Vehicle control device mounted on vehicle and method for controlling the vehicle

The present invention relates to a vehicle control device mounted on a vehicle, and a method for controlling the vehicle. The vehicle control device includes a communication module configured to receive driving information regarding the vehicle, a display module configured to output visual information on a display region formed on a windshield of the vehicle, and a controller configured to control the display module based on the driving information to output graphic objects guiding a path of driving of the vehicle on a first region of the display region, the display region divided into the first region and a second region. The controller controls the display module based on the driving information to output on the second region at least one of the graphic objects output on the first region.

BACKGROUND OF THE INVENTION

1. Field of the Invention

This specification relates to a vehicle control device mounted on a vehicle and a method for controlling the vehicle.

2. Background of the Invention

A vehicle is an apparatus which can be driven by a user who gets therein in a desired direction, and representative examples may be a car and a motorcycle.

For safety and convenience of a user using a vehicle, various sensors and devices are equipped in the vehicle and functions of the vehicle are diversified.

The functions of the vehicle may be divided into a convenience function for promoting a driver's convenience, and a safety function for enhancing safety of the driver and/or pedestrians.

First, the convenience function has a development motive associated with the driver's convenience, such as providing infotainment (information+entertainment) to the vehicle, supporting a partially autonomous driving function, or helping the driver ensuring a field of vision at night or at a blind spot. For example, the convenience functions may include various functions, such as an active cruise control (ACC), a smart parking assist system (SPAS), a night vision (NV), a head up display (HUD), an around view monitor (AVM), an adaptive headlight system (AHS), and the like.

The safety function is a technique of ensuring safety of the driver and/or pedestrians, and may include various functions, such as a lane departure warning system (LDWS), a lane keeping assist system (LKAS), an autonomous emergency braking (AEB), and the like.

To support and increase such functions of the vehicle, a head up display (HUD) is under development.

The HUD projects a virtual image on a windshield of the vehicle. For example, navigation information for guiding speed of the vehicle or navigating a path up to a destination may be output as a virtual image on the windshield.

When the HUD is equipped on the vehicle, a driver can get driving-related information even while viewing a currently-driving road, and thus concentrate on a traffic condition. Accordingly, the driver's burden of having to alternately gaze a dashboard and the road is reduced, and thus the HUD contributes to a reduction of the driver's fatigue and driving safety.

The HUD projects light emitted from a light source such as an LED array on a thin film transistor (TFT) of generating an image, and thus the image generated in the TFT is projected on a windshield and output in a state of floating in a space above a front road surface. Therefore, the driver can check necessary driving information while gazing the front.

With the development of the HUD, the HUD is configured to output a virtual image on a considerable portion of the windshield. Accordingly, even though the HUD has been developed for enhancing driving concentration, the driving concentration is instead lowered due to the virtual image output on the HUD.

SUMMARY OF THE INVENTION

Therefore, the present invention is to solve the aforementioned problems and other drawbacks.

An aspect of the detailed description is to provide a vehicle control device capable of intuitively providing necessary information to a driver even without interfering with the driver, a vehicle having the vehicle control device, and a method for controlling the vehicle.

Another aspect of the detailed description is to provide a vehicle control device, capable of effectively providing information, to which a driver has to pay attention, using a virtual image, in spite of a limit of a screen size caused due to a limitation of a display module itself.

Another aspect of the detailed description is to provide a vehicle control device capable of navigating a direction to drive accurately and even dynamically.

To achieve these and other advantages and in accordance with the purpose of this specification, as embodied and broadly described herein, there is provided a vehicle control device, including a communication module configured to receive driving information regarding the vehicle, a display module configured to output visual information on a display region formed on a windshield of the vehicle, and a controller configured to control the display module based on the driving information to output graphic objects guiding a path of driving of the vehicle on a first region of the display region, the display region divided into the first region and a second region, wherein the controller controls the display module based on the driving information to output on the second region at least one of the graphic objects output on the first region.

In one embodiment disclosed herein, the controller may control the display module to output on the first region a first graphic object notifying collision probability with an object located outside the vehicle when the collision probability meets a first reference.

In one embodiment disclosed herein, the controller may control the display module to output on the second region a second graphic object notifying the collision probability when the collision probability meets a second reference different from the first reference.

In one embodiment disclosed herein, the first graphic object may disappear from the first region when the collision probability meets the second reference.

In one embodiment disclosed herein, a warning image notifying an orientation of the object may be output on an edge of the second region when the first graphic object is output on the first region.

In one embodiment disclosed herein, an output position of the warning image may change according to a position of the object.

In one embodiment disclosed herein, the warning image may be output on an upper end of the edge of the second region when the object is located at the front of the vehicle, and output on a lower end of the edge of the second region when the object is located at the rear of the vehicle.

In one embodiment disclosed herein, at least one of a color, a flickering frequency and a size of the warning image may gradually change according to the collision probability.

In one embodiment disclosed herein, the controller may control the display module to output an additional warning image on a part of the display region, which overlaps the object, when the object is located within a virtual region defined by the display region and a driver's gaze.

In one embodiment disclosed herein, the second graphic object may disappear from the second region when the additional warning image is output while the second graphic object is output on the second region.

In one embodiment disclosed herein, the controller may control the display module to output on the first region a first notification icon notifying an event generation when the event is generated in at least one application provided in the vehicle.

In one embodiment disclosed herein, the controller may control the display module to output a second notification icon on the second region when the event meets a predetermined condition.

In one embodiment disclosed herein, the first notification icon may disappear from the first region when the event meets the predetermined condition.

In one embodiment disclosed herein, the at least one application may include a forward collision warning, a blind spot detection, a lane departure warning, a pedestrian detection, a curve speed warning and a turn-by-turn navigation.

In one embodiment disclosed herein, a warning image notifying an orientation of an object corresponding to the event may be output on an edge of the second region when the first notification icon is output on the first region, and an output position of the warning image may differ according to the position of the object.

In one embodiment disclosed herein, the controller may select at least one of the graphic objects according to the driving information and move the selected at least one graphic object from the first region to the second region. The selected at least one graphic object may gradually increase in size as moving to the second region.

In one embodiment disclosed herein, the controller may output a first figure image guiding a movement to a second road on the second region when the vehicle should move from a first road to the second road during a movement to a destination and a remaining distance up to the second road corresponds to a reference distance. The controller may output a second figure image on the first figure image in a manner of gradually obscuring the first figure image, as moving close to the second road.

In one embodiment disclosed herein, one end of the first figure image may point at a position of the second road, and the first figure image may be transformed such that the one end thereof points at the position of the second road as the vehicle moves.

In one embodiment disclosed herein, the first figure image may disappear from the second region or the at least graphic object may be output on the first figure image when the at least one graphic object is output on the second region.

Also, the present invention can extend to a vehicle having the vehicle control device having at least one of the aforementioned characteristics.

According to the autonomous driving vehicle and a control method thereof disclosed herein, the following effects can be obtained.

According to the present invention, a display region formed on a windshield may be divided into a first region and a second region. The first region can always output information thereon and the second region cannot output any information according to situations. Also, the vehicle control device disclosed herein can output information on the second region limitedly in a surely necessary situation. This can prevent distractions of a driver's attention and minimize interference with driving due to information output on the windshield.

DETAILED DESCRIPTION OF THE INVENTION

Terms such as “include” or “has” are used herein and should be understood that they are intended to indicate an existence of features, numbers, steps, functions, several components, or combinations thereof, disclosed in the specification, and it is also understood that greater or fewer features, numbers, steps, functions, several components, or combinations thereof may likewise be utilized.

A vehicle according to an embodiment of the present invention may be understood as a conception including cars, motorcycles and the like. Hereinafter, the vehicle will be described based on a car.

The vehicle according to the embodiment of the present invention may be a conception including all of an internal combustion engine car having an engine as a power source, a hybrid vehicle having an engine and an electric motor as power sources, an electric vehicle having an electric motor as a power source, and the like.

In the following description, a left side of a vehicle refers to a left side in a driving direction of the vehicle, and a right side of the vehicle refers to a right side in the driving direction.

FIG. 1is a view illustrating appearance of a vehicle in accordance with an embodiment of the present invention.

FIG. 2is an outer view of the vehicle according to the embodiment of the present invention, viewed at various angels.

FIGS. 3 and 4are views illustrating an inside of the vehicle in accordance with the embodiment of the present invention.

FIGS. 5 and 6are reference views explaining objects in accordance with an embodiment of the present invention.

FIG. 7is a block diagram illustrating a vehicle in accordance with an embodiment of the present invention.

As illustrated inFIGS. 1 to 7, a vehicle100may include wheels turning by a driving force, and a steering apparatus510for adjusting a driving (ongoing, moving) direction of the vehicle100.

The vehicle100may be an autonomous vehicle.

Here, autonomous driving is defined as controlling at least one of acceleration, deceleration and a driving direction based on a preset algorithm. In other words, even without a user input applied to a driving control apparatus, the driving control apparatus is automatically manipulated.

The vehicle100may be switched into an autonomous mode or a manual mode based on a user input.

For example, the vehicle100may be converted from the manual mode into the autonomous mode or from the autonomous mode into the manual mode based on a user input received through a user interface apparatus200.

The vehicle100may be switched into the autonomous mode or the manual mode based on driving environment information. The driving environment information may be generated based on object information provided from an object detecting apparatus300.

For example, the vehicle100may be switched from the manual mode into the autonomous mode or from the autonomous module into the manual mode based on driving environment information generated in the object detecting apparatus300.

In an example, the vehicle100may be switched from the manual mode into the autonomous mode or from the autonomous module into the manual mode based on driving environment information received through a communication apparatus400.

The vehicle100may be switched from the manual mode into the autonomous mode or from the autonomous module into the manual mode based on information, data or signal provided from an external device.

When the vehicle100is driven in the autonomous mode, the autonomous vehicle100may be driven based on an operation system700.

For example, the autonomous vehicle100may be driven based on information, data or signal generated in a driving system710, a parking exit system740and a parking system750.

When the vehicle100is driven in the manual mode, the autonomous vehicle100may receive a user input for driving through a driving control apparatus500. The vehicle100may be driven based on the user input received through the driving control apparatus500.

An overall length refers to a length from a front end to a rear end of the vehicle100, a width refers to a width of the vehicle100, and a height refers to a length from a bottom of a wheel to a roof. In the following description, an overall-length direction L may refer to a direction which is a criterion for measuring the overall length of the vehicle100, a width direction W may refer to a direction that is a criterion for measuring a width of the vehicle100, and a height direction H may refer to a direction that is a criterion for measuring a height of the vehicle100.

As illustrated inFIG. 7, the vehicle100may include a user interface apparatus200, an object detecting apparatus300, a communication apparatus400, a driving control apparatus500, a vehicle operating apparatus600, a operation system700, a navigation system770, a sensing unit120, an interface unit130, a memory140, a controller170and a power supply unit190.

According to embodiments, the vehicle100may include more components in addition to components to be explained in this specification or may not include some of those components to be explained in this specification.

The user interface apparatus200is an apparatus for communication between the vehicle100and a user. The user interface apparatus200may receive a user input and provide information generated in the vehicle100to the user. The vehicle200may implement user interfaces (UIs) or user experiences (UXs) through the user interface apparatus200.

The user interface apparatus200may include an input unit210, an internal camera220, a biometric sensing unit230, an output unit250and a processor270.

According to embodiments, the user interface apparatus200may include more components in addition to components to be explained in this specification or may not include some of those components to be explained in this specification.

The input unit200may allow the user to input information. Data collected in the input unit120may be analyzed by the processor270and processed as a user's control command.

The input unit210may be disposed within the vehicle. For example, the input unit200may be disposed on one area of a steering wheel, one area of an instrument panel, one area of a seat, one area of each pillar, one area of a door, one area of a center console, one area of a headlining, one area of a sun visor, one area of a windshield, one area of a window or the like.

The audio input module211may convert a user's voice input into an electric signal. The converted electric signal may be provided to the processor270or the controller170.

The voice input module211may include at least one microphone.

The gesture input module212may convert a user's gesture input into an electric signal. The converted electric signal may be provided to the processor270or the controller170.

The gesture input module212may include at least one of an infrared sensor and an image sensor for detecting the user's gesture input.

According to embodiments, the gesture input module212may detect a user's three-dimensional (3D) gesture input. To this end, the gesture input module212may include a light emitting diode outputting a plurality of infrared rays or a plurality of image sensors.

The gesture input module212may detect the user's 3D gesture input by a time of flight (TOF) method, a structured light method or a disparity method.

The touch input module213may convert the user's touch input into an electric signal. The converted electric signal may be provided to the processor270or the controller170.

The touch input module213may include a touch sensor for detecting the user's touch input.

According to an embodiment, the touch input module213may be integrated with the display module251so as to implement a touch screen. The touch screen may provide an input interface and an output interface between the vehicle100and the user.

The mechanical input module214may include at least one of a button, a dome switch, a jog wheel and a jog switch. An electric signal generated by the mechanical input module214may be provided to the processor270or the controller170.

The mechanical input module214may be arranged on a steering wheel, a center fascia, a center console, a cockpit module, a door and the like.

The internal camera220may acquire an internal image of the vehicle. The processor270may detect a user's state based on the internal image of the vehicle. The processor270may acquire information related to the user's gaze from the internal image of the vehicle. The processor270may detect a user gesture from the internal image of the vehicle.

The biometric sensing unit230may acquire the user's biometric information. The biometric sensing module230may include a sensor for detecting the user's biometric information and acquire fingerprint information and heart rate information regarding the user using the sensor. The biometric information may be used for user authentication.

The output unit250may generate an output related to a visual, audible or tactile signal.

The output unit250may include at least one of a display module251, an audio output module252and a haptic output module253.

The display module251may output graphic objects corresponding to various types of information.

The display module251may include at least one of a liquid crystal display (LCD), a thin film transistor-LCD (TFT LCD), an organic light-emitting diode (OLED), a flexible display, a three-dimensional (3D) display and an e-ink display.

The display module251may be inter-layered or integrated with a touch input module213to implement a touch screen.

The display module251may be implemented as a head up display (HUD). When the display module251is implemented as the HUD, the display module251may be provided with a projecting module so as to output information through an image which is projected on a windshield or a window.

The display module251may include a transparent display. The transparent display may be attached to the windshield or the window.

The transparent display may have a predetermined degree of transparency and output a predetermined screen thereon. The transparent display may include at least one of a thin film electroluminescent (TFEL), a transparent OLED, a transparent LCD, a transmissive transparent display and a transparent LED display. The transparent display may have adjustable transparency.

Meanwhile, the user interface apparatus200may include a plurality of display modules251ato251g.

The display module251may be disposed on one area of a steering wheel, one area521a,251b,251eof an instrument panel, one area251dof a seat, one area251fof each pillar, one area251gof a door, one area of a center console, one area of a headlining or one area of a sun visor, or implemented on one area251cof a windshield or one area251hof a window.

The audio output module252converts an electric signal provided from the processor270or the controller170into an audio signal for output. To this end, the audio output module252may include at least one speaker.

The processor270may control an overall operation of each unit of the user interface apparatus200.

According to an embodiment, the user interface apparatus200may include a plurality of processors270or may not include any processor270.

When the processor270is not included in the user interface apparatus200, the user interface apparatus200may operate according to a control of a processor of another apparatus within the vehicle100or the controller170.

Meanwhile, the user interface apparatus200may be called as a display apparatus for vehicle.

The user interface apparatus200may operate according to the control of the controller170.

The object detecting apparatus300is an apparatus for detecting an object located at outside of the vehicle100.

The object may be a variety of objects associated with driving (operation) of the vehicle100.

Referring toFIGS. 5 and 6, an object O may include a traffic lane OB10, another vehicle OB11, a pedestrian OB12, a two-wheeled vehicle OB13, traffic signals OB14and OB15, light, a road, a structure, a speed hump, a geographical feature, an animal and the like.

The lane OB10may be a driving lane, a lane next to the driving lane or a lane on which another vehicle comes in an opposite direction to the vehicle100. The lanes OB10may be a concept including left and right lines forming a lane.

The another vehicle OB11may be a vehicle which is moving around the vehicle100. The another vehicle OB11may be a vehicle located within a predetermined distance from the vehicle100. For example, the another vehicle OB11may be a vehicle which moves before or after the vehicle100.

The pedestrian OB12may be a person located near the vehicle100. The pedestrian OB12may be a person located within a predetermined distance from the vehicle100. For example, the pedestrian OB12may be a person located on a sidewalk or roadway.

The two-wheeled vehicle OB13may refer to a vehicle (transportation facility) that is located near the vehicle100and moves using two wheels. The two-wheeled vehicle OB13may be a vehicle that is located within a predetermined distance from the vehicle100and has two wheels. For example, the two-wheeled vehicle OB13may be a motorcycle or a bicycle that is located on a sidewalk or roadway.

The traffic signals may include a traffic light OB15, a traffic sign OB14and a pattern or text drawn on a road surface.

The light may be light emitted from a lamp provided on another vehicle. The light may be light generated from a streetlamp. The light may be solar light.

The road may include a road surface, a curve, an upward slope, a downward slope and the like.

The structure may be an object that is located near a road and fixed on the ground. For example, the structure may include a streetlamp, a roadside tree, a building, an electric pole, a traffic light, a bridge and the like.

The geographical feature may include a mountain, a hill and the like.

Meanwhile, objects may be classified into a moving object and a fixed object. For example, the moving object may be a concept including another vehicle and a pedestrian. The fixed object may be a concept including a traffic signal, a road and a structure.

The object detecting apparatus300may include a camera310, a radar320, a LiDAR330, an ultrasonic sensor340, an infrared sensor350and a processor370.

According to an embodiment, the object detecting apparatus300may further include other components in addition to the components described, or may not include some of the components described.

The camera310may be located on an appropriate portion outside the vehicle to acquire an external image of the vehicle. The camera310may be a mono camera, a stereo camera310a, an around view monitoring (AVM) camera310bor a 360-degree camera.

For example, the camera310may be disposed adjacent to a front windshield within the vehicle to acquire a front image of the vehicle. Or, the camera310may be disposed adjacent to a front bumper or a radiator grill.

For example, the camera310may be disposed adjacent to a rear glass within the vehicle to acquire a rear image of the vehicle. Or, the camera310may be disposed adjacent to a rear bumper, a trunk or a tail gate.

For example, the camera310may be disposed adjacent to at least one of side windows within the vehicle to acquire a side image of the vehicle. Or, the camera310may be disposed adjacent to a side mirror, a fender or a door.

The camera310may provide an acquired image to the processor370.

The radar320may include electric wave transmitting and receiving portions. The radar320may be implemented as a pulse radar or a continuous wave radar according to a principle of emitting electric waves. The radar320may be implemented in a frequency modulated continuous wave (FMCW) manner or a frequency shift Keyong (FSK) manner according to a signal waveform, among the continuous wave radar methods.

The radar320may detect an object in a time of flight (TOF) manner or a phase-shift manner through the medium of the electric wave, and detect a position of the detected object, a distance from the detected object and a relative speed with the detected object.

The radar320may be disposed on an appropriate position outside the vehicle for detecting an object which is located at a front, rear or side of the vehicle.

The LiDAR330may include laser transmitting and receiving portions. The LiDAR330may be implemented in a time of flight (TOF) manner or a phase-shift manner.

The LiDAR330may be implemented as a drive type or a non-drive type.

For the drive type, the LiDAR330may be rotated by a motor and detect object near the vehicle100.

For the non-drive type, the LiDAR330may detect, through light steering, objects which are located within a predetermined range based on the vehicle100. The vehicle100may include a plurality of non-drive type LiDARs330.

The LiDAR330may detect an object in a TOP manner or a phase-shift manner through the medium of a laser beam, and detect a position of the detected object, a distance from the detected object and a relative speed with the detected object.

The LiDAR330may be disposed on an appropriate position outside the vehicle for detecting an object located at the front, rear or side of the vehicle.

The ultrasonic sensor340may include ultrasonic wave transmitting and receiving portions. The ultrasonic sensor340may detect an object based on an ultrasonic wave, and detect a position of the detected object, a distance from the detected object and a relative speed with the detected object.

The ultrasonic sensor340may be disposed on an appropriate position outside the vehicle for detecting an object located at the front, rear or side of the vehicle.

The infrared sensor350may include infrared light transmitting and receiving portions. The infrared sensor340may detect an object based on infrared light, and detect a position of the detected object, a distance from the detected object and a relative speed with the detected object.

The infrared sensor350may be disposed on an appropriate position outside the vehicle for detecting an object located at the front, rear or side of the vehicle.

The processor370may control an overall operation of each unit of the object detecting apparatus300.

The processor370may detect an object based on an acquired image, and track the object. The processor370may execute operations, such as a calculation of a distance from the object, a calculation of a relative speed with the object and the like, through an image processing algorithm.

The processor370may detect an object based on a reflected electromagnetic wave which an emitted electromagnetic wave is reflected from the object, and track the object. The processor370may execute operations, such as a calculation of a distance from the object, a calculation of a relative speed with the object and the like, based on the electromagnetic wave.

The processor370may detect an object based on a reflected laser beam which an emitted laser beam is reflected from the object, and track the object. The processor370may execute operations, such as a calculation of a distance from the object, a calculation of a relative speed with the object and the like, based on the laser beam.

The processor370may detect an object based on a reflected ultrasonic wave which an emitted ultrasonic wave is reflected from the object, and track the object. The processor370may execute operations, such as a calculation of a distance from the object, a calculation of a relative speed with the object and the like, based on the ultrasonic wave.

The processor370may detect an object based on reflected infrared light which emitted infrared light is reflected from the object, and track the object. The processor370may execute operations, such as a calculation of a distance from the object, a calculation of a relative speed with the object and the like, based on the infrared light.

According to an embodiment, the object detecting apparatus300may include a plurality of processors370or may not include any processor370. For example, each of the camera310, the radar320, the LiDAR330, the ultrasonic sensor340and the infrared sensor350may include the processor in an individual manner.

When the processor370is not included in the object detecting apparatus300, the object detecting apparatus300may operate according to the control of a processor of an apparatus within the vehicle100or the controller170.

The object detecting apparatus300may operate according to the control of the controller170.

The communication apparatus400is an apparatus for performing communication with an external device. Here, the external device may be another vehicle, a mobile terminal or a server. The communication apparatus400may be referred to as ‘wireless communication unit.’

The communication apparatus400may perform the communication by including at least one of a transmitting antenna, a receiving antenna, and radio frequency (RF) circuit and RF device for implementing various communication protocols.

The communication apparatus400may include a short-range communication unit410, a location information unit420, a V2X communication unit430, an optical communication unit440, a broadcast transceiver450and a processor470.

According to an embodiment, the communication apparatus400may further include other components in addition to the components described, or may not include some of the components described.

The short-range communication unit410is a unit for facilitating short-range communications. Suitable technologies for implementing such short-range communications include BLUETOOTH™, Radio Frequency IDentification (RFID), Infrared Data Association (IrDA), Ultra-WideBand (UWB), ZigBee, Near Field Communication (NFC), Wireless-Fidelity (Wi-Fi), Wi-Fi Direct, Wireless USB (Wireless Universal Serial Bus), and the like.

The short-range communication unit410may construct short-range area networks to perform short-range communication between the vehicle100and at least one external device.

The location information unit420is a unit for acquiring position information. For example, the location information unit420may include a Global Positioning System (GPS) module or a Differential Global Positioning System (DGPS) module.

The V2X communication unit430is a unit for performing wireless communications with a server (Vehicle to Infra; V2I), another vehicle (Vehicle to Vehicle; V2V), or a pedestrian (Vehicle to Pedestrian; V2P). The V2X communication unit430may include an RF circuit implementing a communication protocol with the infra (V2I), a communication protocol between the vehicles (V2V) and a communication protocol with a pedestrian (V2P).

The optical communication unit440is a unit for performing communication with an external device through the medium of light. The optical communication unit440may include a light-emitting diode for converting an electric signal into an optical signal and sending the optical signal to the exterior, and a photodiode for converting the received optical signal into an electric signal.

According to an embodiment, the light-emitting diode may be integrated with lamps provided on the vehicle100.

The broadcast transceiver450is a unit for receiving a broadcast signal from an external broadcast managing entity or transmitting a broadcast signal to the broadcast managing entity via a broadcast channel. The broadcast channel may include a satellite channel, a terrestrial channel, or both. The broadcast signal may include a TV broadcast signal, a radio broadcast signal and a data broadcast signal.

The processor470may control an overall operation of each unit of the communication apparatus400.

According to an embodiment, the communication apparatus400may include a plurality of processors470or may not include any processor470.

When the processor470is not included in the communication apparatus400, the communication apparatus400may operate according to the control of a processor of another device within the vehicle100or the controller170.

Meanwhile, the communication apparatus400may implement a display apparatus for a vehicle together with the user interface apparatus200. In this instance, the display apparatus for the vehicle may be referred to as a telematics apparatus or an Audio Video Navigation (AVN) apparatus.

The communication apparatus400may operate according to the control of the controller170.

The driving control apparatus500is an apparatus for receiving a user input for driving.

In a manual mode, the vehicle100may be operated based on a signal provided by the driving control apparatus500.

The driving control apparatus500may include a steering input device510, an acceleration input device530and a brake input device570.

The steering input device510may receive an input regarding a driving (ongoing) direction of the vehicle100from the user. The steering input device510is preferably configured in the form of a wheel allowing a steering input in a rotating manner. According to some embodiments, the steering input device may also be configured in a shape of a touch screen, a touchpad or a button.

The acceleration input device530may receive an input for accelerating the vehicle100from the user. The brake input device570may receive an input for braking the vehicle100from the user. Each of the acceleration input device530and the brake input device570is preferably configured in the form of a pedal. According to some embodiments, the acceleration input device or the brake input device may also be configured in a shape of a touch screen, a touchpad or a button.

The driving control apparatus500may operate according to the control of the controller170.

The vehicle operating apparatus600is an apparatus for electrically controlling operations of various devices within the vehicle100.

The vehicle operating apparatus600may include a power train operating unit610, a chassis operating unit620, a door/window operating unit630, a safety apparatus operating unit640, a lamp operating unit650, and an air-conditioner operating unit660.

According to some embodiments, the vehicle operating apparatus600may further include other components in addition to the components described, or may not include some of the components described.

Meanwhile, the vehicle operating apparatus600may include a processor. Each unit of the vehicle operating apparatus600may individually include a processor.

The power train operating unit610may control an operation of a power train device.

The power train operating unit610may include a power source operating portion611and a gearbox operating portion612.

The power source operating portion611may perform a control for a power source of the vehicle100.

For example, upon using a fossil fuel-based engine as the power source, the power source operating portion611may perform an electronic control for the engine. Accordingly, an output torque and the like of the engine can be controlled. The power source operating portion611may adjust the engine output torque according to the control of the controller170.

For example, upon using an electric energy-based motor as the power source, the power source operating portion611may perform a control for the motor. The power source operating portion611may adjust a rotating speed, a torque and the like of the motor according to the control of the controller170.

The gearbox operating portion612may perform a control for a gearbox.

The gearbox operating portion612may adjust a state of the gearbox. The gearbox operating portion612may change the state of the gearbox into drive (forward) (D), reverse (R), neutral (N) or parking (P).

Meanwhile, when an engine is the power source, the gearbox operating portion612may adjust a locked state of a gear in the drive (D) state.

The chassis operating unit620may control an operation of a chassis device.

The chassis operating unit620may include a steering operating portion621, a brake operating portion622and a suspension operating portion623.

The steering operating portion621may perform an electronic control for a steering apparatus within the vehicle100. The steering operating portion621may change a driving direction of the vehicle.

The brake operating portion622may perform an electronic control for a brake apparatus within the vehicle100. For example, the brake operating portion622may control an operation of brakes provided at wheels to reduce speed of the vehicle100.

Meanwhile, the brake operating portion622may individually control each of a plurality of brakes. The brake operating portion622may differently control braking force applied to each of a plurality of wheels.

The suspension operating portion623may perform an electronic control for a suspension apparatus within the vehicle100. For example, the suspension operating portion623may control the suspension apparatus to reduce vibration of the vehicle100when a bump is present on a road.

Meanwhile, the suspension operating portion623may individually control each of a plurality of suspensions.

The door/window operating unit630may perform an electronic control for a door apparatus or a window apparatus within the vehicle100.

The door/window operating unit630may include a door operating portion631and a window operating portion632.

The door operating portion631may perform the control for the door apparatus. The door operating portion631may control opening or closing of a plurality of doors of the vehicle100. The door operating portion631may control opening or closing of a trunk or a tail gate. The door operating portion631may control opening or closing of a sunroof.

The window operating portion632may perform the electronic control for the window apparatus. The window operating portion632may control opening or closing of a plurality of windows of the vehicle100.

The safety apparatus operating unit640may perform an electronic control for various safety apparatuses within the vehicle100.

The safety apparatus operating unit640may include an airbag operating portion641, a seatbelt operating portion642and a pedestrian protecting apparatus operating portion643.

The airbag operating portion641may perform an electronic control for an airbag apparatus within the vehicle100. For example, the airbag operating portion641may control the airbag to be deployed upon a detection of a risk.

The seatbelt operating portion642may perform an electronic control for a seatbelt apparatus within the vehicle100. For example, the seatbelt operating portion642may control passengers to be motionlessly seated in seats110FL,110FR,110RL,110RR using seatbelts upon a detection of a risk.

The pedestrian protecting apparatus operating portion643may perform an electronic control for a hood lift and a pedestrian airbag. For example, the pedestrian protecting apparatus operating portion643may control the hood lift and the pedestrian airbag to be open up upon detecting pedestrian collision.

The lamp operating unit650may perform an electronic control for various lamp apparatuses within the vehicle100.

The air-conditioner operating unit660may perform an electronic control for an air conditioner within the vehicle100. For example, the air-conditioner operating unit660may control the air conditioner to supply cold air into the vehicle when internal temperature of the vehicle is high.

The vehicle operating apparatus600may include a processor. Each unit of the vehicle operating apparatus600may individually include a processor.

The vehicle operating apparatus600may operate according to the control of the controller170.

The operation system700is a system that controls various driving modes of the vehicle100. The operation system700may operate in an autonomous driving mode.

The operation system700may include a driving system710, a parking exit system740and a parking system750.

According to embodiments, the operation system700may further include other components in addition to components to be described, or may not include some of the components to be described.

Meanwhile, the operation system700may include a processor. Each unit of the operation system700may individually include a processor.

According to embodiments, the operation system may be a sub concept of the controller170when it is implemented in a software configuration.

Meanwhile, according to embodiment, the operation system700may be a concept including at least one of the user interface apparatus200, the object detecting apparatus300, the communication apparatus400, the vehicle operating apparatus600and the controller170.

The driving system710may perform driving of the vehicle100.

The driving system710may receive navigation information from a navigation system770, transmit a control signal to the vehicle operating apparatus600, and perform driving of the vehicle100.

The driving system710may receive object information from the object detecting apparatus300, transmit a control signal to the vehicle operating apparatus600and perform driving of the vehicle100.

The driving system710may receive a signal from an external device through the communication apparatus400, transmit a control signal to the vehicle operating apparatus600, and perform driving of the vehicle100.

The parking exit system740may perform an exit of the vehicle100from a parking lot.

The parking exit system740may receive navigation information from the navigation system770, transmit a control signal to the vehicle operating apparatus600, and perform the exit of the vehicle100from the parking lot.

The parking exit system740may receive object information from the object detecting apparatus300, transmit a control signal to the vehicle operating apparatus600and perform the exit of the vehicle100from the parking lot.

The parking exit system740may receive a signal from an external device through the communication apparatus400, transmit a control signal to the vehicle operating apparatus600, and perform the exit of the vehicle100from the parking lot.

The parking system750may perform parking of the vehicle100.

The parking system750may receive navigation information from the navigation system770, transmit a control signal to the vehicle operating apparatus600, and park the vehicle100.

The parking system750may receive object information from the object detecting apparatus300, transmit a control signal to the vehicle operating apparatus600and park the vehicle100.

The parking system750may receive a signal from an external device through the communication apparatus400, transmit a control signal to the vehicle operating apparatus600, and park the vehicle100.

The navigation system770may provide navigation information. The navigation information may include at least one of map information, information regarding a set destination, path information according to the set destination, information regarding various objects on a path, lane information and current location information of the vehicle.

The navigation system770may include a memory and a processor. The memory may store the navigation information. The processor may control an operation of the navigation system770.

According to embodiments, the navigation system770may update prestored information by receiving information from an external device through the communication apparatus400.

According to embodiments, the navigation system770may be classified as a sub component of the user interface apparatus200.

The sensing unit120may sense a status of the vehicle. The sensing unit120may include a posture sensor (e.g., a yaw sensor, a roll sensor, a pitch sensor, etc.), a collision sensor, a wheel sensor, a speed sensor, a tilt sensor, a weight-detecting sensor, a heading sensor, a gyro sensor, a position module, a vehicle forward/backward movement sensor, a battery sensor, a fuel sensor, a tire sensor, a steering sensor by a turn of a handle, a vehicle internal temperature sensor, a vehicle internal humidity sensor, an ultrasonic sensor, an illumination sensor, an accelerator position sensor, a brake pedal position sensor, and the like.

The sensing unit120may acquire sensing signals with respect to vehicle-related information, such as a posture, a collision, an orientation, a position (GPS information), an angle, a speed, an acceleration, a tilt, a forward/backward movement, a battery, a fuel, tires, lamps, internal temperature, internal humidity, a rotated angle of a steering wheel, external illumination, pressure applied to an accelerator, pressure applied to a brake pedal and the like.

The sensing unit120may further include an accelerator sensor, a pressure sensor, an engine speed sensor, an air flow sensor (AFS), an air temperature sensor (ATS), a water temperature sensor (WTS), a throttle position sensor (TPS), a TDC sensor, a crank angle sensor (CAS), and the like.

The interface unit130may serve as a path allowing the vehicle100to interface with various types of external devices connected thereto. For example, the interface unit130may be provided with a port connectable with a mobile terminal, and connected to the mobile terminal through the port. In this instance, the interface unit130may exchange data with the mobile terminal.

Meanwhile, the interface unit130may serve as a path for supplying electric energy to the connected mobile terminal. When the mobile terminal is electrically connected to the interface unit130, the interface unit130supplies electric energy supplied from a power supply unit190to the mobile terminal according to the control of the controller170.

The memory140is electrically connected to the controller170. The memory140may store basic data for units, control data for controlling operations of units and input/output data. The memory140may be a variety of storage devices, such as ROM, RAM, EPROM, a flash drive, a hard drive and the like in a hardware configuration. The memory140may store various data for overall operations of the vehicle100, such as programs for processing or controlling the controller170.

According to embodiments, the memory140may be integrated with the controller170or implemented as a sub component of the controller170.

The controller170may control an overall operation of each unit of the vehicle100. The controller170may be referred to as an Electronic Control Unit (ECU).

The power supply unit190may supply power required for an operation of each component according to the control of the controller170. Specifically, the power supply unit190may receive power supplied from an internal battery of the vehicle, and the like.

At least one processor and the controller170included in the vehicle100may be implemented using at least one of application specific integrated circuits (ASICs), digital signal processors (DSPs), digital signal processing devices (DSPDs), programmable logic devices (PLDs), field programmable gate arrays (FPGAs), processors, controllers, micro controllers, microprocessors, and electric units performing other functions.

Meanwhile, a vehicle100according to the present invention may include a vehicle control device800.

The vehicle control device800may control at least one of the components illustrated inFIG. 7. From this perspective, the vehicle control device800may be the controller170.

With no limit to this, the vehicle control device800may be a separate component, independent of the controller170. When the vehicle control device800is implemented as a component independent of the controller170, the vehicle control device800may be one of electronic components equipped in the vehicle100.

Hereinafter, for the sake of explanation, the vehicle control device800will be described as a separate component, independent of the controller170. In this specification, functions (operations) and control methods illustrated in relation to the vehicle control device800may also be performed by the controller170of the vehicle. That is, every content described in relation to the vehicle control device800may also be applied equally/similarly to the controller170.

Hereinafter, the vehicle control device800disclosed in this specification may include some of the components illustrated inFIG. 7and various components provided in the vehicle. In this specification, for the sake of explanation, separate names and reference numerals will be given to those components illustrated inFIG. 7and the various components provided in the vehicle.

Hereinafter, components included in the vehicle control device800in accordance with one embodiment of the present invention will be described in more detail, with reference to the accompanying drawings.

FIG. 8is a conceptual view illustrating a vehicle control device in accordance with one embodiment of the present invention.

The vehicle control device800according to the present invention may include a communication module810, a display module820, a controller830, and the like.

The communication module810may perform communication with various components illustrated inFIG. 7. For example, the communication module810may receive various information provided through a controller and network (CAN). As another example, the communication module810may perform communications with every communication-allowable device, such as a mobile terminal, a server and another vehicle. This may be referred to as vehicle to everything (V2X) communication. The V2X communication may generally be defined as a technology of exchanging or sharing information, such as traffic condition and the like, through communication with road infrastructures and other vehicles while the vehicle moves.

The display module820may output various information according to the control of the controller830provided in the vehicle control device800. The display module820may be implemented as a head up display (HUD) or a transparent display. When implemented as the transparent display, the display module830may be arranged on a windshield or window of the vehicle. Hereinafter, for the sake of explanation, the present invention will be described under assumption that the display module820is implemented as the HUD, but the display module820may be implemented in various manners of creating augmented reality (AR).

The controller830is configured to control the communication module810and the display module820. In detail, the controller830controls the display module820to change (vary) output information on the basis of information received through the communication module810.

The controller830may receive information related to driving of the vehicle from various sensors provided in the vehicle through the communication module810. In addition to the sensors, the controller830may receive the information related to the driving of the vehicle from every apparatus provided in the vehicle100. Hereinafter, every information received in the vehicle control device is referred to as ‘vehicle driving information.’

The vehicle driving information includes vehicle information and surrounding information regarding the vehicle.

The vehicle information refers to information related to the vehicle itself. The vehicle information, for example, may include a driving speed of the vehicle, a driving direction, an acceleration, an angular speed, a location (GPS), a weight, the number of persons seated in the vehicle, braking force of the vehicle, maximum braking force of the vehicle, air pressure of each wheel, centrifugal force applied to the vehicle, a driving mode of the vehicle (an autonomous driving mode or a manual driving mode), a parking mode of the vehicle (an autonomous parking mode, an automatic parking mode and a manual parking mode), a presence or absence of a user in the vehicle, information related to the user, and the like.

The surrounding information regarding the vehicle refers to information related to other objects located within a predetermined range from the vehicle, and information related to an outside of the vehicle. For example, the surrounding information regarding the vehicle may include a state (frictional force) of a road surface on which the vehicle is currently traveling, the weather, a distance from a front (or rear) vehicle, a relative speed of the front (or rear) vehicle, curvature of a curve when a currently-driving lane is a curve, ambient brightness of the vehicle, information related to an object existing within a reference area (predetermined area) based on the vehicle, an entrance/exit of an object into/from the predetermined area, a presence or absence of a user near the vehicle, information related to the user (e.g., whether or not the user is an authenticated user) and the like.

Also, the surrounding information regarding the vehicle (or surrounding environment information) may include ambient brightness, temperature, a solar position, an adjacent object (person, another vehicle, road sign, etc.), a type of a currently-driving road surface, a landmark, line information, lane information, and information required for autonomous driving/autonomous parking/automatic parking/manual parking modes.

Also, the surrounding information regarding the vehicle may further include a distance up to the vehicle100from an object existing adjacent to the vehicle, a type of the object, a parking-available space for the vehicle, an object (e.g., a parking line, a string, another vehicle, a wall, etc.) for identifying a parking space, and the like.

Hereinafter, various operations of the controller830based on the vehicle driving information will be described with reference to the accompanying drawings.

FIG. 9is a conceptual view illustrating a display module of a vehicle control device in accordance with one embodiment of the present invention.

An HUD is an apparatus that is designed to show driving information on front glass of the vehicle. The HUD has initially been introduced to ensure a pilot's forward field of view, but is currently applied even to a vehicle for reducing accidents.

The HUD prevents driver's distractions by outputting various driving-related information, such as image information for navigating a path of travel, text information for guiding speed and the like, on the windshield glass or ahead of the windshield glass in an augmented reality (AR) form, under the control of the vehicle control device.

Hereinafter, an image output through the HUD is referred to as ‘HUD image.’

The output of the HUD image is implemented in a manner of outputting the HUD image on a position that the driver can view by reflecting an image projected through the display module, such as a projector, by use of a mirror.

As illustrated inFIG. 9, the HUD image is output from the display module910. The output image is then reflected by a mirror920so as to be directed toward the windshield930. In this instance, the HUD image may be projected on the windshield930or a separate screen (not illustrated) which is located between the mirror920and the windshield930.

An entire region on which the display module910can output the HUD image on the windshield930is defined as a display region940. For example, when a yellow background image is output from the display module910, a region on which the yellow background image is output on the windshield930corresponds to the display region940. The display region940may vary according to a setting of the vehicle control device or positions of the driver's eyes.

Meanwhile, a virtual region950for implementing AR may be defined by the display region940and the driver's gaze. The virtual region950refers to a region, on which objects existing in the real world and a virtual image output on the display region940overlap each other, namely, a region recognized by the driver as a coexisting region of the real world and a virtual world. If it is assumed that the display region940is fixed, the virtual region950may vary as the positions of the driver's eyes change because the real world located in a direction that the driver gazes varies according to the positions of the driver's eyes.

Since the HUD image is output on the transparent windshield in the reflecting manner, the driver can view a currently-driving (moving) road while checking the HUD image. In other words, augmented reality (AR) can be implemented by the HUD image.

The AR refers to a technology of bringing and outputting virtual related information with respect to an actual object. Using the AR, the HUD image is output to overlap an actual background which is viewed through the windshield within the vehicle. Accordingly, the driver can check information, such as an address of an actual building, a real estate assessment, facilities provided in the building, customer reviews on the facilities and the like, through the HUD image output using the actual building as a background.

FIG. 10is a conceptual view illustrating a display region formed by the vehicle control device according to the present invention.

A display region1000is formed on the windshield and thereby may distract the driver's attention. To prevent this, the display region1000is formed adjacent to a lower end of the windshield based on a driver seat. In detail, if a virtual reference point is set based on a viewing direction of the driver when the driver seats in the driver seat, a center point of the display region1000is located below the reference point.

The display region1000is generally formed in a rectangular shape. When a height of the display region1000increases, a virtual image is highly likely to be output in front of the driver's field of view so as to obscure an object existing in the real world. When the object is obscured by the virtual image, an accident may be caused by the object.

To solve this problem, the vehicle control device800disclosed herein divides the display region1000into a first region1010and a second region1020. The first region1010occupies a lower portion of the display region1000, and the second region1020occupies an upper portion of the display region1000. That is, the second region1020is located above the first region1010.

The first region1010outputs thereon graphic objects for navigating a path of travel of the vehicle. The first region1010is a region on which information related to the driving of the vehicle is basically output, and corresponds to a region on which at least one graphic object is always displayed.

For example, when an event is generated in an application, a notification icon notifying the event generation may be output on the first region1010. Also, a speed limit of a currently-driving road, a current speed of the vehicle, a turn-by-turn navigation for navigating a path up to a destination, and a remaining distance of turn-by-turn may be output as graphic objects on the first region1010. When a plurality of events are generated in a plurality of applications, a plurality of notification icons may also be output on the first region1010.

The notification icon corresponds to one example of the graphic object.

As illustrated inFIG. 10, an output position of each graphic object may be fixed.

On the other hand, the output positions may flexibly change according to priorities. In this instance, the controller830may calculate priorities of graphic objects, respectively, according to a preset algorithm, and preferentially output a graphic object with a high priority on a center of a screen.

For example, when a first event is generated in a first application and a priority of the first event is lower than a priority of a speed limit of a currently-driving road, the speed limit may be output on the center of the first region1010and a notification icon corresponding to the first event may be output on an edge of the first region1010. As another example, when a second event is generated in a second application and a priority of the second event is higher than the priority of the speed limit, a notification icon corresponding to the second event may be output on the center of the first region1010and the speed limit may be output on the edge of the first region1010.

When the output positions of the graphic objects flexibly change, an animation effect that each graphic object moves may be generated. For example, when a second graphic object is newly output while a first graphic object is output, the first graphic object may be moved from a first position to a second position and the second graphic object may be output on the first position.

Meanwhile, an application is a conception including a widget or a home launcher, and refers to every type of program executable in the vehicle. Therefore, the application may be a program of executing a function, such as an advanced driver assistance system (ADAS), a navigation, the weather, a radio, a web browser, an audio reproduction, a video reproduction, a message transmission and reception, a schedule management or an update of an application.

The event generation, for example, may include a warning generation set in the ADAS, a control generation set in the ADAS, a presence of a missed call, a presence of an application to be updated, a reception of a message, start-on, start-off, an autonomous driving ON/OFF state, pressing of an LCD awake key, an alarm, an incoming call, a missed notification and the like.

As another example, when specific information is received through a wireless communication unit of a terminal, it indicates that an event has been generated in an application associated with the specific information, and the controller detects this. Or, when a brake works, irrespective of pressing of a brake pedal, in response to a detection of an object having collision probability (i.e., collision risk) by more than a predetermined level, it indicates that an event has been generated in an autonomous emergency braking (AEB) application. Or, when a lane departure is detected, it indicates that an event has been generated in a lane keeping assistance system (LKAS) application.

The application may include at least one of forward collision warning (FCW), blind spot detection (BSD), lane departure warning (LDW), pedestrian detection (PD), curve speed warning (CSW), and turn-by-turn navigation (TBT).

Meanwhile, the second region1020which is a region for implementing the AR refers to a region in which detailed information and a warning requiring for the driver's attention is output. The first region1010may always output information thereon whereas the second region1020may not output any information according to situations.

The second region1020, compared with the first region1010, may be defined as a region for outputting relatively important information. The controller830may calculate importance of information to output, and output the information on the second region1020, other than the first region1010, when the calculated importance of the information is higher than a reference. The second region1020may be wider and closer to the driver's eyes than the first region1010. Thus, the driver pays more attention to the second region1020when specific information is output on the second region1020rather than the first region1010.

An edge of the second region1020may be used as a region for notifying an orientation of a specific object. On the basis of the driver, an upper end D1of the second region1020may indicate (show) a front side of the vehicle, and a lower end D2of the second region may indicate a rear side of the vehicle. Continuously, a right end D3of the second region indicates a right side and a left end D4of the second region indicates a left side. Through the edge of the second region, user interfaces by which the driver can intuitively recognize a position of a specific object can be provided.

Hereinafter, a control method of differently processing various information using the display region1000according to situations will be described with reference toFIG. 11.

FIG. 11is a flowchart illustrating a control method by the vehicle control device according to the present invention.

First, the controller830outputs graphic objects for navigating a path of travel of the vehicle on the first region of the display region which is divided into the first region and the second region (S1110). That is, the controller830controls the display module820to output the graphic objects on the first region.

The controller830may receive vehicle driving information from various electronic components equipped in the vehicle, and select graphic objects to output on the first region based on the received vehicle driving information. At least one graphic object selected based on the vehicle driving information is output on the first region. Each of the notification icon, the speed limit, the current speed or the like which have been described inFIG. 10may be output on the first region in the form of the graphic object.

For example, when an event is generated in at least one application provided in the vehicle, the controller830may control the display module820to output a first notification icon notifying the event generation on the first region.

As another example, when collision probability (i.e., probability of colliding) with an object located outside the vehicle meets a first reference, the controller830may control the display module820to output a first graphic object for guiding the collision probability on the first region.

Next, the controller830may output at least one of the graphic objects on the second region according to the driving information (S1120).

The first region corresponds to a region outputting basic information, and the second region corresponds to a region outputting information with importance higher than a reference. In other words, the controller830outputs information with importance lower than the reference on the first region and information with importance higher than the reference on the second region. Accordingly, substantially the same information may be output on the first region or the second region according to the importance.

As one example, when an event is generated in an application, the controller830may output a first notification icon corresponding to the event on the first region. When the event meets a predetermined condition, the controller830controls the display module820to output a second notification icon on the second region.

The first notification icon and the second notification icon may simultaneously be output on the display region. Or, when the second notification icon is output while the first notification icon is output (or when the event meets the predetermined condition), the first notification icon may disappear from the first region.

The first notification icon and the second notification icon have the same shape, but the second notification icon may be greater than the first notification icon in size. Accordingly, when the second notification icon is output on the second region, the driver may intuitively recognize that the importance of the event has become higher. The first notification icon and the second notification icon may alternatively have different shapes from each other.

As another example, when collision probability with an object located outside the vehicle meets a first reference, the controller830may output a first graphic object for guiding (notifying, warning) the collision probability on the first region. Afterwards, when the collision probability meets a second reference different from the first reference, the controller830controls the display module820to output a second graphic object for guiding (notifying, warning) the collision probability on the second region. When the collision probability meets the second reference, the first graphic object may disappear from the first region.

Meanwhile, the controller830may select at least one of the graphic objects output on the first region according to the driving information, and move the selected at least one graphic object from the first region to the second region. For example, an animation effect that the first graphic object moves from the first region to the second region may be generated. In this instance, the second graphic object may be defined as the first graphic object which has moved to the second region. When the first graphic object moves from the first region to the second region, a size of the first graphic object may gradually increase, a color may change or a flickering frequency may change during the movement.

Next, the controller830may control the display module820such that the information output on the second region disappears according to the driving information or a driver's maneuver (S1130).

When the information is continuously output on the second region, it may distract the driver's attention, which may result in interference with the driving. Therefore, the controller830may limitedly output information on the second region, if only necessary.

For example, when the generated event is terminated, the second notification icon output on the second region may disappear. As another example, when the generated event which has met the predetermined condition does not meet the predetermined condition any more, the second notification icon may disappear from the second region and the disappeared first notification icon may appear back on the first region.

While the second graphic object is output on the second region due to an object having collision probability, the collision probability may be lowered from the second reference down to a first reference. In this instance, the second graphic object may disappear from the second region and the first graphic object may reappear on the first region. When the collision probability completely disappears, the first graphic object and the second graphic object may disappear from the display region.

Also, when the driver inputs a maneuver for making the generated event disappear, the second notification icon may disappear from the second region. For example, while a notification message notifying a lane departure is output on the second region in response to a detection of the lane departure, when a driving direction changes into a direction without departing from the lane, the notification message may disappear from the second region. As another example, while a warning message for a forward collision warning is output on the second region, when the user changes a lane or hits a brake, the warning message may disappear from the second region.

Hereinafter, various operations of the vehicle control device according to the aforementioned control method will be described with reference to the accompanying drawings.

FIG. 12is an exemplary view illustrating an operation of the vehicle control device according to the control method ofFIG. 11.

The controller830of the vehicle control device disclosed herein may decide a driving (travel) path heading to a destination based on a current position of the vehicle. Also, the controller830may specify a first road on which the vehicle is currently moving, and search for a second road to change later. When the vehicle has to move from the first road to the second road, the controller830may calculate a remaining distance up to the second road. Here, the first road and the second road refer to roads with different names.

When a remaining distance up to the second road corresponds to a reference distance, the controller830may output a first figure image1210on the second region to guide the movement to the second road. This may be considered as a case where an event is generated in a turn-by-turn navigation application and a figure image corresponding to the event may be output on the second region. Accordingly, the user can intuitively fast recognize a road to move.

Meanwhile, when an event is generated in an application provided in the vehicle, a first notification icon corresponding to the event may be output on the first region. The first notification icon may change into a different image according to a type of application or a type of event generated. Here, the different image refers to an image with a different shape, length, color or the like.

For example, as illustrated inFIG. 12, when collision probability with an object located at the rear of the vehicle meets a first reference, it may indicate that an event has been generated in a blind spot detecting application, and a first notification icon1220notifying a detection of a blind spot may be output on the first region.

Afterwards, when the collision probability with the object increases to meet a second reference higher than the first reference, a second notification icon1230may be output on the second region. The second notification icon1230may differ in at least one of size, flickering frequency and color according to the collision probability. The driver may indirectly recognize a distance from the object based on the at least one.

The second notification icon1230may be output on the first figure image1210, or the first figure image1210may disappear from the second region only when the second notification icon1230is output. When the second notification icon1230and the first figure image1210are simultaneously output, transparency of the first figure image1210may change.

The first figure image1210is controlled to disappear in order for the driver to pay more attention to a warning situation. The first figure image1210is controlled to be continuously output in order for the driver to keep gaze a direction to go forward.

Due to the difference in purpose, the controller830may decide whether or not to output the corresponding notification icon according to importance of an event generated. For example, when the first figure image1210is as important as having to be provided to the user (or when the importance of the first figure image1210is higher than importance of the second notification icon1230), the first figure image1210and the second notification icon1230may simultaneously be output. On the contrary, when the importance of the first figure image1210is lower than a reference, the first figure image1210may disappear and only the second notification icon1230may be output on the second region. The importance is calculated based on vehicle driving information generated from various apparatuses provided in the vehicle.

To prevent redundancy of information, the first notification icon1220may disappear from the first region when the second notification icon1230is output on the second region.

FIGS. 13A and 13Bare exemplary views illustrating operations of the vehicle control device in response to a detection of a blind spot.

As illustrated inFIG. 13A, the controller830may output a first graphic object (or a first notification icon1312) on the first region1010in response to an event generation. In detail, when a second vehicle1320is detected within a predetermined distance from at least one of a rear side and one side of a first vehicle1310, an event of alerting a blind spot is generated in a blind spot detecting application of the first vehicle1310. Responsive to the event generation, the vehicle control device800outputs a first notification icon1312warning the blind spot on the first region1010of the display region1000.

In addition, the controller830controls the display module820to output a warning image1314notifying an orientation of an object corresponding to the event on an edge of the second region1020.

Here, the object corresponding to the event may differ according to a generated event. For example, as illustrated inFIG. 13A, when an event notifying collision probability with an object located at the blind spot is generated, the object may be the second vehicle1320having the collision probability. On the other hand, when an event of warning a lane departure is generated, the object may be a lane to which the vehicle moves. When an event of detecting a pedestrian is generated, the pedestrian corresponds to the object.

The warning image is a bar-like image formed long along the second region1020and may be output adjacent to at least one of upper, lower, right and left ends of the second region1020.

An output position of the warning image differs according to a position of the object. For example, when the object is located at the front of the vehicle, the warning image is output adjacent to the upper end of the edge of the second region1020. When the object is located at the rear of the vehicle, the warning image is output adjacent to the lower end of the edge of the second region1020. As another example, when the object is located at a right rear side, the warning image is output adjacent to the lower end and the rear end of the edge of the second region1020. In this instance, the warning image may have a bent shape based on one corner of the second region1020.

Meanwhile, at least one of a color, a flickering frequency and a size of the warning image may gradually change according to the collision probability with the object. The warning image may also be output in a different manner according to whether or not the second notification icon corresponding to the event is output on the second region1020.

For example, as illustrated inFIG. 13A, when a distance d1from the second vehicle1320meets a first reference, the first notification icon1312is output on the first region1010. And, the warning image1314notifying the position of the second vehicle1320is output adjacent to the right end of the second region1020.

On the other hand, as illustrated inFIG. 13B, when a distance d2from the second vehicle1320meets a second reference, a second notification icon1316is output on the second region1020and a size of a warning image1314′ increases. Accordingly, the driver can more pay attention to an object located at the blind spot. Also, the driver can intuitively recognize where the second vehicle1320is located based on the output position of the warning image.

FIGS. 14A to 14Dare exemplary views illustrating operations of the vehicle control device according to a front collision warning.

As illustrated inFIG. 14A, when a forward collision warning event is generated by a first vehicle1410, a first notification icon1412notifying a forward collision warning may be output on the first region1010of the windshield of the first vehicle1410. In addition, a warning image1414guiding an orientation of another vehicle1420corresponding to a target of the forward collision (i.e., an object with which the first vehicle1410is likely to collide at the front) may be output adjacent to an upper end of the second region1020to correspond to a position of the another vehicle1420.

As illustrated inFIG. 14B, when the forward collision warning event meets a predetermined condition, the second notification icon1416may be output on the second region, and a size, a color and a flickering frequency of a warning image1414′ may differ.

Meanwhile, the controller830may define a virtual region1430based on a display region and the driver's gaze. The virtual region refers to a region on which a virtual image generated by the display module820based on the driver's gaze overlaps the real world. The virtual region1430differs according to positions of the driver's eyes and the display region1000.

As illustrated inFIG. 14C, when an object having collision probability, namely, the second vehicle1420is located in the virtual region1430, the controller830may control the display module820to output an additional warning image1418on a portion of the display region which overlaps the object.

The warning image and the additional warning image may be images having at least one color, and be transparent such that the real world can be viewed by the driver through the warning image and the additional warning image.

The additional warning image1418may be output above the first warning image1414, and at least part of the additional warning image1418may overlap the first warning image1414.

When the additional warning image1418is output while the second notification icon1416is output on the second region1020, the second notification icon1416may disappear from the second region1020. Since the object having the collision probability is recognized by the driver by virtue of the additional warning image1418, the second notification icon1416which is redundant information may disappear from the display region1000.

Meanwhile, as illustrated inFIG. 14D, when at least part of the object having the collision probability is included in the virtual region by more than a predetermined rate, every information output on the second region1020may disappear. In addition, images1440in a shape of a cramp may be output on corners of the second region1020.

When the collision probability disappears or is lowered down to the first reference, the controller830controls the display module820such that the first notification icon1412, the second notification icon1416, the warning image1414and the additional warning image1418disappear from the display region1000.

FIG. 15is an exemplary view illustrating an operation of the vehicle control device according to a lane departure warning.

Even when an event of a lane departure warning is generated, a first notification icon1512may be output on the first region1010. When the lane departure warning event meets a predetermined condition, a second notification icon1516, instead of the first notification icon1512, may be output on the second region1020.

The predetermined condition in the lane departure warning event may be whether or not a distance between the lane and a part of the vehicle is shorter than a reference distance. For example, the first notification icon1512may be output on the first region1010when the distance between the lane and the part of the vehicle meets a first reference, and the second notification icon1516may be output on the second region1020when the distance meets a second reference.

Meanwhile, in the lane departure warning event, the lane may be selected as an object to be warned. For example, when it is determined that the vehicle is to depart from a left lane, the left lane corresponds to the object. On the other hand, when it is determined that the vehicle is to depart from a right lane, the right lane corresponds to the object.

When the object is the left lane, an image1524may be output adjacent to a left end of the second region1020. On the other hand, when the object is the right lane, the warning image may be output adjacent to a right end of the second region1020.

In addition, an object image1522indicating the object may be output on the second region1020. The object image1522may become a different image according to a type of the object. For example, as illustrated inFIG. 15, when the object is the lane, the object image1522may be an image in a shape of a dotted line indicating the lane. Although not illustrated, when the object is a pedestrian or a bicycle, an image having a corresponding shape may be output as an object image on the second region1020.

An output position of the warning image1524may vary according to a distance between the object and a part of the vehicle. In other words, the output position of the warning image1524and the output position of the object image1522reflect a relative distance between the object and the vehicle. For example, when a part of the vehicle has moved over a left lane, the warning image1524and the object image1522may be output in an overlapping manner. Accordingly, the user can recognize that the part of the vehicle has moved over the left lane.

The vehicle control device disclosed herein can effectively provide information to which the driver has to pay attention, by differently processing an output position of information, even though a screen size is limited due to a limitation on the display module itself.

Meanwhile, the vehicle control device disclosed herein can navigate a direction to drive (move) accurately and dynamically. Hereinafter, description will be given in detail of a control method in which the controller830provides a turn-by-turn navigation using the display module820, with reference to the accompanying drawings.

FIGS. 16 to 18Bare conceptual views illustrating a turn-by-turn navigation provided by a vehicle control device in accordance with one embodiment of the present invention.

During heading to a destination, when the vehicle has to move from a first road to a second road and a remaining distance up to the second road corresponds to a reference distance, the controller830may output a first figure image1610on the second region1020to guide an entrance to the second road.

Here, the reference distance refers to a necessary distance for the driver to get ready for entering the second road from the first road, and may vary according to a position of a currently-traveling lane, a driving speed, a presence or absence of an object having collision probability.

The first road and the second road refer to roads with different names. For example, the first road may be the 17th Street Northwest and the second road may be the K Street Northwest.

As moving close to the second road, the controller830may output a second figure image1620on the first figure image1610in a manner of gradually obscuring the first figure image1610. The size of the second figure image1620gradually increases according to the remaining distance up to the second road.

The driver may recognize the reference distance and a direction to travel based on the first figure image1610, and also recognize the remaining distance based on the second figure image1620.

Meanwhile, as illustrated inFIG. 17A, when the vehicle has to move to a third road immediately after entering the second road from the first road, the first figure image1710corresponding to the second road and a third figure image1720corresponding to the third road may be simultaneously output on the second region1020.

Output positions of the first figure image1710and the third figure image1720may be decided by an order of roads that the vehicle should move and orientations of the roads. Because the second road first appears, the first figure image1710is output on the center of the second region1020. In addition, since the second road is located on the right of the first road, the third figure image1720is located on the right of the first figure image1710. Unlike the positions illustrated in the drawing, when the second road is located on the left of the first road, the third figure image1720is located on the left of the first figure image1710.

Referring to the figure images illustrated inFIG. 17A, the driver can intuitively recognize the need of a left turn after a right turn.

As the remaining distance up to the second road is reduced, as illustrated inFIG. 17B, the second figure image1712obscuring the first figure image1710is output and the size of the second figure image1712gradually increases. When the vehicle arrives at the second road, as illustrated inFIG. 17C, the first and second figure images1710and1712disappear from the second region1020and only the third figure image1720is output on the second region1020. In this instance, the third figure image1720is moved to the center of the second region1020.

Meanwhile, one end of the first figure image points at the position of the second road. The first figure image is transformed such that the one end of the first figure image points at the position of the second road.

When the vehicle has to make a right turn in order to move from the first road to the second road, the first figure image guides (navigates) the right turn. For example, as illustrated inFIG. 18A, a triangle1820pointing at a right direction may be the first figure image. In this instance, a right end (vertex) of the triangle which guides a navigation point1830is transformed (1820→1820′→1820″) according to the position of a vehicle1810.

As another example, as illustrated inFIG. 18B, one end of a triangle may point at the navigation point itself, and the first figure image may also rotate (1822→1822′→1822″), in response to the movement of the vehicle.

As the graphic object output on the first region is output on the second region1020, those figure images may disappear from the second region1020or the graphic object may be output on those figure images.

Meanwhile, the vehicle control device disclosed herein may control the display module820in different manners according to a driving mode of the vehicle. Here, the driving mode of the vehicle refers to an autonomous driving mode of changing an acceleration and a driving direction according to a preset algorithm, or a manual driving mode of changing an acceleration or a driving direction according to a driver's maneuver.

FIGS. 19 and 20are exemplary views illustrating operations of the vehicle control device during autonomous driving.

When autonomous driving is started according to the autonomous driving mode, the driver does not have to perform driving. However, it is needed to notify the driver that the autonomous driving is executed well.

When the autonomous driving is started, the vehicle control device disclosed herein may output an autonomous driving image1900on the display region1000to notify the currently-executed autonomous driving. The autonomous driving image1900may be a bar-like image surrounding edges, and include an upper end image, a lower end image, a right end image and a left end image.

When an acceleration is executed by the autonomous driving, an acceleration image1910for guiding (notifying) the acceleration may be output on the display module1000in a different manner according to an accelerated degree.

In addition, even when a deceleration is executed by the autonomous driving, a deceleration image1920for guiding the deceleration may be output on the display module1000in a different manner according to a decelerated degree.

For the deceleration, the reason of the deceleration should be notified to a passenger who has got in the vehicle. In order to guide (notify) a position of an object having collision probability, the controller830may process the autonomous driving image1900in a different manner according to the position of the object.

For example, when deceleration is caused due to an object located at the front, information indicating that the deceleration is currently executed due to the front object can be output by changing a color, size or flickering frequency of the upper image of the autonomous driving image1900. The passenger can recognize the presence of the front object through the autonomous driving image1900.

When a lane change or a movement from a first road to a second road is executed by the autonomous driving, a lane change image2010for guiding such movement may be output on the display region1000. When a reference distance remains up to an expected point to change a lane or the second road, the lane change image2010is output on the display region1000. Afterwards, as the vehicle moves, a remaining distance image2012for indicating a remaining distance is output on the lane change image2010. Also, a lane image2020indicating the lane to change may additionally be output.

When the lane change is succeeded, the lane change image2010, the remaining distance image2012and the lane image2020which have been output on the display region1000disappear from the display region1000.

When the lane change is failed, a lane change failure image2030notifying the lane change failure is output. In addition, the reason of the lane change failure may be explained using the autonomous driving image1900. For example, when the lane change is failed due to a specific object detected on the right, at least one of color, size and flickering frequency of the right end image may change in order to notify the specific object detected on the right.

Since various types of information are output on the display region of the windshield during the autonomous driving, the driver can check whether or not the autonomous driving is executed well through information output on the windshield when vehicle failure (or vehicle abnormality) is detected. Specifically, for the deceleration and the lane change, it can be intuitively checked which object causes the deceleration, to which direction the lane is to change, which object causes the failure of the lane change and the like.

Meanwhile, the application range of the present invention can extend up to a vehicle having the vehicle control device described with reference toFIGS. 8 to 19.

The present invention can be implemented as computer-readable codes (applications or software) in a program-recorded medium. The control method of the autonomous driving vehicle can be implemented by the codes stored in the memory and the like.

The computer-readable medium may include all types of recording devices each storing data readable by a computer system. Examples of such computer-readable media may include hard disk drive (HDD), solid state disk (SSD), silicon disk drive (SDD), ROM, RAM, CD-ROM, magnetic tape, floppy disk, optical data storage element and the like. Also, the computer-readable medium may also be implemented as a format of carrier wave (e.g., transmission via an Internet). The computer may include a processor or a controller. Therefore, it should also be understood that the above-described embodiments are not limited by any of the details of the foregoing description, unless otherwise specified, but rather should be construed broadly within its scope as defined in the appended claims, and therefore all changes and modifications that fall within the metes and bounds of the claims, or equivalents of such metes and bounds are therefore intended to be embraced by the appended claims.