Device and method for warning of approaching object

Abstract

The present invention provides a device and a method for warning of an object approaching from behind a vehicle. The present invention integrates the device for warning of an object approaching from behind a vehicle into a digital rear-view mirror. According to the present invention, a rear image is captured by using a rear camera, and the position and distance of an object approaching from behind the vehicle or existing behind the vehicle are detected by using a detection sensor. When the vehicle is shifted to reverse, an object included in the rear image is matched with the detected object by using the position of the detected object, and a warning level for each object is set according to the distance of the object. Thereafter, when the rear image is output via a display of the rear-view mirror, the warning level is displayed together with the object of the rear image, whereby the user can more intuitively, quickly, and clearly recognize the distance and risk level of the object.

Description

Warning device and method for approaching objects

[0001] The present invention relates to a warning device and method for approaching objects, and more specifically, to a warning device and method for an object approaching from the rear of a vehicle.

[0002] Rear detection systems that detect and notify the driver of objects behind the vehicle when reversing have become commonplace. Conventional rear detection systems utilize ultrasonic sensors to detect stationary or moving objects, and then employ methods such as alerting the driver of the distance via sound or displaying rear-view footage captured by a rear camera on a display.

[0003] However, among conventional vehicle rear detection systems, sound-based systems only indicate distance via sound without allowing the driver to verify the shape of objects, causing frustration. Furthermore, when a rear camera is used to display rear images, the camera captures only a fixed direction, making it difficult to determine the location of objects and their proximity due to the fixed screen structure; this limits the ability for the driver to intuitively assess the rear situation.

[0004] The problem that the present invention aims to solve is to provide a warning device and method for approaching objects that enable a driver to intuitively identify, in real time, the location and distance of an object approaching from the rear of the vehicle and an object existing behind the vehicle.

[0005] A warning device for approaching objects according to a preferred embodiment of the present invention for solving the above-mentioned problem comprises: a rear camera that photographs the rear of a vehicle and outputs a rear image; a detection sensor that detects an object located at the rear of the vehicle and outputs a detection signal; a circuit unit including a processor and a memory; a display that outputs an output image input from the processor; and a mirror module installed in front of the display and adjusting reflectivity and transmittance according to a control signal input from the processor. The processor generates the control signal according to a display mode set by a user, matches the object detected according to the detection signal with an object included in the rear image, sets a warning level for the objects included in the rear image, and generates the output image by cropping a portion of the rear image, and displays a warning level for the objects included in the output image.

[0006] In addition, the detection signal includes object location information and distance information, and the processor can match objects included in the rear image according to the location information of each object and assign a warning step to each object according to the distance information.

[0007] In addition, when the above display mode is a display mode, the processor may generate the output image by cropping the lower area of ​​the rear image if the gear setting information received from the vehicle's main controller is a reverse gear setting, and generate the output image by cropping the center area of ​​the rear image if the gear setting information is not a reverse gear setting.

[0008] In addition, the warning stage is divided into three stages—safe, caution, and danger—that are sequentially assigned according to the distance information, and when the processor identifies an object corresponding to the danger stage, it can generate an output image by adjusting the cropped area in the rear image to include the object corresponding to the danger stage.

[0009] In addition, the processor may indicate the warning level of an object by applying different colors to the object in the rear image or displaying a box of a different color around the object according to the warning level.

[0010] In addition, when the display mode is mirror mode, the processor turns off the display and adjusts the transmittance and reflectance of the mirror module so that the rear of the vehicle is reflected by the mirror module and displayed to the user, and when the gear setting information received from the vehicle's main controller is reverse gear setting, it assigns a warning level classified into three stages—safe, caution, and danger—to the objects detected according to the distance information, and when an object corresponding to the danger level is identified, it activates the display, adjusts the cropped area in the rear image to include the object corresponding to the danger level to generate an output image, and can output it through the display.

[0011] Meanwhile, a warning method for an approaching object according to a preferred embodiment of the present invention for solving the above-mentioned problem is a warning method for an approaching object performed in a warning device for an approaching object comprising: a rear camera that photographs the rear of a vehicle and outputs a rear image; a detection sensor that detects an object located at the rear of the vehicle and outputs a detection signal; a circuit unit including a processor and a memory; a display that outputs an output image input from the processor; and a mirror module installed in front of the display and adjusting reflectivity and transmittance according to a control signal input from the processor; the method comprises: (a) a step in which the processor checks a display mode set by a user; and (b) when the display mode is a display mode, a step of matching an object detected according to the detection signal with an object included in the rear image, setting a warning step for the objects included in the rear image, and generating an output image by cropping a part of the rear image, and generating the output image by displaying a warning step for the objects included in the output image.

[0012] In addition, the detection signal includes object location information and distance information, and in step (b), the processor can match objects included in the rear image according to the location information of each object and provide a warning step for each object according to the distance information.

[0013] Additionally, in step (b) above, the processor may generate the output image by cropping the lower area of ​​the rear image when the gear setting information received from the vehicle's main controller is a reverse gear setting, and generate the output image by cropping the center area of ​​the rear image when the gear setting information is not a reverse gear setting.

[0014] In addition, in step (b) above, the warning stage is divided into three stages—safe, caution, and danger—that are sequentially assigned according to the distance information, and when the processor identifies an object corresponding to the danger stage, it can generate an output image by adjusting the cropped area in the rear image to include the object corresponding to the danger stage.

[0015] Additionally, in step (b) above, the processor may indicate the warning level of the object by applying different colors to the object in the rear image or displaying a box of a different color around the object according to the warning level.

[0016] In addition, a warning method for approaching objects according to another preferred embodiment of the present invention may further include the step of: (c) when the display mode is a mirror mode, the processor turns off the display and adjusts the transmittance and reflectance of the mirror module so that the rear of the vehicle is reflected by the mirror module and displayed to the user, and when the gear setting information received from the main controller of the vehicle is a reverse gear setting, a warning stage classified into three stages of safety, caution, and danger is assigned to the objects detected according to the distance information, and when an object corresponding to the danger stage is identified, the display is activated, and an output image is generated by adjusting the cropped area in the rear image to include the object corresponding to the danger stage and outputting it through the display.

[0017] Additionally, the above step (c) may include: when the display mode is mirror mode, turning off the display and adjusting the transmittance and reflectance of the mirror module so that the rear of the vehicle is shown to the user through the mirror module, and checking gear setting information input from the vehicle's main controller; when the gear setting information is reverse gear setting, detecting approaching objects using a detection signal input from the detection sensor and assigning a warning level classified into three stages—safe, caution, and danger—to the detected objects according to distance information; when an object corresponding to the danger level is identified, activating the display and adjusting the transmittance and reflectance of the mirror module so that an image is shown through the display; and adjusting the cropping area in the rear image to include the object corresponding to the danger level to generate an output image and outputting it through the display.

[0018] Additionally, the above step (b) may include: a step of generating an output image by cropping a portion of the rear image when the display mode is a display mode and outputting the output image to the display; a step of checking gear setting information received from the main controller of the vehicle; a step of generating an output image by cropping the lower area of ​​the rear image when the gear setting information is a reverse gear setting and outputting it to the display; a step of matching the detected object with the object included in the rear image when an object is detected according to the detection signal, setting a warning level divided into three stages—safety, caution, and danger—sequentially assigned to the objects included in the rear image according to the distance information, and displaying the warning level for the object included in the output image; and a step of generating an output image by adjusting the area cropped in the rear image to include the object corresponding to the danger level when an object corresponding to the danger level among the detected objects is identified, and outputting it to the display.

[0019] The present invention integrates a warning device for objects approaching from the rear of a vehicle into a digital rear-view mirror. The present invention captures rear images using a rear camera and detects the location and distance of objects approaching from the rear of the vehicle or existing at the rear of the vehicle using a detection sensor.

[0020] When the vehicle is in reverse gear, the location of the detected object is used to match the object included in the rear image with the detected object, and a warning level is set for each object according to the distance of the object. Then, when the rear image is displayed through the rear-view mirror display, the warning level for the object in the rear image is also displayed, thereby enabling the user to intuitively, quickly, and clearly recognize the distance and risk level of the object.

[0021] FIG. 1a is a diagram illustrating the configuration of an approaching object warning device according to a preferred embodiment of the present invention, and FIG. 1b is a diagram illustrating the physical configuration of a rear-view mirror in which an approaching object warning device is implemented according to a preferred embodiment of the present invention.

[0022] FIG. 2 is a flowchart illustrating an approach object detection method according to a preferred embodiment of the present invention.

[0023] FIG. 3 is a detailed flowchart illustrating the detailed flow of step S300 shown in FIG. 2 according to a preferred embodiment of the present invention.

[0024] FIG. 4 is a detailed flowchart illustrating the detailed flow of step S400 shown in FIG. 2 according to a preferred embodiment of the present invention.

[0025] FIG. 5 is a diagram illustrating the process of generating an output image from a rear image according to a preferred embodiment of the present invention.

[0026] FIG. 6 is a diagram illustrating a warning step according to a preferred embodiment of the present invention.

[0027] Hereinafter, preferred embodiments of the present invention will be described with reference to the drawings.

[0028] Hereinafter, the aforementioned objects, features, and advantages of the present invention will become more apparent from the following detailed description in conjunction with the accompanying drawings. However, as the present invention is subject to various modifications and may have various embodiments, specific embodiments are illustrated in the drawings and described in detail below.

[0029] Throughout the specification, identical reference numbers indicate identical components in principle. Additionally, components with identical functions within the scope of the same concept appearing in the drawings of each embodiment are described using the same reference numeral.

[0030] When a part of a specification is described as "including" a certain component, this means that, unless specifically stated otherwise, it does not exclude other components but may include additional components. Furthermore, terms such as "...part" or "module" as used in the specification refer to a unit that processes at least one function or operation, and this may be implemented in hardware or software, or as a combination of hardware and software.

[0031] If it is determined that a detailed description of known functions or configurations related to the present invention may unnecessarily obscure the essence of the present invention, such detailed description is omitted. Additionally, numbers used in the description of this specification (e.g., 1st, 2nd, etc.) are merely identification symbols to distinguish one component from another.

[0032] FIG. 1a is a diagram illustrating the configuration of an approaching object warning device according to a preferred embodiment of the present invention, and FIG. 1b is a diagram illustrating the physical configuration of a rear-view mirror in which an approaching object warning device is implemented according to a preferred embodiment of the present invention.

[0033] Referring to FIG. 1a and FIG. 1b, a warning device (100) for approaching objects according to a preferred embodiment of the present invention includes a rear camera (111), a detection sensor (113), a mirror module (140), a display (130), and a circuit unit (120). The circuit unit (120) includes a processor (121) and a memory (123).

[0034] The mirror module (140), display (130), and circuit unit (120) are included in the rear-view mirror housing (190) and installed near the front windshield of the vehicle interior. That is, the warning device (100) for approaching objects according to a preferred embodiment of the present invention is implemented by being integrated into the rear-view mirror installed in the vehicle. Therefore, it should be noted that the rear-view mirror used below is used with the same meaning as the warning device (100) for approaching objects.

[0035] The rear camera (111) is installed on the exterior rear of the vehicle, captures the rear of the vehicle to generate a rear image, and transmits the rear image to the processor (121). The rear camera (111) may be a wide-angle camera having a shooting angle of 120 to 180 degrees so that blind spots can be captured.

[0036] The detection sensor (113) detects an object located at the rear of the vehicle and outputs a detection signal to the processor (121) that includes distance information between the detection sensor (113) and the object and location information of the object. In a preferred embodiment of the present invention, the detection sensor (113) is implemented as a radar sensor, but there are no limitations as long as it is configured to measure the location and distance of a rear object.

[0037] Meanwhile, the display (130) can be implemented as an LCD module, an OLED module, etc., and is turned on / off according to the control of the processor (121), and outputs a video signal generated by the processor (121).

[0038] The mirror module (140) contains an EC (Electronic Chromic) film inside and is positioned in front of the display (130). Under the control of the processor (121), the reflectivity and transmittance of the EC film contained in the mirror module (140) are adjusted, and accordingly, the mirror module (140) performs the role of a reflector or transmits an image displayed on the display (130) so that the driver and passengers can see the image on the display (130).

[0039] The memory (123) is implemented as an SSD (Solid State Drive), flash memory, ROM (Read-Only Memory), RAM (Random Access Memory), etc., and can store instructions to be executed by the processor (121), data processed by the processor (121), rear view images, display mode setting information, etc.

[0040] The processor (121) can be implemented as a CPU (Central Processing Unit) or a similar device (e.g., MPU (Micro Processing Unit), MCU (Micro Control Unit), etc.) and controls the display (130) and mirror module (140) by executing instructions stored in memory (123), processes an image captured by the rear camera (111) to generate an output image to be output to the display (130), and outputs the output image through the display (130).

[0041] The processor (121) controls the rear-view mirror (100) to operate in display mode or mirror mode. In display mode, the processor (121) outputs an image (output image) captured by the rear camera (111) through the display (130), and lowers the reflectivity of the mirror module (140) to a value below a predefined value and raises the transmittance above a predefined value so that the image output from the display (130) passes through the mirror module (140) and is output to the driver.

[0042] In mirror mode, the processor (121) turns off the display (130) and increases the reflectivity of the mirror module (140) above a predefined set value and lowers the transmittance below a predefined set value, thereby controlling the light to be reflected from the mirror module (140) toward the driver, just like a standard rear-view mirror.

[0043] FIG. 2 is a flowchart illustrating an approach object detection method according to a preferred embodiment of the present invention, FIG. 3 is a detailed flowchart illustrating the detailed flow of step S300 illustrated in FIG. 2 according to a preferred embodiment of the present invention, and FIG. 4 is a detailed flowchart illustrating the detailed flow of step S400 illustrated in FIG. 2 according to a preferred embodiment of the present invention.

[0044] Hereinafter, with further reference to FIGS. 2 to 4, the warning method for an approaching object and the function of the warning device for an approaching object according to a preferred embodiment of the present invention will be described in more detail.

[0045] First, referring to FIG. 2, the warning device for approaching objects according to a preferred embodiment of the present invention is implemented by being integrated with a rear-view mirror, and when power is applied to and the warning device for approaching objects of the present invention is operated, the processor (121) checks the currently set display mode (S200).

[0046] When the display mode is set to display mode, the processor (121) turns on the display (130) and adjusts the transmittance and reflectance of the mirror module (140) to display the rear image input from the rear camera (111) through the display (130), thereby operating the rear-view mirror (100) in display mode (S300).

[0047] When the display mode is set to mirror mode, the processor (121) turns off the display (130) and adjusts the transmittance and reflectance of the mirror module (140) (i.e., increases the reflectance above a set value and lowers the transmittance below a set value) to operate the rear-view mirror (100) in mirror mode (S400).

[0048] Referring to FIG. 3, the process (S300) of the rear-view mirror operating in display mode is described in more detail. When the display mode is set to display mode, the processor (121) turns on the display (130), increases the transmittance of the EC film included in the mirror module (140), and drives the rear camera (111) to receive the rear image captured by the rear camera (111) and output it through the display (130) (S310).

[0049] The rear camera (111) of the present invention is installed in the rear central area of ​​the vehicle and uses a wide-angle camera capable of capturing up to 180 degrees. However, since the display (130) on which the rear image is to be output has a limited display area, a part of the rear image is cropped and displayed through the display (130).

[0050] FIG. 5 is a diagram illustrating an example in which an area and an approach detection object are displayed through the display (130) in the rear view.

[0051] As shown in FIG. 5(a), the area captured by the rear camera (111) is very wide, as indicated by reference numeral 510. When the entire area is displayed through the display (130), the displayed objects appear very small, making it difficult for the driver to intuitively identify the objects.

[0052] To solve this problem, the present invention generates an output image by cropping a portion of the entire area of ​​the rear image input from the rear camera (111), such as the area indicated by reference numeral 520, and outputs the output image through the display (130).

[0053] In a preferred embodiment of the present invention, when the display mode is basically displayed (immediately after switching from mirror mode to display mode, or immediately after power is supplied to the rear-view mirror, etc.), the central area of ​​the entire rear image is cropped and output as shown in FIG. 5 (a).

[0054] After that, the processor (121) examines the gear setting information input from the vehicle's main controller (200) and continuously checks whether the reverse gear (transmission gear R) is set in the vehicle (S320).

[0055] When it is confirmed that the reverse gear is set, the processor (121) performs a rear approach object verification process (S330).

[0056] To explain the rear approach object verification process in more detail, when the rear gear setting is confirmed, the processor (121) crops the lower area of ​​the rear image input from the rear camera (111) as shown in FIG. 5 (b) and outputs it through the display (130) (S331). This is intended to clearly recognize the presence of obstacles when reversing and parking the vehicle by displaying the lower area of ​​the rear area of ​​the vehicle to the driver in preparation for reversing the vehicle.

[0057] Next, the processor (121) activates the detection sensor (113), and when an approaching object is detected by the detection sensor (113), it displays a warning step (S333).

[0058] Specifically, when the reverse gear (transmission gear R) is set in the vehicle, the processor (121) activates the detection sensor (113), and the detection sensor (113) detects an object behind it, generates location information and distance information of the detected object, and outputs them to the processor (121). In a preferred embodiment of the present invention, the detection sensor (113) is implemented as a radar sensor, but various other sensors may also be applied.

[0059] Furthermore, it should be noted that the term "approaching object" refers to an object approaching the vehicle relatively; this is a broad concept that includes not only objects actually approaching the vehicle, but also all objects that are actually in a fixed position but can be judged as approaching relatively as the vehicle reverses and the distance from it decreases—in other words, all objects detected behind the vehicle.

[0060] After that, the processor (121) identifies an object in the rear image and matches the location information (coordinates of the object) of the object detected by the detection sensor (113) with the object identified in the rear image. Then, the processor (121) links the distance information input from the detection sensor (113) with the matched object in the rear image and assigns a warning step to each object in the rear image.

[0061] In a preferred embodiment of the present invention, the warning stage consists of three stages: safety, caution, and danger, and each stage can be assigned based on a predefined distance. For example, as shown in FIG. 6, the danger stage can be set when the distance from the vehicle to the object is within 1M, the caution stage when the distance from the vehicle to the object is between 1M and 4M, and the safety stage when the distance from the vehicle to the object is 4M or more. These distances can be set when the product according to the present invention is released, or they can be set by the user after the product is installed.

[0062] In addition, when the processor (121) assigns and displays the warning level to an object, it can color each object in the rear view with a corresponding color so that the driver can intuitively recognize the distance to the object.

[0063] As illustrated in FIG. 5(c), the processor (121) may display green for objects (531) located relatively far from the vehicle and assigned a safe level, yellow for objects (532) assigned a caution level, and red for objects (533) assigned a danger level, as illustrated in FIG. 5(d). The colors for each of these warning levels may be changed by user settings. Additionally, the processor (121) may display the warning level by applying color to the object itself, or may make the user aware of the warning level by displaying a box of the corresponding color around the object.

[0064] At this time, the processor (121) assigns a warning level to all objects included in the rear image, and objects included within the area of ​​the rear image that is cropped and output through the display (130) are displayed with a color corresponding to the warning level, but objects located outside the cropped area are not displayed on the display (130).

[0065] Meanwhile, the processor (121) checks whether there is an object corresponding to a danger level among the objects assigned a warning level (S335), and if there is an object corresponding to a danger level, crops the rear camera image to include the object corresponding to the danger level and outputs the image through the display (130) (S337).

[0066] As described above, when the reverse gear is set in the vehicle, the processor (121) crops the lower part of the rear image and outputs it through the display (130), but an object corresponding to a danger level may exist at a close distance in an area not displayed on the display (130). Therefore, if an object corresponding to a danger level exists in the rear image, the processor (121) adjusts the cropping area in the rear image to include the object corresponding to the danger level within the cropping area, and displays the cropped image containing the object corresponding to the danger level to the driver through the display (130) (see FIG. 5).

[0067] After that, while the reverse gear is set, the processor (121) repeatedly performs steps S320 through S330, and when the reverse gear is released, proceeds to step S310 and repeats the process of outputting the rear camera image.

[0068] While repeating step S300, if the display mode is changed by the user from display mode to mirror mode (S200), the processor (121) proceeds to step S400 to display a rear object through the mirror mode.

[0069] Referring to FIG. 4, the process (S400) of the rear-view mirror operating in mirror mode is explained in more detail.

[0070] When the display mode is set to mirror mode, the processor (121) turns off the display (130), adjusts the transmittance of the EC film included in the mirror module (140) to adjust the transmittance and reflectance of the mirror module, and while the user is able to see the rear of the vehicle by the light reflected from the mirror module (140), it examines the gear setting information input from the vehicle's main controller (200) to continuously check whether the reverse gear (transmission gear R) is set in the vehicle (S420).

[0071] If it is confirmed that the reverse gear is set, the processor (121) performs a rear approach object verification process in mirror mode (S430).

[0072] To explain the process of checking for rear approaching objects in mirror mode in more detail, the processor (121) activates the detection sensor (113), and when the detection sensor (113) detects a rear approaching object and inputs a detection signal, it grants a warning step to the detected objects (S433). Since the method of detecting rear approaching objects and the method of granting a warning step to the detected objects are the same as the above-described step S333, a detailed explanation is omitted.

[0073] After that, the processor (121) checks whether there is an object corresponding to a danger level among the detected and assigned warning levels (S435), and if an object corresponding to a danger level is identified, the processor (121) activates and turns on the display (130) to switch the mirror mode to the display mode, and adjusts the transmittance and reflectance of the mirror module (EC film) (140) so that the rear image output from the display (130) is seen through the mirror module (140) (S436).

[0074] After that, the processor (121) crops the rear camera image to include the dangerous object and outputs the image through the display (130) (S337).

[0075] In a preferred embodiment of the present invention, the rear-view mirror operates in mirror mode or display mode according to the settings of the user (driver). When operating in mirror mode, only the rear view included in a fixed direction and area is shown to the user (driver). Therefore, if there is an object corresponding to a danger level outside the area shown by the mirror module (140), an unexpected collision may occur.

[0076] Accordingly, when an object corresponding to a danger level is detected while operating in mirror mode, the present invention switches the mirror mode to display mode and outputs an image containing the object corresponding to the danger level through the display (130), thereby enabling the driver (user) to intuitively recognize the risk of collision.

[0077] After that, while the reverse gear is set, the processor (121) repeats steps S420 through S430.

[0078] While repeating step S400, if the display mode is changed by the user from mirror mode to display mode (S200), the processor (121) proceeds to step S300 to display a rear object through the mirror mode.

[0079] The warning method for an approaching object according to the preferred embodiment of the present invention described so far can be implemented as a computer program stored on a non-transient storage medium, implemented as computer-executable instructions.

[0080] Storage media include all types of recording devices in which data that can be read by a computer system is stored. Examples of computer-readable storage media include ROM, RAM, CD-ROM, and optical data storage devices. Additionally, computer-readable storage media are distributed across networked computer systems, allowing computer-readable code to be stored and executed in a distributed manner.

[0081] The present invention has been described above with reference to its preferred embodiments. Those skilled in the art will understand that the present invention may be embodied in modified forms without departing from the essential characteristics of the invention. Therefore, the disclosed embodiments should be considered in an illustrative rather than a restrictive sense. The scope of the invention is defined by the claims, not by the foregoing description, and all variations within the scope of the claims should be interpreted as being included in the invention.

Claims

1. A rear camera that captures the rear of a vehicle and outputs a rear image; A detection sensor that detects an object located at the rear of a vehicle and outputs a detection signal; A circuit section including a processor and memory; A display that outputs an output image input from the above processor; and A mirror module installed in front of the display and adjusting reflectivity and transmittance according to a control signal input from the processor; The above processor Generates the above control signal according to the display mode set by the user, and By matching the detected object according to the above detection signal with the object included in the rear image, a warning level is set for the objects included in the rear image, and A warning device for approaching objects, characterized by generating an output image by cropping a portion of the rear image and generating the output image by displaying a warning step for objects included in the output image.

2. In Paragraph 1, The above detection signal includes object location information and distance information, and The above processor Match objects included in the rear image based on the location information of each object, and A warning device for approaching objects characterized by assigning a warning level to each object according to the above distance information.

3. In Paragraph 2, When the above display mode is a display mode, The above processor If the gear setting information received from the vehicle's main controller is a reverse gear setting, the lower area of ​​the rear image is cropped to generate the output image, and A warning device for an approaching object characterized by generating an output image by cropping the center area of ​​the rear image when the above gear setting information is not a reverse gear setting.

4. In Paragraph 3, The above warning stages are divided into three levels—safe, caution, and danger—assigned sequentially according to the distance information, and A warning device for approaching objects, characterized in that when an object corresponding to a danger level is identified, the processor generates an output image by adjusting a cropped area in the rear image to include the object corresponding to the danger level.

5. In claim 4, the processor A warning device for an approaching object characterized by applying different colors to the object in the rear image or displaying a box of a different color around the object according to the above warning level to indicate the warning level of the object.

6. In Paragraph 2, When the above display mode is mirror mode, The above processor The above display is turned off, and the transmittance and reflectance of the above mirror module are adjusted so that the rear of the vehicle is reflected by the mirror module and displayed to the user, and If the gear setting information received from the vehicle's main controller is a reverse gear setting, Based on the above distance information, warning levels classified into three stages—safe, caution, and danger—are assigned to detected objects, and A warning device for approaching objects characterized by activating the display when an object corresponding to a danger level is identified, adjusting a cropped area in the rear image to include the object corresponding to the danger level to generate an output image, and outputting it through the display.

7. A rear camera that captures the rear of a vehicle and outputs a rear image; A detection sensor that detects an object located at the rear of a vehicle and outputs a detection signal; A circuit section including a processor and memory; A display that outputs an output image input from the above processor; and A method for warning an approaching object performed in a warning device for an approaching object comprising: a mirror module installed in front of the display and adjusting reflectivity and transmittance according to a control signal input from the processor; (a) A step in which the processor checks the display mode set by the user; and (b) when the above-mentioned display mode is a display mode, the method for warning about approaching objects is characterized by including the step of matching the object detected according to the detection signal with the object included in the rear image, setting a warning step for the objects included in the rear image, cropping a portion of the rear image to generate the output image, and generating the output image by displaying a warning step for the object included in the output image.

8. In Paragraph 7, The above detection signal includes object location information and distance information, and In step (b) above, the processor Match objects included in the rear image based on the location information of each object, and A warning method for approaching objects characterized by assigning a warning level to each object according to the above distance information.

9. In Paragraph 8, In step (b) above, the processor If the gear setting information received from the vehicle's main controller is a reverse gear setting, the lower area of ​​the rear image is cropped to generate the output image, and A warning method for an approaching object characterized by generating an output image by cropping the center area of ​​the rear image when the above gear setting information is not a reverse gear setting.

10. In claim 9, at step (b) above The above warning stages are divided into three levels—safe, caution, and danger—assigned sequentially according to the distance information, and A warning method for approaching objects, characterized in that when an object corresponding to a danger level is identified, the processor adjusts a cropped area in the rear image to include the object corresponding to the danger level to generate an output image.

11. In Paragraph 10, In step (b) above, the processor A warning method for an approaching object characterized by applying different colors to the object in the rear image or displaying a box of a different color around the object according to the warning level, thereby indicating the warning level of the object.

12. In Paragraph 8, (c) When the above display mode is mirror mode, A warning method for approaching objects, characterized by further including the step of the processor turning off the display, adjusting the transmittance and reflectance of the mirror module so that the rear of the vehicle is reflected by the mirror module and displayed to the user, and, if the gear setting information received from the vehicle's main controller is a reverse gear setting, assigning a warning level classified into three stages—safe, caution, and danger—to the detected objects according to the distance information, and, if an object corresponding to the danger level is identified, activating the display, adjusting the cropped area in the rear image to include the object corresponding to the danger level to generate an output image, and outputting it through the display.

13. In claim 12, the above step (c) When the above display mode is a mirror mode, the step of turning off the display, adjusting the transmittance and reflectance of the mirror module so that the rear of the vehicle is shown to the user through the mirror module, and checking gear setting information input from the vehicle's main controller; When the gear setting information is a reverse gear setting, a step of detecting an approaching object using a detection signal input from the detection sensor, and assigning a warning level classified into three stages—safe, caution, and danger—to the detected objects according to distance information; When an object corresponding to a danger level is identified, a step of activating the display and adjusting the transmittance and reflectance of the mirror module so that an image is shown through the display; A warning method for an approaching object characterized by including the step of generating an output image by adjusting a cropped area in a rear image to include an object corresponding to the above-mentioned danger level, and outputting the output image through the display.

14. In claim 8, the above step (b) When the above display mode is a display mode, a step of cropping a portion of the above rear image to generate the output image and outputting the output image to the display; A step of checking gear setting information received from the vehicle's main controller; If the gear setting information is a reverse gear setting, a step of cropping the lower area of ​​the rear image to generate the output image and outputting it to the display; When an object is detected according to the detection signal, the detected object is matched with an object included in the rear image, and a warning level classified into three stages—safe, caution, and danger—is sequentially assigned to the objects included in the rear image according to the distance information, and a warning level is displayed for the object included in the output image; and A warning method for approaching objects, characterized by including the step of, when an object corresponding to a danger level among the detected objects is identified, adjusting a cropped area in a rear image to include the object corresponding to the danger level to generate an output image and outputting it to the display.

15. A non-transient recording medium recording the warning method for an approaching object of claim 7 as computer-readable and computer-executable program code.

Images