Rear alarm device of a vehicle and method therefor

Abstract

Vehicle rear alarm device comprising: a sensor (110) for detecting a rear side of a host vehicle; a display (130) for displaying a detected object; a controller (120) communicatively connected to the sensor (110) and the display (130) and designed to: to determine whether the object detected by the sensor (110) is a two-wheeled vehicle; if the detected object is a two-wheeled vehicle, to control the issuance of an alarm of the approach of the two-wheeled vehicle through the display; to extend a preset rear alarm area to the side of the host vehicle such that the extended alarm area partially overlaps a rear of the host vehicle, wherein the controller (120) is configured to extend the preset rear alarm area to an area detectable in a forward direction and a rearward direction of the host vehicle by the sensor (110).

Description

REFERENCE TO A RELATED APPLICATION

[0001] This application claims priority to and the benefit of Korean Patent Application No. 10-2020-0035993, filed on March 25, 2020. TECHNICAL FIELD

[0002] The present disclosure relates to a rear alarm device of a vehicle and a method therefor. BACKGROUND

[0003] Recently, with the increasing installation of rear-end alarms in vehicles, drivers can change lanes more safely. However, most current rear-end alarms rely on the presence of four-wheeled vehicles on the road. In the case of a two-wheeled vehicle, such as a motorcycle, which is relatively narrow and moves freely between vehicles, this can pose a danger to the driver at any time, especially if the driver is not within the alarm range of the current rear-end alarm.

[0004] Meanwhile, the current rear-mounted alarm device provides the same alarm range for a four-wheeled vehicle or a two-wheeled vehicle. When the two-wheeled vehicle approaches the lane of the host vehicle, it is excluded from the alarm target at that time because it is outside the alarm range. Consequently, it is difficult for the host driver to detect the approach of the two-wheeled vehicle because no alarm is triggered despite the two-wheeled vehicle's approach.

[0005] In particular, in a case where a two-wheeled vehicle is approaching across a host lane, since it is possible for it to approach the vehicle and pass between the vehicle in the next lane and the host vehicle without changing to the next lane, it is a target that requires prior detection and alarm.

[0006] The above information disclosed in this "Background" section is provided solely to enhance the understanding of the background of the disclosure and may therefore contain information that does not constitute prior art known to a person skilled in the art.

[0007] US 2018 / 0 001 819 A1 describes a vehicle monitoring device comprising a determination unit that determines whether a following vehicle shown in an image captured by a camera that captures an image of surroundings of a host vehicle is a two-wheeled vehicle, and further comprising a warning unit that issues a warning when a vehicle distance between the following vehicle and the host vehicle becomes equal to or smaller than a first distance. Further related prior art is disclosed, for example, in US 2016 / 0 252 610 A1, US 2019 / 0 088 137 A1, and US 2012 / 0 235 805 A1. DEMOLITION

[0008] An embodiment of the present disclosure relates to providing a rear alarm device of a vehicle and a method thereof capable of varying an alarm area according to the size of surrounding vehicles.

[0009] The technical problems to be solved by the present disclosure are not limited to the technical problems mentioned above, and other technical problems not mentioned will be clearly understood by those skilled in the art from the following description.

[0010] One aspect of the present disclosure relates to providing a vehicle rear-end alarm device comprising a sensor for detecting a rear side of a host vehicle; a display for displaying a detected object; and a controller communicatively connected to a sensor and the display and configured to: determine whether the object detected by the sensor is a two-wheeled vehicle; when the detected object is a two-wheeled vehicle, control issuance of an alarm of approach of the two-wheeled vehicle through a display; and extend a preset rear-end alarm area to the side of the host vehicle such that the extended alarm area partially overlaps a rear of the host vehicle.

[0011] The controller is designed to extend the preset rear alarm area to an area that is detectable by the sensor in a forward direction and a reverse direction of the host vehicle.

[0012] In one embodiment, the sensor may comprise at least one of a lidar sensor and a radar sensor, and the controller may be configured to determine an intensity or magnitude of a signal received from the lidar sensor or the radar sensor, and if the determined intensity or magnitude of the signal is less than a first threshold, determine the detected object as a two-wheeled vehicle.

[0013] In one embodiment, the controller may be configured to determine a width of the detected object, and if the determined width of the object is less than a second threshold, to determine the detected object as a two-wheeled vehicle.

[0014] In one embodiment, the display may include at least one of an instrument cluster or a mirror indicator.

[0015] In one embodiment, if the detected object is a two-wheeled vehicle, the display may display an icon corresponding to the two-wheeled vehicle.

[0016] In one embodiment, the sensor may include a camera for detecting the rear of the host vehicle. Here, the controller may be configured to detect an object from an image captured by the camera and determine whether the detected object is a two-wheeled vehicle.

[0017] In one embodiment, when the detected object is a two-wheeled vehicle, the controller may cause the image captured by the camera to be displayed on the display.

[0018] Another aspect of the present disclosure relates to providing a rear vehicle alarm method comprising: detecting, by a sensor, a rear side of a host vehicle; determining whether the object detected by the sensor is a two-wheeled vehicle; if the detected object is a two-wheeled vehicle, alarming due to the approach of the two-wheeled vehicle through the display; and extending a preset rear alarm area to the side of the host vehicle such that the extended alarm area partially overlaps a rear of the host vehicle.

[0019] The expanding includes expanding the preset rear alarm area to an area detectable by the sensor in a forward direction and a rearward direction of the host vehicle.

[0020] In one embodiment, detecting may be performed by one of a lidar sensor and a radar sensor, and determining may include determining an intensity or magnitude of a signal received from the lidar sensor or the radar sensor; and if the determined intensity or magnitude of the object is less than a first threshold, determining the detected object as a two-wheeled vehicle.

[0021] In one embodiment, the determining may include determining a width of the detected object, and if the determined width of the object is less than a second threshold, determining the detected object as a two-wheeled vehicle.

[0022] In one embodiment, alerting may include displaying on at least one of an instrument cluster or a mirror indicator.

[0023] In one embodiment, when the detected object is a two-wheeled vehicle, alerting may include displaying an icon corresponding to the two-wheeled vehicle.

[0024] In one embodiment, detecting may include detecting a rear side of the host vehicle with a camera. Here, determining may include detecting an object from the image and determining whether the detected object is a two-wheeled vehicle.

[0025] In one embodiment, alerting may include displaying the image captured by the camera on the display.

[0026] The rear-end alarm device and method therefor according to an embodiment of the present disclosure can perform an alarm for a two-wheeled vehicle traveling between the host vehicle and the other vehicle in the adjacent lane by expanding the alarm range to only the rear area of ​​the host vehicle lane when the two-wheeled vehicle approaches, thereby improving the reliability of the alarm.

[0027] Furthermore, the present disclosure can reduce the probability of a collision with a two-wheeled vehicle while driving to prevent a rear-end collision in advance by helping the driver to recognize in advance the existence of a two-wheeled vehicle that moves in relatively different paths on the road and is difficult to identify with the naked eye. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] The foregoing and other aspects, features and advantages of the present disclosure will become more apparent to those skilled in the art by describing in detail embodiments thereof with reference to the accompanying drawings, in which: Fig. 1 is a block diagram of a vehicle rear side alarm device according to an exemplary embodiment of the present disclosure; Fig. 2 is an exemplary view showing a detection area of ​​a vehicle rear side alarm device according to an exemplary embodiment of the present disclosure; Fig. 3 is an exemplary view showing an example of a display of a vehicle rear side alarm device according to an exemplary embodiment of the present disclosure; Fig. 4 is an exemplary view showing another example of a display of a vehicle rear side alarm device according to an exemplary embodiment of the present disclosure; Fig. 5 is an exemplary view showing an alarm portion of a vehicle rear alarm device according to an exemplary embodiment of the present disclosure; and Fig. 6 is a flowchart of a vehicle rear-end alarm method according to an exemplary embodiment of the present disclosure; Fig. 7 is a flowchart of a method for detecting a two-wheeled vehicle in a vehicle rear-end alarm method according to an exemplary embodiment of the present disclosure; Fig. 8 is a flowchart of a method for detecting a two-wheeled vehicle by a camera in a vehicle rear-end alarm method according to an exemplary embodiment of the present disclosure. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0029] Hereinafter, exemplary embodiments of the present disclosure will be described in detail so that those skilled in the art can readily implement the present disclosure with reference to the accompanying drawings. The present disclosure may be embodied in many different forms and is not limited to the embodiments set forth herein. For clarity, parts unrelated to the description have been omitted from the drawings. Throughout the description, like reference numerals designate like elements.

[0030] Embodiments of the present disclosure are provided to describe the present disclosure in more detail to those skilled in the art. The embodiments described below may be modified into various other forms, and the scope of the present disclosure is not limited to the following embodiments. Rather, these embodiments make the disclosure more meaningful and complete, and are provided to fully convey the spirit of the disclosure to those skilled in the art.

[0031] Fig. 1 is a block diagram of a vehicle rear alarm device according to an exemplary embodiment of the present disclosure; and Fig. 2 is an exemplary view showing a detection area of ​​a vehicle rear side alarm device according to an exemplary embodiment of the present disclosure.

[0032] Referring to Fig. 1, a vehicle rear-end alarm device 100 according to an embodiment of the present disclosure includes a sensor 110, a controller 120, and a display 130.

[0033] The sensor 110 can detect around a host vehicle 10. In one example, the sensor 110 can include either a lidar sensor 112 or a radar sensor 116. The lidar sensor 112 or the radar sensor 116 can detect the rear of the host vehicle 10. Referring to Fig. 2, the lidar sensor 112 or the radar sensor 116 may have detectable areas R1 and R2. In this case, the lidar sensor 112 or the radar sensor 116 may be mounted near the side mirrors of the host vehicle 10.

[0034] Here, the lidar sensor 112 or the radar sensor 116 can be configured so that the detectable areas R1 and R2 overlap each other at the rear of the host vehicle 10. Furthermore, the lidar sensor 112 or the radar sensor 116 can be configured to detect at different angles. That is, the detectable areas R1 and R2 can be provided asymmetrically on the left and right sides of the host vehicle 10. Accordingly, the host vehicle 10 can have a first alarm area 11 at different positions on the left and right sides.

[0035] The sensor 110 may include a camera 114. Here, the camera 114 may be a rear-view camera that detects the rear of the host vehicle 10. The camera 114 may be mounted in the center of the rear of the host vehicle 10 or may be mounted on either side of the rear.

[0036] The controller 120 may be communicatively connected to the sensor 110 and the display 130. Here, the controller 120 may be an ECU of the host vehicle 10. Optionally, the controller 120 may be a controller separately equipped for the rear side alarm of the host vehicle 10.

[0037] Furthermore, the controller 120 may be configured to determine whether the object detected by the sensor 110 is a two-wheeled vehicle. In this case, the controller 120 may be configured to distinguish whether the object detected by the sensor 110 is a general four-wheeled vehicle or a narrow-width two-wheeled vehicle by determining a width of the object.

[0038] For example, the controller 120 may be configured to determine a strength or magnitude of a signal received from the lidar sensor 112 or the radar sensor 116. Here, a reflection signal from the lidar sensor 112 or the radar sensor 116 varies depending on the type of vehicle that exists behind the host vehicle 10.

[0039] A sampling signal from the lidar sensor 112 or the radar sensor 116 has a weaker signal intensity for a two-wheeled vehicle than for a four-wheeled vehicle. Furthermore, a sampling signal from the lidar sensor 112 or the radar sensor 116 for a two-wheeled vehicle has a smaller signal magnitude than that for a four-wheeled vehicle because the two-wheeled vehicle has a smaller reflective surface than the four-wheeled vehicle. Consequently, the type of the host vehicle 10 can be determined using the intensity or magnitude of the sampling signal from the lidar sensor 112 or the radar sensor 116.

[0040] In this case, the controller 120 may be configured to determine the object detected by the lidar sensor 112 as a two-wheeled vehicle if the determined intensity or magnitude of the sensing signal is less than a first threshold. Here, the first threshold may be an intensity or magnitude of a detected signal corresponding to the two-wheeled vehicle.

[0041] As another example, the controller 120 may be configured to determine a width of the object detected by the lidar sensor 112. Here, the controller 120 may be configured to determine the width of the object according to the number of points of the lidar sensor 112 for the detected object.

[0042] In this case, the controller 120 may be configured to determine the object detected by the lidar sensor 112 as a two-wheeled vehicle if the determined width of the object is less than a second threshold. Here, the second threshold may be the number of points corresponding to the two-wheeled vehicle.

[0043] As another example, if the sensor 110 includes the camera 114, the controller 120 may be configured to detect an object from an image captured by the camera 114. Here, the controller 120 may be configured to detect an object using an object detection algorithm.

[0044] Furthermore, the controller 120 may be configured to determine whether the detected object is a two-wheeled vehicle. Here, the controller 120 may be configured to determine whether the object is a two-wheeled vehicle based on an object detection algorithm.

[0045] Furthermore, the sensor 110 may be a fusion sensor that includes the lidar sensor 112 or the radar sensor 116 and the camera 114.

[0046] Accordingly, even if an error occurs in the detection by the lidar sensor 112 or the radar sensor 116, the vehicle rear alarm device 100 can more accurately determine whether a two-wheeled vehicle is approaching by secondary detection using an image from the camera 114.

[0047] If an object sensed by the sensor 110 is a two-wheeled vehicle, the controller 120 may be configured to initiate a primary alert due to the approach of the two-wheeled vehicle through the display 130.

[0048] Alternatively, if the sensor 110 includes the camera 114, the controller 120 may be configured to cause the display 130 to display an image captured by the camera 114 when an object detected by the lidar sensor 112 is a two-wheeled vehicle or the object detected from the image captured by the camera 114 is a two-wheeled vehicle.

[0049] Furthermore, the controller 120 can be configured to secondarily change the alarm area when it detects that a two-wheeled vehicle is located behind. That is, the controller 120 can generate an alarm for the two-wheeled vehicle 20 more actively than the driver by expanding the alarm area itself.

[0050] More specifically, when the sensor 110 detects a two-wheeled vehicle, the controller may be configured to establish an extended alarm area (a second alarm area) by extending a preset alarm area (the first alarm area) to the host vehicle 10 side.

[0051] Referring to Fig. 2, the controller 120 may be configured to expand the first alarm area 11 to the detectable areas R1 and R2 detectable by the lidar sensor 112 or the radar sensor 116. In this case, the controller 120 may be configured to establish the second alarm area 12 by expanding the first alarm area 11 to the S side of the host vehicle 10. Furthermore, the controller 120 may be configured to establish the second alarm area 12 by expanding the first alarm area 11 in the forward direction F and the reverse direction R of the host vehicle 10.

[0052] Accordingly, the controller 120 may be configured to extend the first alarm area 11 such that the extended second alarm area 12 partially overlaps the rear of the host vehicle 10.

[0053] Accordingly, the vehicle rear-end alarm device 100 can perform an alarm for a two-wheeled vehicle 20 capable of traveling between the host vehicle 10 and the other vehicle 30 in the next lane. Since the vehicle rear-end alarm device 100 can expand the rear-end alarm target to include a two-wheeled vehicle, the reliability of the alarm can be improved.

[0054] The display 130 may display an object detected by the sensor 110. Here, the display 130 may include at least one of an instrument cluster 132 and a side mirror indicator 134.

[0055] Fig. 3 is an exemplary view showing an example of a display of a vehicle rear alarm device according to an exemplary embodiment of the present disclosure, and Fig. 4 is an exemplary view showing another example of a display of a vehicle rear side alarm device according to an exemplary embodiment of the present disclosure.

[0056] Referring to Fig. 3(a), the display 130 may include an instrument cluster 132. The instrument cluster 132 may be configured to provide a rear-end warning so that the driver can detect it inside the host vehicle 10. In this case, if an object detected by the lidar sensor 112 is a two-wheeled vehicle, the instrument cluster 132 may be configured to display an icon 133 corresponding to the two-wheeled vehicle. Furthermore, the icon 133 may be blinked by a flashing means so that the driver can easily detect it.

[0057] Referring to Fig. 3(b), the display 130 may include a side mirror indicator 134. The side mirror indicator 134 may be mounted on a side mirror 13 outside the host vehicle 10. In this case, if an object detected by the sensor 110 is a two-wheeled vehicle, the mirror indicator 134 may be configured to display an icon corresponding to the two-wheeled vehicle. Here, the icon corresponding to the two-wheeled vehicle may be displayed in a form different from that of an alarm for the first alarm area 11.

[0058] Referring to Fig. 4, if the sensor 110 includes the camera 114, the display 130 may display an image captured by the camera 114. As an example, an image captured by the camera 114 may be displayed on the instrument cluster 132.

[0059] Accordingly, the driver can directly and easily confirm the approach of a two-wheeled vehicle. Accordingly, the vehicle rear alarm device 100 can improve the reliability of an alarm for a two-wheeled vehicle.

[0060] Fig. 5 is an exemplary view showing an alarm region of a vehicle rear side alarm device according to an exemplary embodiment of the present disclosure.

[0061] As in Fig. As shown in Fig. 5(a), when a general vehicle is detected or when a two-wheeled vehicle 20 is detected at a far distance from the host vehicle 10, the vehicle rear alarm device 100 maintains the first alarm area 11. In this case, the first alarm area 11 may be established in a lane area adjacent to the traveling host vehicle 10.

[0062] As in Fig. As shown in Fig. 5(b), when the approach of a two-wheeled vehicle 20 is detected by the sensor 110, the vehicle rear alarm device 100 can expand the alarm area to the rear of the host vehicle lane and an area between the host vehicle 10 and the host vehicle lane, as well as to a lane adjacent to the host vehicle 10 in motion.

[0063] Accordingly, the vehicle rear alarm device 100 can trigger an alarm for a two-wheeled vehicle 20 capable of traveling between the host vehicle 10 and the nearest lane using the expanded second alarm area 12. In this case, the vehicle rear alarm device 100 can generate a rear alarm by detecting a two-wheeled vehicle 20 even if no other vehicle 30 exists in the rear area.

[0064] As a result, the vehicle rear-end alarm device 100 can assist the driver in pre-detecting the presence of a two-wheeled vehicle that is moving in relatively different paths on the road and is difficult to identify with the naked eye. Accordingly, since the vehicle rear-end alarm device 100 can reduce the likelihood of a collision with a two-wheeled vehicle while driving, a collision accident involving the two-wheeled vehicle can be avoided in advance.

[0065] Hereinafter, a vehicle rear alarm method of the present disclosure will be described with reference to the Fig. 6 and Fig. 8 described.

[0066] Fig. 6 is a flowchart of a vehicle rear alarm method according to an exemplary embodiment of the present disclosure.

[0067] The vehicle rear side alarm method 200 includes steps of detecting the rear side and detecting a two-wheeled vehicle (S210 and S220), alarming due to the approach of a two-wheeled vehicle (S230), expanding the alarm area (S240), establishing a basic alarm area, and determining whether to stop detecting (S250 and S260).

[0068] More precisely, as in Fig. 6, the vehicle rear-side alarm device 100 first detects the rear of the host vehicle 10 through the sensor 110 in step S210. In this case, the sensor 110 may include either a lidar sensor 112 or a radar sensor 116. Here, the lidar sensor 112 or the radar sensor 116 may be configured such that the detectable areas R1 and R2 overlap each other at the rear of the host vehicle 10.

[0069] Subsequently, the vehicle rear-side alarm device 100 determines whether an object detected by the sensor 110 is a two-wheeled vehicle at step S220. In this case, the vehicle rear-side alarm device 100 can distinguish whether the object detected by the sensor 110 is a general four-wheeled vehicle or a narrow-width two-wheeled vehicle by determining a width of the object. A detailed description will follow later with reference to Fig. 7.

[0070] As a result of the determination in step S220, if the object detected by the sensor 110 is a two-wheeled vehicle, the vehicle rear-end alarm device 100 alerts the approach of the two-wheeled vehicle via the display 130 in step S230. That is, when a two-wheeled vehicle is detected, the vehicle rear-end alarm device 100 can primarily alert the driver so that it can be recognized.

[0071] In this case, the vehicle rear-end alarm device 100 may display an icon 133 corresponding to the two-wheeled vehicle via the instrument cluster 132. Optionally, the vehicle rear-end alarm device 100 may display an icon corresponding to the two-wheeled vehicle via the side mirror indicator 134. Here, the icon corresponding to the two-wheeled vehicle may be displayed in a form different from that of an alarm for the first alarm area 11.

[0072] Alternatively, if the vehicle rear alarm device 100 includes the camera 114, the vehicle rear alarm device 100 may display an image captured by the camera 114 on the display 130.

[0073] Subsequently, the vehicle rear side alarm device 100 expands a preset first alarm area 11 to a second alarm area 12 in step S240. In this case, the vehicle rear side alarm device 100 can establish the second alarm area 12 by expanding the first alarm area 11 to the host vehicle 10 side.

[0074] Here, the vehicle rear alarm device 100 may expand the first alarm area 11 so that the expanded alarm area partially overlaps the rear of the host vehicle 10. In this case, the vehicle rear alarm device 100 may expand the first alarm area 11 to the detectable areas R1 and R2 detectable by the lidar sensor 112 or the radar sensor 116. Furthermore, the vehicle rear alarm device 100 may establish the second alarm area 12 by expanding the first alarm area 11 in the forward direction F and the rearward direction R of the host vehicle 10.

[0075] As a result of the determination in step S220, when the object detected by the sensor 110 is not a two-wheeled vehicle, the vehicle rear alarm device 100 establishes a basic alarm area in step S250.

[0076] That is, when detecting a general four-wheeled vehicle, the vehicle rear side alarm device 100 can detect the rear side of the host vehicle 10 with respect to the first alarm area 11.

[0077] Subsequently, the vehicle rear side alarm device 100 determines whether to stop the detection of the rear side in step S260, and if it is determined not to stop the detection, it may return to step S220 and continuously perform the detection of the rear side in steps S220 to S240.

[0078] As a result of the determination in step S260, when it is determined to end the detection of the rear side, the vehicle rear side alarm device 100 may end a series of rear side detection operations.

[0079] Fig. 7 is a flowchart of a method for detecting a two-wheeled vehicle in a vehicle rear-end alarm method according to an exemplary embodiment of the present disclosure.

[0080] The method of detecting a two-wheeled vehicle 220 includes the steps of receiving a reflected signal from the lidar sensor 112 or the radar sensor 116 (S221), determining an intensity / magnitude of the reflected signal (S222), and determining the type of the vehicle (S223 to S225).

[0081] More precisely, as in Fig. 7, the vehicle rear side alarm device 100 first receives a reflected signal from an object detected by the lidar sensor 112 or the radar sensor 116 at step S221.

[0082] Subsequently, at step S222, the vehicle rear side alarm device 100 determines an intensity or magnitude of the signal received from the lidar sensor 112 or the radar sensor 116.

[0083] Alternatively, the vehicle rear-end alarm device 100 may determine a width of the object detected by the lidar sensor 112. In this case, the rear-end alarm device 100 may determine the width of the object according to the number of points of the lidar sensor 112 for the detected object.

[0084] Subsequently, the vehicle rear side alarm device 100 determines in step S223 whether the amount determined in step S222 is less than a threshold value.

[0085] For example, the vehicle rear-end alarm device 100 may determine whether the intensity or magnitude of the received signal is less than a first threshold. Here, the first threshold may be an intensity or magnitude of a detected signal corresponding to the two-wheeled vehicle.

[0086] Optionally, the vehicle rear-end alarm device 100 may determine whether the determined width of the object is less than a second threshold. Here, the second threshold may be the number of points corresponding to the two-wheeled vehicle.

[0087] As a result of the determination in step S223, if the determined intensity or magnitude of the detected signal is less than the first threshold, the vehicle rear-side alarm device 100 determines the object detected by the lidar sensor 112 or the radar sensor 116 as a two-wheeled vehicle in step S224. Optionally, if the determined width of the object is less than the second threshold, the vehicle rear-side alarm device 100 may determine the object detected by the lidar sensor 112 as a two-wheeled vehicle. In this case, the vehicle rear-side alarm device 100 returns to the step of alerting the approach of a two-wheeled vehicle (S230) in Fig. 6 back.

[0088] As a result of the determination in step S223, if the determined intensity or magnitude of the detected signal is greater than the first threshold, the vehicle rear alarm device 100 determines the object detected by the lidar sensor 112 or the radar sensor 116 as a general vehicle, for example, a four-wheeled vehicle, in step S225. Optionally, if the determined width of the object is greater than the second threshold, the vehicle rear alarm device 100 may determine the object detected by the lidar sensor 112 as a general vehicle. In this case, the vehicle rear alarm device 100 returns to the step of setting the basic alarm area (S250) in Fig. 6 back.

[0089] Fig. 8 is a flowchart of a method for detecting a two-wheeled vehicle by a camera in a vehicle rear-end alarm method according to an exemplary embodiment of the present disclosure.

[0090] The method of detecting a two-wheeled vehicle by a camera 220' includes the steps of capturing an image by the camera 114 (S226), detecting an object from the image (S227), and determining whether the detected object is a two-wheeled vehicle (S228).

[0091] More precisely, as in Fig. As shown in Figure 8, the vehicle rear alarm device 100 captures an image by detecting the rear of the host vehicle 10 through the camera 114 in step S226. Here, the sensor 110 may be a fusion sensor comprising one of the lidar sensor 112 or the radar sensor 116 and the camera 114. In this case, when the image captured by the lidar sensor 112 or the radar sensor 116 in Fig. 7 (S223) is a two-wheeled vehicle, the vehicle rear-end alarm device 100 may further determine whether the vehicle is a two-wheeled vehicle based on information from the camera 114. Alternatively, if the sensor 110 only includes the camera 114, the vehicle rear-end alarm device 100 may repeat steps S226 and S228 in Fig. 8 instead of steps S221 to S223.

[0092] Subsequently, in step S227, the vehicle rear-end alarm device 100 detects an object from the image captured by the camera 114. In this case, the vehicle rear-end alarm device 100 may detect the object using an object detection algorithm.

[0093] Subsequently, at step S228, the vehicle rear-end alarm device 100 determines whether the detected object is a two-wheeled vehicle. If so, the vehicle rear-end alarm device 100 may determine whether the object is a two-wheeled vehicle based on an object detection algorithm.

[0094] As a result of the determination in step S228, when the detected object is a two-wheeled vehicle, the vehicle rear alarm device 100 returns to the step of determining as a two-wheeled vehicle (S224) in Fig. 7 back.

[0095] As a result of the determination in step S228, if the detected object is not a two-wheeled vehicle, the vehicle rear alarm device 100 returns to the step of determining as a general vehicle (S225) in Fig. 7 back.

[0096] Such methods can be implemented by the vehicle rear side alarm device 100 as shown in Fig.1, and may in particular be implemented as a software program that performs such steps, wherein such a program may be stored on a computer-readable recording medium or transmitted by a computer data signal in combination with a carrier wave in a transmission medium or a communications network. In this case, the computer-readable recording medium may comprise any type of recording device in which data readable by a computer system is stored.

[0097] Although exemplary embodiments of the present disclosure have been described above, the spirit of the present disclosure is not limited to the embodiments set forth herein. Those skilled in the art, understanding the spirit of the present disclosure, can easily propose further embodiments by supplementing, changing, deleting, adding, etc., elements within the same spirit, but the embodiments will also be within the scope of the present disclosure.

Claims

[1] A vehicle rear alarm device comprising: a sensor (110) for detecting a rear side of a host vehicle; a display (130) for displaying a detected object; a controller (120) communicatively connected to the sensor (110) and the display (130) and designed to: to determine whether the object detected by the sensor (110) is a two-wheeled vehicle; if the detected object is a two-wheeled vehicle, to control the issuance of an alarm of the approach of the two-wheeled vehicle through the display; to extend a preset rear alarm area to the side of the host vehicle such that the extended alarm area partially overlaps a rear of the host vehicle, wherein the controller (120) is configured to extend the preset rear alarm area to an area detectable in a forward direction and a rearward direction of the host vehicle by the sensor (110). [2] The apparatus of claim 1, wherein the sensor (110) comprises at least one of a lidar sensor (112) or a radar sensor (116); and the controller (120) is configured to determine an intensity or magnitude of a signal received from the lidar sensor (112) or the radar sensor (116), and if the determined intensity or magnitude of the signal is less than a first threshold, to determine the detected object as a two-wheeled vehicle. [3] The apparatus according to any one of claims 1 or 2, wherein the controller (120) is configured to determine a width of the detected object, and if the determined width of the object is less than a second threshold, to determine the detected object as a two-wheeled vehicle. [4] The device of any one of claims 1 to 3, wherein the display (130) comprises at least one of an instrument cluster (132) or a mirror indicator (134). [5] The apparatus of claim 4, wherein when the detected object is a two-wheeled vehicle, the display (130) displays a symbol corresponding to the two-wheeled vehicle. [6] The apparatus of any one of claims 1 to 5, wherein the sensor (110) comprises a camera (114) for detecting the rear of the host vehicle, and the controller (120) is configured to detect an object from an image captured by the camera (114) and determine whether the detected object is a two-wheeled vehicle. [7] The apparatus of claim 6, wherein when the detected object is a two-wheeled vehicle, the controller (120) controls the display (130) of the image captured by the camera (114) on the display (130). [8] Vehicle rear alarm method comprising: Detecting, by a sensor (110), the rear of a host vehicle; Determining whether the object detected by the sensor (110) is a two-wheeled vehicle; if the detected object is a two-wheeled vehicle, alarming due to the approach of the two-wheeled vehicle by means of a display (130); and Extending a preset rear alarm area to the side of the host vehicle such that the extended alarm area partially overlaps a rear of the host vehicle, wherein the extending comprises extending the preset rear alarm area to an area detectable in a forward direction and a rearward direction of the host vehicle by the sensor (110). [9] The method of claim 8, wherein the detecting is performed by one of a lidar sensor (112) or a radar sensor (116); and the determining comprises determining an intensity or magnitude of a signal received from the lidar sensor (112) or the radar sensor (116), and if the determined intensity or magnitude of the object is less than a first threshold, determining the detected object as a two-wheeled vehicle. [10] The method of any one of claims 8 to 9, wherein determining comprises determining a width of the detected object, and if the determined width of the object is less than a second threshold, determining the detected object as a two-wheeled vehicle. [11] The method of any one of claims 8 to 10, wherein alerting comprises displaying on at least one of an instrument cluster (132) or a mirror indicator (134). [12] The method of claim 11, wherein when the detected object is a two-wheeled vehicle, the alerting comprises displaying a symbol corresponding to the two-wheeled vehicle. [13] The method of any one of claims 8 to 12, wherein detecting comprises detecting a rear side of the host vehicle by a camera (114); and determining comprises detecting an object from the image and determining whether the detected object is a two-wheeled vehicle. [14] The method of claim 13, wherein alerting comprises displaying the image captured by the camera on the display.

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