrect braking or steering control to a situation with a collision risk. Summary of the Invention

[0005] Embodiments of the present invention may provide a vehicle (e.g., an autonomous vehicle) and a control method thereof, which can warn a driver of a risk warning target by designating an area of the risk warning target on a windshield with a laser beam when the Forward Collision Assist (FCA) function gives a warning and performs control in the presence of a collision risk, so that the driver can intuitively recognize such a risk target and respond to the collision risk.

[0006] Embodiments of the present invention may provide a vehicle (e.g., an autonomous vehicle) and a control method thereof, which can use sensor information detected by autonomous driving sensors (e.g., a front camera, a front radar, a front / side (or blind spot) radar, etc.) to identify and calculate the longitudinal / lateral relative positions of the vehicle and a target vehicle, and display an area on the actual visible boundary of the target vehicle and a target object through the windshield to allow the driver to quickly and easily recognize it.

[0007] The technical advantages to be achieved by embodiments of the present invention are not necessarily limited to the above advantages, and those skilled in the art may also learn other technical advantages not described above from the following description.

[0008] To solve the above technical problems, according to an embodiment of the present invention, in a control method of a vehicle including a processor, the method may include: sensing driving information of the vehicle and surrounding information about the surroundings of the vehicle through at least one sensor; collecting the sensed driving information and the sensed surrounding information by the processor to select at least one of a plurality of objects existing in front of the vehicle as a target object; collecting at least one set of target information related to the selected target object by the processor to set a target area on the windshield of the vehicle; and projecting an indication of the target object in the target area of the windshield of the vehicle.

[0009] The target information may include position information about the longitudinal and lateral positions of the target object and size information of the target object.

[0010] The vehicle may further include: a display unit including an auxiliary display unit including at least one light emitting diode (LED) or laser beam on a front surface; an operation unit disposed below the auxiliary display unit and configured to control an angle of the auxiliary display unit; and an internal sensor disposed on a rear surface of the display unit or in the operation unit and configured to sense eyes of a driver on the vehicle. The auxiliary display unit may be set such that its front surface faces the windshield and may be set in a direction parallel to the windshield with a constant distance therebetween.

[0011] The projection of the indication may include, by the processor, sensing the eyes of the driver using the internal sensor, and by the processor, predicting the gaze of the driver based on the sensed eyes of the driver and projecting the indication into the target area of the windshield based on the predicted gaze of the driver.

[0012] The method may further include projecting an arrow or a dot in a left or right end area of the windshield for a target object determined to be located outside a preset boundary for the windshield and close to the vehicle.

[0013] The projection of the indication may include projecting the indication in a color determined based on the speed of the target object.

[0014] The method may further include displaying a warning marker image in the target area.

[0015] To solve the above technical problems, an embodiment of the present invention may include a non-transitory computer-readable recording medium storing a program for executing a method of controlling a vehicle.

[0016] To solve the above technical problems, according to an embodiment of the present invention, a vehicle may include a sensor installed in the vehicle, a display unit installed in the vehicle, and a processor configured to control the sensor and the display unit. The processor is configured to use the sensor to sense driving information of the vehicle and surrounding information about the surroundings of the vehicle, collect the sensed driving information and the sensed surrounding information, and select at least one of a plurality of objects existing in front of the vehicle as a target object based on the sensed driving information and the surrounding information, collect at least one set of target information related to the selected target object, and set a target area on the windshield of the vehicle based on the collected target information, and project an indication for the target object in the target area of the windshield of the vehicle.

[0017] The target information may include position information about the longitudinal and lateral positions of the target object and size information of the target object.

[0018] The display unit may include: an auxiliary display unit including at least one LED or laser beam on the front surface; an operation unit disposed below the auxiliary display unit and configured to control the angle of the auxiliary display unit; and an internal sensor disposed on the rear surface of the display unit or within the operation unit and configured to sense the driver's eyes.

[0019] The auxiliary display unit may be set such that its front surface faces the windshield, and may be set in a direction parallel to the windshield with a constant distance therebetween.

[0020] The processor may be configured to sense the driver's eyes using the internal sensor, predict the driver's gaze based on the sensed driver's eyes, and project an indication into the target area of the windshield of the vehicle.

[0021] The processor may be configured to project an arrow or a dot in the left and right end regions of the windshield for a target object determined to be located outside a preset boundary of the windshield and approaching the vehicle.

[0022] The processor may be configured to project an indication in a color determined based on the speed of the target object.

[0023] The processor may be configured to display a warning marker image within the target area.

[0024] The vehicle and the control method configured as described above according to an embodiment of the present invention can enable a driver to intuitively and quickly identify a risk target and respond to such a collision-risk situation when there is a collision risk warning, thereby improving the safety of the driver.

[0025] The vehicle and control method configured as described above according to an embodiment of the present invention can visually display a warning that matches an actual target object within the driver's field of view (FOV), thereby increasing the effect of the warning and reducing the risk of accidents.

[0026] The vehicle and control method configured as described above according to an embodiment of the present invention can warn the driver of a target object approaching from the outside of the windshield (or the driver's FOV) by identifying the direction of the target object in advance, and can allow the driver to prepare for such a collision-risk situation, thereby improving the reliability of driving or autonomous driving.

[0027] Alternatively, the vehicle and control method configured as described above according to an embodiment of the present invention can allow the driver to visually identify the target object through the windshield, thereby preventing safety accidents.

[0028] The advantages that can be obtained from the embodiments of the present invention are not necessarily limited to the above advantages, and those skilled in the art can also clearly understand other advantages not described above from the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Figure 1 is a block diagram showing a vehicle according to an embodiment of the present invention.

[0030] Figure 2 is a block diagram showing the Figure 1 display unit according to an embodiment of the present invention.

[0031] Figure 3A and Figure 3B are diagrams showing in detail the Figure 2 display unit according to an embodiment of the present invention.

[0032] Figure 4A 、 Figure 4B 、 Figure 5A and Figure 5B are diagrams showing examples of target areas projected on the windshield according to an embodiment of the present invention.

[0033] Figure 6 is a flowchart showing a method of controlling a vehicle according to an embodiment of the present invention. DETAILED DESCRIPTION

[0034] Hereinafter, exemplary embodiments of the present invention will be described in detail with reference to the accompanying drawings, and the same or similar elements may be given the same reference numerals regardless of the reference symbols, and repeated descriptions thereof may be omitted. In addition, when determining that the detailed description of related well-known technologies obscures the gist of the exemplary embodiments described herein, the detailed description thereof may be omitted.

[0035] As used herein, the terms "comprising," "including," and "having" specify the presence of the stated features, numbers, operations, elements, components, and / or combinations thereof, but do not preclude the presence or addition of one or more other features, numbers, operations, elements, components, and / or combinations thereof. In addition, when describing embodiments in conjunction with the accompanying drawings, the same reference numerals refer to the same components and repeated descriptions related thereto will be omitted.

[0036] Terms such as "unit" and "control unit" included in names such as vehicle control unit (VCU) may be terms widely used to name control devices or controllers configured to control specific vehicle functions, but may not be terms representing general functional units. For example, each controller or control unit may include a communication device for communicating with other controllers or sensors to control corresponding functions, a memory for storing an operating system (OS) or logical commands and input / output information, and at least one vehicle controller for performing determinations, calculations, selections, etc. required for control functions. The vehicle controller may also be referred to as a drive controller herein.

[0037] Figure 1 is a block diagram showing a vehicle according to an embodiment of the present invention.

[0038] See Figure 1 , according to an exemplary embodiment, vehicle 100 (e.g., an autonomous vehicle) may include a processor 110, a plurality of sensors 130, and a display unit 150.

[0039] Sensor 130 may be a front sensor disposed at the front of autonomous vehicle 100 and configured to sense the surroundings ahead. For example, sensor 130 may include a radar 131, a camera 133, a lidar 135, etc.

[0040] Radar 131 may be provided as one or more radars and mounted on autonomous vehicle 100. Radar 131 may measure the relative speed and relative distance with respect to an identified object together with a wheel speed sensor (not shown) mounted on autonomous vehicle 100. For example, radar 131 may be mounted at the front of autonomous vehicle 100 to identify an object in front of autonomous vehicle 100. The objects described herein may refer to obstacles, vehicles, people, things, etc. existing outside autonomous vehicle 100.

[0041] Camera 133 may be provided as one or more cameras and mounted on autonomous vehicle 100. Camera 133 may capture an image of an object or the state of an object existing around autonomous vehicle 100, and may output image data based on the captured information. For example, camera 133 may be mounted on autonomous vehicle 100 to identify an object in front of autonomous vehicle 100.

[0042] The lidar 135 can be set as one or more lidars and installed on the autonomous vehicle 100. The lidar 135 can irradiate laser pulses at an object, measure the time for the laser pulses reflected from the object within the measurement range to return, sense information such as the distance to the object, the direction of the object, the speed of the object, etc., and output lidar data based on the sensed information.

[0043] The processor 110 can sense the driving information of the currently traveling autonomous vehicle 100 and the surrounding information about the surroundings of the autonomous vehicle 100, collect the sensed driving information of the autonomous vehicle 100 and the sensed surrounding information of the autonomous vehicle 100, and select at least one object among the multiple objects existing in front of the autonomous vehicle 100 as a target object based on the sensed information. That is, the processor 110 can receive the driving information of the autonomous vehicle 100 and the surrounding information of the autonomous vehicle 100 through the above-mentioned sensors 130, and analyze the received driving information of the autonomous vehicle 100 and the surrounding information of the autonomous vehicle 100 to identify one or more objects existing in front of the autonomous vehicle 100.

[0044] The processor 110 can extract an object that satisfies a preset target range from one or more objects and select the extracted object as a target object. The target object described here can be one or more objects.

[0045] The processor 110 can collect at least one target information associated with the selected target object and can set a target area based on the collected target information. The target information can include position information associated with the longitudinal / lateral position of the target object, size information of the target object, etc.

[0046] For example, the processor 110 can collect position information about the longitudinal / lateral position of the target object, size information of the target object, etc., and set a target area that can include the target object based on the collected information. For example, the target area can be set based on the position of the target object, the angle of the target object, and the contour points (or the boundary line of the target object) of the target object.

[0047] Once the target area is set, the processor 110 can provide information about the target area and information about the target object to the display unit 150.

[0048] The processor 110 can match the target object with the set target area and project it onto the windshield of the autonomous vehicle 100.

[0049] Under the control of the processor 110, the display unit 150 can receive information about the target area and information about the target object, and project them onto the windshield of the autonomous driving vehicle 100. Under the control of the processor 110, the display unit 150 can match the target object moving in real time with the target area and project it onto the windshield of the autonomous driving vehicle 100.

[0050] Under the control of the processor 110, the display unit 150 can project a warning marker image or the like onto the target area in addition to various information about the target object, and the target area is projected onto the windshield of the autonomous driving vehicle 100. This will be described in more detail below.

[0051] Figure 2 is a diagram showing Figure 1 of the display unit, Figure 3A and 3B is a diagram showing in detail Figure 2 of the display unit.

[0052] Refer to Figure 2 , Figure 3A and Figure 3B , according to an embodiment of the present invention, the display unit 150 may include an auxiliary display unit 151, an internal sensor 153, and an operation unit 155.

[0053] The auxiliary display unit 151 may include at least one light-emitting diode (LED) or laser beam on the front surface. The auxiliary display unit 151 may be provided around the cluster of the autonomous driving vehicle 100.

[0054] The front surface of the auxiliary display unit 151 may be configured to face the windshield WS of the autonomous driving vehicle 100.

[0055] As Figure 3B shown, the auxiliary display unit 151 can project an indication for the target object onto the windshield WS of the autonomous driving vehicle 100 by outputting at least one LED or laser beam to the windshield WS of the autonomous driving vehicle 100 under the control of the processor 110, and the indication may include a dot or line image indicating the target area VA.

[0056] The internal sensor 153 may be configured at the rear of the auxiliary display unit 151 or near the operation unit 155 (see Figure 3A ). However, the embodiment is not necessarily limited thereto.

[0057] The internal sensor 153 can sense the driver's gaze based on the sensing result of the driver's face under the control of the processor 110. For example, the internal sensor 153 can sense the driver's pupil by sensing the driver's eyes under the control of the processor 110. The processor 110 can predict the position, angle, and gaze of the driver's eyes based on the pupil of the driver identified by the internal sensor 153.

[0058] The operation unit 155 can be disposed below the auxiliary display unit 151. The operation unit 155 can include a motor. The operation unit 155 can tilt the auxiliary display unit 151 upward, downward, leftward, or rightward using the motor under the control of the processor 110.

[0059] For example, the operation unit 155 can operate based on the user's pupil sensed by the internal sensor 153 under the control of the processor 110. Therefore, the auxiliary display unit 151 can change its angle to face substantially the same direction as the driver's pupil under the control of the operation unit 155.

[0060] Figures 4A to 5B is a diagram showing an example of a target area VA projected on a windshield WS according to an embodiment of the present invention.

[0061] See Figure 4A , the auxiliary display unit 151 can be disposed below the windshield WS of the autonomous vehicle 100.

[0062] The auxiliary display unit 151 can project a target area VA on the windshield WS of the autonomous vehicle 100 by outputting at least one LED or laser beam or the like to the windshield WS of the autonomous vehicle 100 under the control of the processor 110.

[0063] As Figure 4A shown, the auxiliary display unit 151 can display a visual warning on the windshield WS based on the distance from the driver's eye position to an actual target or target object under the control of the processor 110.

[0064] The auxiliary display unit 151 can be set to be substantially parallel to the windshield WS, that is, the angle of the laser beam can be set to be substantially parallel to the windshield WS. Therefore, the laser beam can not enter the driver's eyes. This setting can prevent the driver from being distracted by the laser beam or the auxiliary display unit 151 while driving.

[0065] As described above, the laser beam from the auxiliary display unit 151 disposed below the center of the windshield WS can be displayed in an upward direction, thereby preventing the driver's line of sight from being distracted while driving and preventing nearby vehicles from being distracted.

[0066] Refer toFigure 4B The processor 110 can sense the driving information of the self-driving vehicle 100 currently in motion and the surrounding information of the self-driving vehicle 100 through sensors (such as cameras, radars, etc.), and collect the sensed driving information of the self-driving vehicle 100 and the sensed surrounding information of the self-driving vehicle 100 to identify and calculate the longitudinal and lateral relative positions of nearby stationary or moving objects around the self-driving vehicle 100 and the size of the target object T1 based on this information.

[0067] When a risk situation of collision with the calculated target object T1 occurs, the processor 110 can allow the activation of the Forward Collision Assist (FCA) warning and braking functions. The processor 110 can project a target area VA onto the windshield WS at the actual position of the target object T1 using a laser beam, so that the driver can intuitively and quickly identify the target object T1 entering the driver's field of view (FOV) as the target for warning and control.

[0068] The processor 110 can project the target area VA by correcting the driver's FOV, the windshield WS, the angle and position of the target object T1, etc. The target area VA can be the area displayed by the auxiliary display unit 151, and the target object T1 can be visible to the driver through the windshield WS.

[0069] The processor 110 can control the auxiliary display unit 151 to project the target area VA onto the windshield WS and define the target area VA as the border around the target object T1.

[0070] For example, the processor 110 can control the auxiliary display unit 151 to change the target area VA as shown when the target object is the vehicle T1 ahead based on the display position and size of the target object (such as T1 and T2), and change the target area VA as shown when the target object is the pedestrian T2. Figure 4B as shown Figure 5A as shown

[0071] While controlling the auxiliary display unit 151, the processor 110 can analyze the position and angle of the driver's eyes through the internal sensor 153, calculate the angle / size relative to the position of the target object (such as T1 and T2) based on the analyzed position and angle of the driver's eyes, and display it on the boundary of the target area VA projected onto the windshield WS.

[0072] The internal sensor 153 can be an in-vehicle camera (ICC), but its example is not limited to this, and any sensor that can identify the driver's eyes or pupils can be used.

[0073] The processor 110 can configure the laser beam from the auxiliary display unit 151 with multiple small light sources (light beams) to display the target area VA by connecting the boundaries of the target objects (e.g., T1 and T2) with points. The processor 110 can adjust the position and size of the target area VA based on the relative motion, position, etc. between the autonomous vehicle 100 and the target objects (e.g., T1 and T2).

[0074] For example, the auxiliary display unit 151 can change the size and position of the target area VA by turning on or off the multiple light sources of the laser beam under the control of the processor 110.

[0075] Reference Figure 5B , in the case where the target object T5 is sensed and recognized to be located outside the preset boundary of the windshield WS and approaching the vehicle, the processor 110 can control the auxiliary display unit 151 to display arrows or points in the left and right end regions of the windshield WS to warn the object T5 about the direction, etc.

[0076] For example, a bicycle or motorcycle as the target object T3 may approach the autonomous vehicle 100 at high speed from the lateral direction of the autonomous vehicle 100, and the FCA function can provide a warning before a collision and control braking. For example, when the FCA function issues a warning, the target object T5 may be located on the left / right outer side of the driver's FOV (e.g., the windshield WS).

[0077] In contrast, Figure 5B a tree depicted as the target object T4 may approach the autonomous vehicle 100 at low speed from the longitudinal direction of the autonomous vehicle 100. In this case, a warning can be issued before a potential collision and braking control performed by the FCA function can be provided, allowing the target object T4 to be located within the driver's FOV (e.g., the windshield) when the FCA function issues a warning.

[0078] Thus, the processor 110 can control the auxiliary display unit 151 to visually display the direction of the target object T5 located outside the windshield WS at the left and right ends of the windshield WS, so that the driver can intuitively recognize the target object T5 as a collision risk target in the case where the target object T5, which is the warning target of the FCA function, cannot be confirmed.

[0079] The processor 110 can control the auxiliary display unit 151 to visually display the direction of the target object T5 located outside the windshield WS at the left and right ends of the windshield WS, so that the driver can easily recognize the direction of the target object T5 and be warned in advance about the danger of the target object T5.

[0080] As described above, the processor 110 may control the auxiliary display unit 151 to visually display a warning marker image in the target area VA projected on the windshield WS.

[0081] The processor 110 may control the auxiliary display unit 151 to display a target object on the windshield WS, but change the color according to the moving speed of the target object, so as to provide information about the speed of the target object to the driver in advance based on the displayed color.

[0082] For example, the colors according to the speed of the target object may be defined as follows.

[0083] When the speed of the target object is between 8 and 10 kilometers per hour (km / h), the target object may be displayed in yellow. When the speed of the target object is between 10 and 15 km / h, the target object may be displayed in red. When the speed of the target object is greater than 15 km / h, the target object may blink red. However, the examples are not limited to this. For example, the driver may change the color to various other colors.

[0084] The processor 110 may also control the auxiliary display unit 151 to change the color differently according to the speed of the target object, and may also control the auxiliary display unit 151 to change the color of the target area VA as the speed of the target object changes.

[0085] Figure 6 It is a flowchart showing a method of controlling an autonomous vehicle according to an embodiment of the present invention.

[0086] See Figure 6 , according to an embodiment of the present invention, the method of controlling the autonomous vehicle 100 may be as follows.

[0087] In operation S11, under the control of the processor 110, the autonomous vehicle 100 may sense the driving information of the autonomous vehicle 100 and the surrounding information about the surroundings of the autonomous vehicle 100 during driving, and may collect the sensed driving information of the autonomous vehicle 100 and the sensed surrounding information of the autonomous vehicle 100 to identify a plurality of objects existing in front of the autonomous vehicle 100 based on the collected information.

[0088] The plurality of objects may include, for example, a vehicle in front, a nearby vehicle, a pedestrian, a bicycle, or a motorcycle.

[0089] Under the control of the processor 110, the autonomous vehicle 100 can receive the driving information of the autonomous vehicle 100 and the surrounding information of the autonomous vehicle 100 during driving through the above-mentioned sensors 130, and analyze the received driving information of the autonomous vehicle 100 and the surrounding information of the autonomous vehicle 100 to identify at least one object existing in front of the autonomous vehicle 100.

[0090] In operation S12, under the control of the processor 110, the autonomous vehicle 100 can identify a plurality of objects in front of the autonomous vehicle 100, and select at least one target object from the identified plurality of objects.

[0091] For example, under the control of the processor 110, the autonomous vehicle 100 can extract an object that meets a preset target range from at least one object, and select the extracted object as the target object. The target object can be one or more.

[0092] In operation S13, under the control of the processor 110, the autonomous vehicle 100 can collect and calculate at least one target information associated with the selected target object. For example, the target information can include position information about the longitudinal and lateral positions of the target object, size information about the target object, etc.

[0093] In operation S14, under the control of the processor 110, the autonomous vehicle 100 can collect and calculate at least one target information associated with the selected target object, and can set a target area VA based on the calculated target information. For example, under the control of the processor 110, the autonomous vehicle 100 can set the target area VA relative to the selected target object based on the driver's FOV, windshield, actual position and angle of the target object, etc.

[0094] For example, under the control of the processor 110, the autonomous vehicle 100 can collect position information about the longitudinal and lateral positions of the target object, size information about the target object, etc., and set a target area VA including the target object based on the collected information. For example, the target area VA can be set based on the driver's FOV, windshield, actual position and angle of the target object, contour points of the target object (or boundary line of the target object), etc.

[0095] When setting the target area VA, the autonomous vehicle 100 can provide information about the target area VA and information about the target object to the display unit 150 under the control of the processor 110.

[0096] In operation S15, under the control of the processor 110, the autonomous vehicle 100 can calculate a warning area display position or correct the target area VA based on the information about the target area VA and the information about the target object.

[0097] In operation S16, under the control of the processor 110, the autonomous vehicle 100 can determine whether the target object is included in the windshield WS.

[0098] In operation S17, when the target object is included in the windshield WS, the autonomous vehicle 100 can, under the control of the processor 110, match the target object with the set target area VA and project the target object onto the windshield WS of the autonomous vehicle 100. Under the control of the processor 110, the autonomous vehicle 100 can project and display a warning, etc. within the range where the target area VA does not overlap with the target object.

[0099] Alternatively, in operation S18, when the target object is not included in the windshield WS, under the control of the processor 110, the autonomous vehicle 100 can be controlled to project the set target area VA in the form of an arrow or a dot, etc. at the left and / or right ends of the windshield WS of the autonomous vehicle 100. Under the control of the processor 110, the autonomous vehicle 100 can project a warning marker image, such as a direction, in the form of an arrow or a dot, etc.

[0100] In operation S19, under the control of the processor 110, the autonomous vehicle 100 can deactivate the operation after a normal warning.

[0101] According to an embodiment of the present invention, the autonomous vehicle 100 and the control method can intuitively display the actual target object in the driver's FOV to match them, thereby improving the effectiveness of the warning and reducing the accident risk.

[0102] According to an embodiment of the present invention, the autonomous vehicle 100 and its control method can identify in advance the direction of a target object approaching from outside the windshield WS (outside the driver's FOV) and issue a warning, enabling the driver to prepare for a situation where there may be a risk of collision, thereby improving the stability of autonomous driving or driving.

[0103] According to an embodiment of the present invention, the autonomous vehicle and its control method can intuitively identify the target object through the windshield, thereby preventing safety accidents.

[0104] The exemplary embodiments of the present invention described herein can be implemented as computer-readable code on a medium recording a program. The computer-readable medium can include all types of recording devices for storing data for a computer system to read. The computer-readable medium can include, for example, a hard disk drive (HDD), a solid state drive (SSD), a silicon disk drive (SDD), a read-only memory (ROM), a random access memory (RAM), a compact disc ROM (CD-ROM), a magnetic tape, a floppy disk, an optical data storage device, etc.

[0105] Accordingly, the foregoing detailed description should not be construed as restrictive, but rather should be construed in all respects as illustrative. The scope of the embodiments of the present invention should be determined by a reasonable interpretation of the claims, and all variations and modifications within the equivalent scope of the present invention are included within the scope of the present invention.

Claims

1. A driver assistance method for controlling a vehicle, wherein: The vehicle comprises a processor, at least one sensor and a display unit, the method comprising: sensing driving information of the vehicle and surrounding information about the surroundings of the vehicle by the at least one sensor; collecting the sensed driving information and the sensed surrounding information by the processor to select a target object among a plurality of objects existing in front of the vehicle; collecting target information related to the target object by the processor to set a target area on the windshield of the vehicle; and An indication for the target object is projected in the target area of ​​the windshield of the vehicle by the display unit.

2. The method according to claim 1, wherein: The target information includes: Position information regarding the longitudinal and lateral positions of the target object; and The size information of the target object.

3. The method according to claim 2, wherein: The display unit comprises: an auxiliary display unit including at least one light emitting diode or laser device on its front surface; an operating unit disposed below the auxiliary display unit and configured to control an angle of the auxiliary display unit; and An internal sensor is provided on a rear surface of the display unit or in the operating unit and is configured to sense eyes of a driver of the vehicle, the auxiliary display unit being provided in a manner that the front surface thereof is opposite to the windshield and in a direction parallel to the windshield with a constant distance therebetween.

4. The method according to claim 3, wherein: The projection of the instructions includes: sensing, by the processor, the driver's eyes using the internal sensor; predicting, by the processor, a gaze of the driver based on sensed eyes of the driver; and The indication is projected in the target area of ​​the windshield by the auxiliary display unit based on the predicted gaze of the driver.

5. The method according to claim 1, wherein: Also included is projecting an arrow or dot at a left or right end area of ​​the windshield in response to the target object being determined to be located outside a preset boundary for the windshield and approaching the vehicle.

6. The method according to claim 1, wherein: The projecting of the indication includes projecting the indication in a color determined based on a velocity of the target object.

7. The method according to claim 1, wherein: Also included is displaying a warning mark image within the target area.

8. A non-transitory computer-readable recording medium, wherein: A program for executing the method according to claim 1 is stored.

9. A vehicle, in, include: sensor; display unit; and a processor configured to control the sensor and the display unit, The combination of the processor, the sensor and the display unit is configured as follows: sensing driving information of the vehicle and surrounding information about the surroundings of the vehicle; collecting the sensed driving information and the sensed surrounding information, and selecting a target object among a plurality of objects existing in front of the vehicle based on the sensed driving information and the sensed surrounding information; collecting target information related to the target object; setting a target area on a windshield of the vehicle based on the target information; and An indication for the target object is projected in the target area of ​​the windshield of the vehicle.

10. The vehicle according to claim 9, wherein: The target information includes: Position information regarding the longitudinal and lateral positions of the target object; and The size information of the target object.

11. The vehicle according to claim 10, wherein: The display unit comprises: an auxiliary display unit comprising at least one light emitting diode or laser device; an operating unit configured to control an angle of the auxiliary display unit; and An interior sensor is configured to sense the driver's eyes.

12. The vehicle according to claim 11, wherein: The auxiliary display unit is disposed in such a manner that a front surface thereof is opposed to the windshield, and the auxiliary display unit is disposed in a direction parallel to the windshield with a constant distance therebetween.

13. The vehicle according to claim 12, wherein: The combination of the processor, the sensor, and the display unit is further configured to: sensing the driver's eyes using the interior sensor; predicting a gaze of the driver based on sensed eyes of the driver; and The target area is adjusted based on the predicted gaze of the driver.

14. The vehicle of claim 9, wherein: The combination of the processor, the sensor, and the display unit is configured to project an arrow or dot at a left or right end area of ​​the windshield in response to the target object being determined to be located outside a preset boundary for the windshield and close to the vehicle.

15. The vehicle of claim 9, wherein: The combination of the processor, the sensor, and the display unit are further configured to project the indication in a color determined based on a speed of the target object.

16. The vehicle of claim 9, wherein: The combination of the processor, the sensor, and the display unit is further configured to display a warning mark image within the target area.

17. A driver assistance method for a vehicle, in, include: sensing driving information of the vehicle and surrounding information about the surroundings of the vehicle; selecting the one or more target objects among a plurality of objects present in front of the vehicle based on the driving information and the surrounding information and based on each of the one or more target objects detected as potential dangers to the vehicle; For each of the one or more target objects, collecting target information related to the one or more target objects; For each of the one or more target objects, providing a target area on a windshield of the vehicle; and For each of the one or more target objects, an indication is projected at the target area of ​​the windshield of the vehicle.

18. The method according to claim 17, wherein: Also includes: Sensing the driver’s eyes; predicting the driver's gaze based on sensing of the driver's eyes; and For each of the one or more target objects, the target area is adjusted based on a predicted gaze of the driver.

19. The method according to claim 17, wherein: Also included is: for a given target object of the one or more target objects, in response to the given target object being located outside a boundary for the windshield and approaching toward the vehicle, projecting the indication at a left or right end area of ​​the windshield.

20. The method according to claim 17, wherein: For a given target object of the one or more target objects, the projecting of the indication includes projecting the indication in a color determined based on a velocity of the given target object.

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