System for avoiding blind spot of vehicle and method thereof

Abstract

A blind spot avoidance system for a vehicle according to one embodiment of the present invention may include an image sensor that acquires an image of the surroundings of a self-vehicle and provides image information, and a vehicle control unit that detects a large vehicle driving adjacent to the self-vehicle through the image sensor, determines the blind spot range of the large vehicle, determines the risk level of the blind spot, and generates a path that allows the self-vehicle to drive while exiting or avoiding the blind spot while minimizing the risk level of the blind spot based on the driving conditions of the self-vehicle.

Description

Technology Field

[0001] The present invention relates to a blind spot avoidance system and method for a vehicle, and more specifically, to a blind spot avoidance system and method for a vehicle that determines the risk of a blind spot of a surrounding large vehicle and generates a driving path that can avoid the blind spot, thereby enabling the vehicle to drive, so as to prevent accidents that may occur due to the blind spot of a large vehicle. Background Technology

[0002] Generally, while driving, the driver assesses traffic conditions to drive the vehicle, and in particular, the driver must drive by properly identifying surrounding vehicles.

[0003] However, due to the structural limitations of the vehicle, there is a problem in that the driver can only detect a limited area.

[0004] The term "limited area" refers to the blind spot, which is the area excluding the side area that the driver can detect through the side mirrors and the side area that the driver can detect by turning their head.

[0005] Although a Blind Spot Detection (BSD) system has been developed that uses sensors to help drivers recognize blind spots, not all vehicles are equipped with the BSD system.

[0006] Therefore, even if the vehicle is equipped with a BSD system, the problem may still exist where a vehicle in the adjacent lane without a BSD system changes lanes without recognizing the vehicle within its blind spot, and there was a problem where the vehicle itself had to drive while avoiding the blind spot. Prior art literature

[0007] Republic of Korea Registered Patent Publication No. 10-1605660 The problem to be solved

[0008] An embodiment of the present invention aims to provide a vehicle blind spot avoidance system and method that, when a large vehicle traveling adjacently forms a blind spot, generates a path that minimizes risk based on the driving situation of the vehicle and performs longitudinal or lateral control to avoid the blind spot, and in cases where it is impossible to escape the blind spot formed by the large vehicle, such as when it is impossible to generate a path to escape the large vehicle's blind spot or when the path to avoid the large vehicle's blind spot passes through the blind spot, notifies the driver of the large vehicle of the presence and intention to move of the vehicle or provides driving information, thereby minimizing the risk of a collision accident that may occur during avoidance and ensuring safe driving of the vehicle.

[0009] The technical problems of the present invention are not limited to those mentioned above, and other unmentioned technical problems will be clearly understood by those skilled in the art from the description below. means of solving the problem

[0010] A blind spot avoidance system for a vehicle according to one embodiment of the present invention may include an image sensor that acquires an image of the surroundings of a self-vehicle and provides image information, and a vehicle control unit that detects a large vehicle driving adjacent to the self-vehicle through the image sensor, determines the blind spot range of the large vehicle, determines the risk level of the blind spot, and generates a path that allows the self-vehicle to drive while exiting or avoiding the blind spot while minimizing the risk level of the blind spot based on the driving conditions of the self-vehicle.

[0011] In one embodiment, the vehicle control unit may include a blind spot range generation unit that detects a large vehicle driving adjacent to the vehicle based on image information provided through the image sensor and determines a basic blind spot range of the large vehicle; a driving road information generation unit that provides information of the road on which the vehicle is driving as driving road information based on the image information; a blind spot range variation unit that varies the basic blind spot range based on the driving road information; a blind spot risk determination unit that matches a risk level to the basic blind spot range varied based on the driving road information; and a path generation unit that generates a path to minimize risk based on the driving situation of the vehicle and provides longitudinal or lateral control of the vehicle.

[0012] In one embodiment, the blind spot range generation unit may include an object type determination unit that determines the type of the large vehicle based on the image information, an object size determination unit that calculates the size of the large vehicle based on the image information, a vehicle information storage unit that stores specifications of the vehicle such as the overall height and roof area of ​​the vehicle, and a blind spot range determination unit that determines the basic blind spot range based on the type of the large vehicle, the size of the large vehicle, the overall height and roof area of ​​the vehicle.

[0013] In one embodiment, the blind spot range determining unit may select one of the blind spots stored for each type of large vehicle according to the type of large vehicle identified, match the selected blind spot with the detected large vehicle, and determine the range of the blind spot matched to the large vehicle according to the size of the identified large vehicle and the overall height and roof area of ​​the vehicle, thereby determining the basic blind spot range.

[0014] In one embodiment, the blind spot risk determination unit can match the risk level to the basic blind spot range that is varied according to the driving path of the self-vehicle and the driving path of the large vehicle, based on the merging point included in the driving road information.

[0015] In one embodiment, the vehicle control unit may transmit driving information of the self-vehicle to the large vehicle when path generation is impossible when the self-vehicle attempts to deviate from the blind spot range of the large vehicle.

[0016] In one embodiment, the vehicle control unit can transmit driving information of the self vehicle to the large vehicle when the path avoiding the blind spot of the large vehicle passes through the blind spot.

[0017] In one embodiment, the vehicle control unit may control the vehicle to decelerate on the driving path when it is impossible to generate a path that allows the vehicle to drive while deviating from or avoiding the blind spot.

[0018] A blind spot avoidance method for a vehicle according to another embodiment of the present invention may include an image provision step of acquiring an image of the surroundings of the vehicle through an image sensor and providing image information, and a path generation step in which a vehicle control unit detects a large vehicle driving adjacent to the vehicle through the image provision step, determines the blind spot range of the large vehicle, determines the risk level of the blind spot, and generates a path that allows the vehicle to drive while exiting or avoiding the blind spot while minimizing the risk level of the blind spot based on the driving situation of the vehicle.

[0019] In one embodiment, the path generation step may include: a step of detecting a large vehicle driving adjacent to the self vehicle based on image information provided through the image sensor in a blind spot range generation unit and determining the basic blind spot range of the large vehicle; a step of providing information of the road on which the self vehicle is driving as driving road information based on the image information in a driving road information generation unit; a step of varying the basic blind spot range based on the driving road information in a blind spot range variation unit; a step of matching a risk level to the basic blind spot range varied based on the driving road information in a risk level determination unit; and a step of generating a path that minimizes the risk level based on the driving situation of the self vehicle in a path generation unit and providing longitudinal or lateral control of the self vehicle.

[0020] In one embodiment, the path generation step may include a step of determining the type of the large vehicle based on the image information in an object type determination unit, a step of calculating the size of the large vehicle based on the image information in an object size determination unit, a step of storing specifications of the vehicle, such as the overall height and roof area of ​​the vehicle, in a vehicle information storage unit, and a step of determining the basic blind spot range based on the type of the large vehicle, the size of the large vehicle, the overall height and roof area of ​​the vehicle in a blind spot range determination unit.

[0021] In one embodiment, the path generation step may include a step of selecting one of the blind spots stored for each type of large vehicle according to the type of large vehicle identified, a step of matching the selected blind spot with the detected large vehicle, and a step of determining the range of the blind spot matched to the large vehicle according to the size of the identified large vehicle and the overall height and roof area of ​​the self vehicle to determine the basic range of the blind spot.

[0022] In one embodiment, the path generation step may include a step of matching the risk level to the basic blind spot range that is varied according to the driving path of the self-vehicle and the driving path of the large vehicle based on the merging point included in the driving road information.

[0023] In one embodiment, the path generation step may include a step of transmitting driving information of the self-vehicle to the large vehicle when path generation is impossible when the self-vehicle attempts to leave the blind spot range of the large vehicle.

[0024] In one embodiment, the path generation step may include a step of transmitting driving information of the self vehicle to the large vehicle when the path avoiding the blind spot of the large vehicle passes through the blind spot.

[0025] In one embodiment, the path generation step may include a step of controlling the vehicle to decelerate on the driving path when it is impossible to generate a path that allows the vehicle to drive while deviating from or avoiding the blind spot. Effects of the invention

[0026] This technology enables the vehicle to avoid a blind spot by generating a path that minimizes risk based on the vehicle's driving situation and performing longitudinal or lateral control when a large vehicle driving adjacently forms a blind spot. In cases where it is impossible to escape the blind spot formed by the large vehicle, such as when it is impossible to generate a path to escape the large vehicle's blind spot or when the path to avoid the large vehicle's blind spot passes through the blind spot, the technology notifies the driver of the large vehicle of the vehicle's presence and intention to move or provides driving information, thereby minimizing the risk of a collision accident that may occur during avoidance and ensuring safe driving of the vehicle.

[0027] In addition, various effects identified directly or indirectly through this document may be provided. Brief explanation of the drawing

[0028] FIG. 1 is a block diagram showing a blind spot avoidance system of a vehicle according to one embodiment of the present invention. FIG. 2 is a block diagram showing a blind spot range generating unit that constitutes a blind spot avoidance system of a vehicle according to one embodiment of the present invention. FIG. 3 is a drawing showing the blind spot of a large vehicle applied to a vehicle blind spot avoidance system according to one embodiment of the present invention. FIGS. 4 to 7 are drawings for explaining the detection of a blind spot in a large vehicle through a blind spot avoidance system of a vehicle according to an embodiment of the present invention. FIGS. 8 and 9 are drawings for explaining path generation through a blind spot avoidance system of a vehicle according to an embodiment of the present invention. FIGS. 10 and FIGS. 11 are flowcharts for explaining a method for avoiding blind spots of a vehicle according to an embodiment of the present invention. Specific details for implementing the invention

[0029] Hereinafter, some embodiments of the present invention will be described in detail with reference to exemplary drawings. It should be noted that in assigning reference numerals to the components of each drawing, the same components are given the same reference numeral whenever possible, even if they are shown in different drawings. Furthermore, in describing the embodiments of the present invention, if it is determined that a detailed description of related known components or functions would hinder understanding of the embodiments of the present invention, such detailed description is omitted.

[0030] In describing the components of the embodiments of the present invention, terms such as first, second, A, B, (a), (b), etc., may be used. These terms are intended merely to distinguish the components from other components, and the essence, order, or sequence of the components is not limited by the terms. Furthermore, unless otherwise defined, all terms used herein, including technical or scientific terms, have the same meaning as generally understood by those skilled in the art to which the present invention pertains. Terms such as those defined in commonly used dictionaries should be interpreted as having a meaning consistent with their meaning in the context of the relevant technology, and should not be interpreted in an ideal or overly formal sense unless explicitly defined in this application.

[0031] Hereinafter, embodiments of the present invention will be described in detail with reference to FIGS. 1 to 9.

[0032] FIG. 1 is a block diagram showing a blind spot avoidance system for a vehicle according to an embodiment of the present invention; FIG. 2 is a block diagram showing a blind spot range generation unit constituting a blind spot avoidance system for a vehicle according to an embodiment of the present invention; FIG. 3 is a diagram showing a blind spot of a large vehicle applied to a blind spot avoidance system for a vehicle according to an embodiment of the present invention; FIG. 4 to 7 are diagrams for explaining the detection of a blind spot of a large vehicle through a blind spot avoidance system for a vehicle according to an embodiment of the present invention; and FIG. 8 and 9 are diagrams for explaining path generation through a blind spot avoidance system for a vehicle according to an embodiment of the present invention.

[0033] Referring to FIG. 1, a blind spot avoidance system for a vehicle according to one embodiment of the present invention may be configured to include a detection sensor unit (110), an image sensor unit (130), a vehicle control unit (200), a display (300), a speed control unit (500), and a communication unit (700).

[0034] The detection sensor unit (110) can be a radar, lidar, and ultrasonic sensor installed on the side of the vehicle (100), and can detect a vehicle in the adjacent lane driving in the adjacent lane of the vehicle (100) and provide it to the vehicle control unit (200).

[0035] The image sensor unit (130) may include at least one of a front camera capable of acquiring a front image of the vehicle (100), a rear camera capable of acquiring a rear image of the vehicle (100), a left camera capable of acquiring a left image of the vehicle (100), and a right camera capable of acquiring a right image of the vehicle (100), and may acquire surrounding images of the vehicle (100) to generate image information and provide the generated image information to the vehicle control unit (200).

[0036] For example, the image sensor unit (130) can acquire a front image, a rear image, a left image, and a right image of the vehicle and provide the acquired images as image information to the blind spot range generation unit (210) and the driving road information generation unit (230) of the vehicle control unit (200).

[0037] The vehicle control unit (200) may be configured to include a blind spot range generation unit (210), a driving road information generation unit (230), a blind spot range variable unit (250), a blind spot risk determination unit (270), and a path generation unit (290).

[0038] The blind spot range generation unit (210) receives the detection result of the detection sensor unit (110) and the surrounding image of the vehicle (100) obtained from the image sensor unit (130) as image information, and can determine the basic blind spot range of the large vehicle (50) driving around the vehicle (100) based on the image information.

[0039] At this time, the blind spot range generation unit (210) can provide the blind spot range variable unit (250) with the basic blind spot range of the determined large vehicle (50) as basic blind spot range information.

[0040] For example, the blind spot range generation unit (210) detects a large vehicle (50) around the self-vehicle (100) based on image information, determines the type and size of the large vehicle (50), determines the basic blind spot range of the large vehicle (50) driving around the self-vehicle (100) based on the type and size of the large vehicle (50) and the information of the self-vehicle (100), and can provide the determined basic blind spot range of the large vehicle (50) as basic blind spot range information to the blind spot range variable unit (250).

[0041] Additionally, referring to FIG. 2, the blind spot range generation unit (210) may include an object type determination unit (211), an object size determination unit (213), a self-vehicle information storage unit (215), and a blind spot range determination unit (217).

[0042] The object type determination unit (211) can determine the type of vehicle driving adjacent to the vehicle (100) based on image information and provide the determined information as object type determination information to the object size determination unit (213) and the blind spot range determination unit (217).

[0043] For example, if the object type determination unit (211) determines based on image information that a vehicle driving adjacent to the self vehicle (100) is a large vehicle (50), it may provide the object size determination unit (213) and the blind spot range determination unit (217) with the object type determination information including the information that the adjacent vehicle driving is a large vehicle (50) and the information determining the type of the large vehicle (50). At this time, the type of the large vehicle (50) may include a truck or a bus.

[0044] The object size determination unit (213) can calculate the size of the large vehicle (50) based on image information when the object type determination information provided by the object type determination unit (211) includes information that a vehicle driving adjacent to the vehicle (100) is a large vehicle (50), and provide the calculated information as object size information to the blind spot range determination unit (217).

[0045] For example, when object size determination unit (213) receives object type determination information that a vehicle driving adjacent to the vehicle (100) is a large vehicle (50), it can calculate the height and width of the large vehicle based on image information and provide the calculated information to the blind spot range determination unit (217) as object size information.

[0046] The vehicle information storage unit (215) stores vehicle information such as the overall height, width, and area of ​​the main part forming the overall height of the vehicle (100) (e.g., the roof area of ​​the vehicle or the area between the A-pillar and the C-pillar), and can provide the stored information to the blind spot range determination unit (217) as vehicle information (100).

[0047] The blind spot range determination unit (217) receives object type determination information from the object type determination unit (211), receives object size information from the object size determination unit (213), and can receive self-vehicle information from the self-vehicle information storage unit (215).

[0048] The blind spot range determination unit (217) can generate basic blind spot range information based on at least one of object type identification information, object size information and self-vehicle information.

[0049] For example, the blind spot range determination unit (217) can determine the basic blind spot range of a large vehicle (50) driving adjacent to a self vehicle (100) based on the type of large vehicle (50) included in the object type determination information, the size of the large vehicle (50) included in the object size information, and the overall height and roof area of ​​the self vehicle (100) included in the self vehicle (100) information, and output the determined basic blind spot range as basic blind spot range information.

[0050] That is, the blind spot range determination unit (217) can determine the basic blind spot range by selecting one of the blind spots stored for each type of large vehicle (50) according to the type of large vehicle (50) identified, matching the selected blind spot with the detected large vehicle (50), and determining the range of the blind spot matched to the large vehicle (50) according to the size of the identified large vehicle (50) and the overall height and roof area of ​​the vehicle (100).

[0051] The driving road information generation unit (230) receives surrounding images of the vehicle (100) obtained from the image sensor unit (130) as image information, generates information about the road on which the vehicle (100) is driving based on the image information, and can provide the generated road information as driving road information to the blind spot range variable unit (250) and the blind spot risk determination unit (270).

[0052] For example, the driving road information generation unit (230) can determine the curvature, lateral gradient, longitudinal gradient, and merging point of the road on which the vehicle (100) is driving based on image information, and provide the determined information as driving road information to the blind spot range variable unit (250) and the blind spot risk determination unit (270).

[0053] The blind spot range variable unit (250) can receive the blind spot basic range information provided by the blind spot range generating unit (210) and the driving road information provided by the driving road information generating unit (230).

[0054] The blind spot range variable unit (250) can generate blind spot variable range information by varying the blind spot basic range information generated according to image information based on driving road information, and provide the generated blind spot variable range information to the blind spot risk determination unit (270).

[0055] For example, the blind spot range variable section (250) can expand or reduce the blind spot range of a large vehicle included in the blind spot basic range information based on at least one of the curvature information, lateral gradient information, and longitudinal gradient information of the driving road included in the driving road information, and output it as blind spot variable range information.

[0056] The blind spot risk determination unit (270) matches the risk level to the blind spot of the large vehicle (50) included in the blind spot variable information based on the driving road information, and can output the blind spot variable range information of the large vehicle (50) with the matched risk level as blind spot information.

[0057] For example, if the driving road information includes a merging point where the road on which the vehicle (100) is traveling merges with another road, the blind spot risk determination unit (270) can determine the risk ranking of the blind spot of the large vehicle (50) based on the driving path of the large vehicle (50) and the driving path of the vehicle (100), and output the blind spot variable range information with the determined risk ranking as blind spot information.

[0058] That is, based on the merging point included in the driving road information, the risk level can be matched to the variable basic blind spot range according to the driving path of the self-vehicle (100) and the driving path of the large vehicle (50).

[0059] The path generation unit (290) generates a path that minimizes risk based on the driving conditions of the vehicle (100) and provides longitudinal or lateral control of the vehicle (100) so that the vehicle (100) can drive by moving away from or avoiding blind spots.

[0060] The display (300) can be configured with a sound device, a display device, etc., and can display on the screen a route that can avoid blind spots and a route that can exit blind spots by mapping them to map data in conjunction with a navigation device (not shown).

[0061] The speed control unit (500) can control the vehicle (100) to decelerate or accelerate on the driving path when it is impossible to create a path for the vehicle (100) to exit a blind spot or to drive by avoiding it.

[0062] The communication unit (700) is capable of communicating with a large vehicle (50) capable of V2X communication, and includes vehicle-to-infrastructure (V2I) and vehicle-to-vehicle (V2V) communication, and can transmit driving information such as the location, speed, type, status, and route of the vehicle (100) to the large vehicle (50).

[0063] Referring to FIGS. 3 to 5, the operation of the blind spot range determination unit (217) generating basic blind spot range information based on object type identification information, object size information and self-vehicle information may be described as follows.

[0064] The blind spot range determining unit (217) may store various types of blind spot information depending on the type of large vehicle (50).

[0065] The blind spot range determination unit (217) can select one of the blind spot information stored for each type of large vehicle (50) based on object type identification information, and match the selected blind spot information with the detected large vehicle (50).

[0066] Referring to FIG. 3, if the large vehicle (50) is a truck, the blind spots of the large vehicle (50) may include the left blind spot (A) of the large vehicle (50), the right blind spot (B) of the large vehicle (50), the front right blind spot (C) of the large vehicle (50), and the rear blind spot (D) of the large vehicle (50).

[0067] At this time, the blind spot of the large vehicle (50) shown in Fig. 3 is depicted under the assumption that the driver's seat of the vehicle is on the left, so the shape of the blind spot of the large vehicle may vary if the driver's seat of the vehicle is on the right.

[0068] The blind spot range determining unit (217) can expand or reduce the range (e.g., size) of the blind spot matched to the large vehicle (50) according to the vehicle information.

[0069] For example, the blind spot range determining unit (217) can expand or reduce the blind spot range matched to the large vehicle (50) based on at least one of the overall height of the vehicle (100) and the roof area of ​​the vehicle (100) included in the vehicle information.

[0070] To explain in more detail, the blind spot range determining unit (217) can expand the blind spot range matched to the large vehicle (50) as the overall height of the vehicle (100) included in the vehicle information is lower.

[0071] Meanwhile, the blind spot range determining unit (217) can reduce the blind spot range matched to the large vehicle (50) as the overall height of the vehicle (100) included in the vehicle information increases.

[0072] The reason the blind spot range determining unit (217) must be configured to expand or contract the blind spot range matched to the large vehicle (50) according to the height of the vehicle (100) is that, as illustrated in A) of FIG. 4, the lower the height of the vehicle (100), the less the driver of the large vehicle (50) can perceive the vehicle (100), and the higher the height of the vehicle (100), the better the driver of the large vehicle (50) can perceive the vehicle (100).

[0073] Additionally, the blind spot range determining unit (217) can reduce the blind spot range matched to the large vehicle (50) as the roof area of ​​the self-vehicle (100) included in the self-vehicle information increases.

[0074] Meanwhile, the blind spot range determining unit (217) can expand the blind spot range matched to the large vehicle (50) as the roof area of ​​the self-vehicle (100) included in the self-vehicle information becomes smaller.

[0075] The reason the blind spot range determining unit (217) must be configured to expand or contract the blind spot range matched to the large vehicle (50) according to the roof area of ​​the self vehicle (100) is that, as shown in Fig. 4 B), the smaller the roof area of ​​the self vehicle (100), the less the driver of the large vehicle (50) perceives the self vehicle (100), and the larger the roof area of ​​the self vehicle (100), the better the driver of the large vehicle perceives the self vehicle (100).

[0076] That is, when the roof area of ​​the vehicle (100) is larger than when the roof area of ​​the vehicle (100) is smaller, the driver of the large vehicle (50) can recognize the vehicle (100) more easily, so the safety of the vehicle (50) can be ensured by expanding or reducing the blind spot of the large vehicle (50) matched according to the roof area of ​​the vehicle (100).

[0077] Additionally, the blind spot range determining unit (217) can expand or reduce the blind spot range matched to the large vehicle (50) based on the overall height of the large vehicle (50) included in the object size information.

[0078] For example, as shown in Fig. 5A), the blind spot range determining unit (217) can expand the blind spot range matched to the large vehicle as the height of the large vehicle included in the object size information increases.

[0079] For example, as shown in Fig. 5B), the blind spot range determining unit (217) can reduce the blind spot range matched to the large vehicle as the overall height of the large vehicle included in the object size information is lower.

[0080] The reason the blind spot range determining unit (217) must be configured to expand or contract the blind spot range matched to the large vehicle (50) according to the overall height of the large vehicle (50) is that the driver of the vehicle (100) driving adjacent to the large vehicle (50) is not well perceived by the driver of the large vehicle (50) with a high overall height, whereas the driver of the large vehicle (50) with a low overall height can perceive it well.

[0081] That is, since the driver of a large vehicle (50) with a lower height can more easily recognize the vehicle (100) driving adjacently than the driver of a large vehicle (50) with a higher height, the safety of the vehicle (100) can be ensured by expanding or reducing the blind spot of the large vehicle (50) according to the height of the detected large vehicle (50).

[0082] As previously explained, the blind spot range variable unit (250) of FIG. 1 can vary the basic blind spot range information of the large vehicle (50) generated by the blind spot range generation unit (210) based on driving road information, and output the varied basic blind spot range information of the large vehicle (50) as the blind spot variable range information of the large vehicle (50).

[0083] For example, the blind spot range variable section (250) can vary the basic blind spot range information of the large vehicle (50) according to the curvature, lateral gradient, and longitudinal gradient of the road on which the vehicle (100) is traveling included in the driving road information, and output the varied basic blind spot range information of the large vehicle (50) as the blind spot variable range information of the large vehicle (50).

[0084] As shown in Fig. 6A), the blind spot range variable section (250) expands the right blind spot range of the large vehicle (50) on a left-turn road based on the curvature of the road on which the vehicle (100) is traveling, which is included in the driving road information, and includes the expanded right blind spot of the large vehicle (50). At this time, the blind spot range variable section (250) can expand the right blind spot range of the large vehicle as the curvature of the left-turn road increases.

[0085] Although not shown in the drawing, the blind spot range variable section (250) on the right-turn road can expand the left blind spot range of the large vehicle (50) based on the curvature of the road on which the vehicle (100) is traveling, which is included in the driving road information. At this time, the blind spot range variable section (250) can expand the left blind spot range of the large vehicle (50) as the curvature of the right-turn road increases.

[0086] In this way, the blind spot range variable part (250) can expand or contract the basic blind spot range included in the basic blind spot range information of the large vehicle (50) according to the curvature of the road and output it as the blind spot variable range information of the large vehicle (50).

[0087] Additionally, the blind spot range variable section (250) can vary the basic blind spot range information of a large vehicle based on the longitudinal gradient information of the road included in the driving road information, and output the varied basic blind spot range information of a large vehicle as the variable blind spot range information of a large vehicle.

[0088] For example, as shown in Fig. 6B), the blind spot range variable section (250) can expand the front right blind spot of the large vehicle (50) when the large vehicle (50) reaches a point of longitudinal gradient transition of the road included in the driving road information. At this time, Fig. 6B) illustrates and explains the example of expanding the front right blind spot of the large vehicle (50) at a point of longitudinal gradient transition from an uphill to a downhill, but it may also be possible to reduce the front right blind spot of the large vehicle (50) at a point of transition from a downhill to an uphill.

[0089] Although not illustrated in FIG. 6, the blind spot range variable section (250) may be able to expand and reduce the front right blind spot of the large vehicle (50) at the lateral gradient turning point based on the lateral gradient information of the road included in the driving road information.

[0090] In this way, the blind spot range variable part (250) can expand or contract the blind spot basic range included in the blind spot basic range information of the large vehicle (50) at the point of transition of the longitudinal gradient or transverse gradient of the road and output it as blind spot variable information of the large vehicle (50).

[0091] The blind spot risk determination unit (270) of FIG. 1 can match the risk level to the blind spot of a large vehicle (50) included in the blind spot variable information based on driving road information, and output the blind spot variable range information of the large vehicle (50) with the matched risk level as blind spot information.

[0092] For example, if the driving road information includes a merging point where the road on which the vehicle (100) is traveling merges with another road, the blind spot risk determination unit (270) can determine the risk ranking of the blind spot of the large vehicle (50) based on the driving path of the large vehicle (50) and the driving path of the vehicle (100), and output the blind spot variable range information with the determined risk ranking as blind spot information.

[0093] For example, as shown in FIG. 7, the blind spot risk determination unit (270) can match a higher risk level to the right blind spot of the large vehicle (50) than to the left blind spot when the self vehicle (100) is driving on the right side of the large vehicle (50) based on the merging point included in the driving road information, and the variable range information of the blind spot of the large vehicle (50) with the matched risk level can be output as blind spot information.

[0094] Meanwhile, although not disclosed in the drawing, the blind spot risk determination unit (270) can match a higher risk level to the left blind spot of the large vehicle (100) than to the right blind spot when the self vehicle (100) is driving on the left side of the large vehicle (50) based on the merging point included in the driving road information, and the variable range information of the blind spot of the large vehicle (50) with the matched risk level can be output as blind spot information.

[0095] Additionally, the blind spot risk determination unit (270) may generate blind spot information by matching the highest risk level to the blind spot of the large vehicle (50) that includes the self vehicle (100) at the merging point, based on the driving path of the self vehicle (100) and the driving path of the large vehicle (50).

[0096] The vehicle control unit (200) can use the blind spot information of the large vehicle (50) to determine that the vehicle (100) is driving in the blind spot of the large vehicle (50) or that the driving path of the vehicle (100) passes through the blind spot of the large vehicle (50), and can provide an alert notification to the driver of the vehicle (100) or provide a path to exit or avoid the blind spot of the large vehicle (50).

[0097] For example, if the vehicle (100) is located in the blind spot of the large vehicle (50), the vehicle control unit (200) can control the speed control unit (500) to reduce the speed of the vehicle (100) or detect the presence or absence of another vehicle in the adjacent lane through the detection sensor unit (110) and change lanes to the adjacent lane to escape the blind spot of the large vehicle (50).

[0098] Meanwhile, when the vehicle (100) attempts to move out of the blind spot of the large vehicle (50), if it is impossible to slow down because another vehicle is present behind the vehicle (100) and impossible to create a path to move out of the blind spot because another vehicle is present in the adjacent lane, the driving information of the vehicle (100) can be transmitted to the large vehicle (50) to inform the driver of the large vehicle (50) that the vehicle (100) is present in the blind spot.

[0099] At this time, if V2X communication with the large vehicle (50) is possible, driving information (location, speed, type, status, route, etc.) of the vehicle (100) can be transmitted using V2X communication (Fig. 8A), and if V2X communication with the large vehicle (50) is not possible, the presence of the vehicle (100) can be announced by general methods (emergency lights, high beams, horn, etc.) (Fig. 8B).

[0100] In addition, the vehicle control unit (200) may pass through the blind spot of the large vehicle (50) when the self vehicle (100) generates an avoidance path, and in this case, the driving information of the self vehicle (100) can be transmitted to the large vehicle (50) to inform the driver of the large vehicle (50) that the self vehicle (100) is in the blind spot.

[0101] Likewise, if V2X communication with the large vehicle (50) is possible, driving information (location, speed, type, status, route, etc.) of the vehicle (100) can be transmitted using V2X communication (Fig. 9A), and if V2X communication with the large vehicle (50) is not possible, the presence of the vehicle (100) and that it is moving through a blind spot can be announced by general methods (emergency lights, high beams, horn, etc.) (Fig. 9B).

[0102] Meanwhile, the vehicle control unit (200) can notify the driver of the vehicle (100) and the driver of the large vehicle (50) of this if the vehicle (100) remains in the blind spot of the large vehicle (50) for a certain period of time without moving out of it. By doing so, it can provide a notification to the driver of the vehicle (100) to move out of the blind spot and provide a notification to the driver of the large vehicle (50) to drive carefully.

[0103] Hereinafter, a method for avoiding a blind spot of a vehicle according to another embodiment of the present invention will be described in detail with reference to FIGS. 10 and 11. FIGS. 10 and 11 are flowcharts for explaining a method for avoiding a blind spot of a vehicle according to an embodiment of the present invention.

[0104] In the following, it is assumed that the blind spot avoidance system of the vehicle of FIG. 1 performs the process of FIG. 10 and FIG. 11.

[0105] First, a large vehicle (50) driving adjacent to the vehicle (100) is detected through the image sensor unit (130) (S101), and after determining the blind spot range of the large vehicle, the risk level of the blind spot can be determined (S102).

[0106] Next, it is determined whether the vehicle (100) is within the blind spot of the large vehicle (50) (S103), and whether a path to escape the blind spot is created (S104). If a path to escape is created, the vehicle (100) is controlled to accelerate or decelerate or change lanes to an adjacent lane to escape the blind spot of the large vehicle (50) (S105).

[0107] In addition, if the vehicle (100) is scheduled to enter the blind spot of the large vehicle (50) (S107),

[0108] It is determined whether a blind spot avoidance path can be created (S108), and if an avoidance path can be created, the vehicle (100) can be controlled to accelerate or decelerate or change lanes to an adjacent lane to avoid the blind spot of the large vehicle (50) (S109).

[0109] Meanwhile, if the vehicle (100) has not entered a blind spot or if it is impossible to create a blind spot avoidance path, it can be controlled to maintain the current distance between the vehicle and the large vehicle (50) and the lane (S110).

[0110] In addition, after avoiding the blind spot of the large vehicle (50) or creating a departure path (S201), it may be necessary to notify the driver of the large vehicle (50) of the location and presence of the self vehicle (100) (S202).

[0111] In this case, if V2X communication with the vehicle (50) is possible (S203), driving information such as the location, speed, type, status, and route of the vehicle (100) can be communicated using V2X communication (S204), and if V2X communication with the vehicle (50) is not possible, the presence of the vehicle (100) can be communicated using general methods (emergency lights, high beams, horn, etc.) (S205).

[0112] As explained above, the present invention enables the vehicle to avoid a blind spot by generating a path that minimizes risk based on the vehicle's driving situation and performing longitudinal or lateral control when a large vehicle driving adjacently forms a blind spot. In cases where it is impossible to escape the blind spot formed by the large vehicle, such as when it is impossible to generate a path to escape the large vehicle's blind spot or when the path to avoid the large vehicle's blind spot passes through the blind spot, the invention notifies the driver of the large vehicle of the vehicle's presence and intention to move or provides driving information, thereby minimizing the risk of a collision accident that may occur during avoidance, and thus has the effect of ensuring safe driving of the vehicle.

[0113] Meanwhile, the method for avoiding blind spots of a vehicle according to steps S101 to S110 and steps S201 to S205 of the present invention may be programmed and stored on a recording medium so that a computer can read it.

[0114] The above description is merely an illustrative explanation of the technical concept of the present invention, and those skilled in the art to which the present invention pertains will be able to make various modifications and variations within the scope of the essential characteristics of the present invention.

[0115] Accordingly, the embodiments disclosed in this invention are intended to illustrate, not limit, the technical concept of the invention, and the scope of the technical concept of the invention is not limited by these embodiments. The scope of protection of this invention shall be interpreted by the claims below, and all technical concepts within an equivalent scope shall be interpreted as being included within the scope of rights of this invention. Explanation of the symbols

[0116] 110: Detection sensor unit 130: Image sensor unit 200: Vehicle control unit 300: Display 500: Speed ​​control unit 700: Communication unit

Claims

Claim 1 A video sensor that acquires an image of the surroundings of a self-vehicle and provides image information; and a vehicle control unit that detects a large vehicle driving adjacent to the self-vehicle through the video sensor, determines the blind spot range of the large vehicle, determines the risk level of the blind spot, and generates a path that allows the self-vehicle to drive while minimizing the risk level of the blind spot and avoiding the blind spot based on the driving conditions of the self-vehicle, wherein the vehicle control unit includes a blind spot range variable unit that varies the basic blind spot range based on driving road information, and wherein the blind spot range variable unit expands the right blind spot range of the large vehicle as the curvature of the left-turn road increases in a left-turn road and expands the left blind spot range of the large vehicle as the curvature of the right-turn road increases in a right-turn road, based on the curvature of the road on which the self-vehicle is driving included in the driving road information.The vehicle control unit comprises: a blind spot range generation unit that detects a large vehicle driving adjacent to the self-vehicle based on image information provided through the image sensor and determines a basic blind spot range of the large vehicle; a driving road information generation unit that provides information of the road on which the self-vehicle is driving as driving road information based on the image information; a blind spot risk determination unit that matches a risk level to the variable basic blind spot range based on the driving road information; and a path generation unit that generates a path to minimize risk based on the driving situation of the self-vehicle and provides longitudinal or lateral control of the self-vehicle, wherein the blind spot range generation unit comprises: an object type determination unit that determines the type of the large vehicle based on the image information; an object size determination unit that calculates the size of the large vehicle based on the image information; and a self-vehicle information storage unit that stores specifications of the self-vehicle, such as the total height and roof area of ​​the self-vehicle. A blind spot avoidance system for a vehicle, comprising a blind spot range determining unit that determines a basic blind spot range based on the type of the large vehicle, the size of the large vehicle, the overall height and roof area of ​​the self vehicle, and a driving road information generating unit that determines the curvature, lateral gradient, longitudinal gradient, and merging point of the road on which the self vehicle travels based on the image information, and provides the determined information as the driving road information to the blind spot range variable unit and the blind spot risk determination unit. Claim 2 delete Claim 3 delete Claim 4 A blind spot avoidance system for a vehicle according to claim 1, wherein the blind spot range determining unit selects one of the blind spots stored for each type of large vehicle according to the determined type of large vehicle, matches the selected blind spot with the detected large vehicle, and determines the range of the blind spot matched to the large vehicle according to the size of the determined large vehicle and the overall height and roof area of ​​the self vehicle to determine the basic blind spot range. Claim 5 A blind spot avoidance system for a vehicle according to claim 1, wherein the blind spot risk determination unit matches the risk level to the basic blind spot range that is varied according to the driving path of the self-vehicle and the driving path of the large vehicle based on the merging point included in the driving road information. Claim 6 A blind spot avoidance system for a vehicle according to claim 1, wherein the vehicle control unit transmits driving information of the self-vehicle to the large vehicle when path generation is impossible when the self-vehicle attempts to deviate from the blind spot range of the large vehicle. Claim 7 A vehicle blind spot avoidance system according to claim 1, wherein the vehicle control unit transmits driving information of the self vehicle to the large vehicle when the path for avoiding the blind spot of the large vehicle passes through the blind spot. Claim 8 A blind spot avoidance system for a vehicle according to claim 1, wherein the vehicle control unit controls the vehicle to decelerate on the driving path when it is impossible to generate a path for the vehicle to drive while deviating from or avoiding the blind spot. Claim 9 A video provision step for acquiring an image of the surroundings of a self-vehicle through a video sensor and providing image information; and a path generation step for a vehicle control unit for detecting a large vehicle driving adjacent to the self-vehicle through the video provision step, determining the blind spot range of the large vehicle, determining the risk level of the blind spot, and generating a path that allows the self-vehicle to drive while exiting or avoiding the blind spot while minimizing the risk level of the blind spot based on the driving situation of the self-vehicle, wherein the path generation step comprises a step of varying the basic blind spot range based on driving road information in a blind spot range variable unit; The method includes the step of expanding the right blind spot range of the large vehicle as the curvature of the left-turn road increases in the driving road information included in the blind spot range variable section, and expanding the left blind spot range of the large vehicle as the curvature of the right-turn road increases in the driving road, based on the curvature of the road on which the self-vehicle is traveling in the driving road information variable section, and the path generation step includes the step of detecting a large vehicle traveling adjacent to the self-vehicle and determining the basic blind spot range of the large vehicle based on image information provided through the image sensor in the blind spot range generation section; the step of providing information on the road on which the self-vehicle is traveling as the driving road information based on the image information in the driving road information generation section; and the step of matching the risk level to the variable basic blind spot range based on the driving road information in the blind spot risk determination section. The method includes the step of generating a path that minimizes risk based on the driving conditions of the self-vehicle in a path generation unit and providing longitudinal or lateral control of the self-vehicle, wherein the path generation step comprises: the step of determining the type of the large vehicle based on the image information in an object type determination unit; the step of calculating the size of the large vehicle based on the image information in an object size determination unit; and the step of storing specifications of the self-vehicle, such as the total height and roof area of ​​the self-vehicle, in a self-vehicle information storage unit.A method for avoiding blind spots of a vehicle, characterized by comprising: a step of determining a basic blind spot range based on the type of the large vehicle, the size of the large vehicle, the overall height and roof area of ​​the self vehicle in a blind spot range determining unit; and a step of the driving road information generating unit determining the curvature, lateral gradient, longitudinal gradient, and merging point of the road on which the self vehicle travels based on the image information, and providing the determined information as the driving road information to the blind spot range variable unit and the blind spot risk determination unit. Claim 10 delete Claim 11 delete Claim 12 A method for avoiding blind spots of a vehicle according to claim 9, wherein the path generation step comprises: selecting one of the blind spots stored for each type of large vehicle according to the determined type of large vehicle, and matching the selected blind spot with the detected large vehicle; and determining the range of the blind spot matched to the large vehicle according to the size of the determined large vehicle and the overall height and roof area of ​​the self vehicle to determine the basic range of the blind spot. Claim 13 A method for avoiding blind spots of a vehicle according to claim 9, wherein the path generation step comprises the step of matching the risk level to the basic blind spot range that is varied according to the driving path of the self-vehicle and the driving path of the large vehicle based on the merging point included in the driving road information. Claim 14 A method for avoiding a blind spot of a vehicle according to claim 9, wherein the path generation step comprises the step of transmitting driving information of the self vehicle to the large vehicle when path generation is impossible when the self vehicle attempts to deviate from the blind spot range of the large vehicle. Claim 15 A method for avoiding a blind spot of a vehicle according to claim 9, wherein the path generation step comprises the step of transmitting driving information of the self vehicle to the large vehicle when the path avoiding the blind spot of the large vehicle passes through the blind spot. Claim 16 A method for avoiding a blind spot of a vehicle according to claim 9, wherein the path generation step comprises a step of controlling the vehicle to decelerate on the driving path when it is impossible to generate a path that allows the vehicle to drive while deviating from or avoiding the blind spot. Claim 17 A computer-readable recording medium having a program for executing a blind spot avoidance method of any one of claims 9 and 12 to 16.

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