VEHICLE SIDE-REAR WARNING DEVICE AND METHOD USING THE SAME

A vehicle side-rear warning device includes a camera which records a side-rear of a vehicle, a sensor, a monitor which displays an image recorded by the camera, and a side-rear warning system control unit. An image signal recorded by the camera and a signal sensed by the sensor are input to the side-rear warning system control unit, which determines whether an object is located at a predetermined area of the side-rear of the vehicle based on the input image signal and the input signal sensed by the sensor. When the object is located within a predetermined area of the side-rear of the vehicle, the side-rear warning system control unit outputs a warning signal. The monitor displays the image signal received from the side-rear warning system control unit.

CROSS REFERENCE TO RELATED APPLICATIONS

Priority is claimed under 35 U.S.C. § 119 to Korean Patent Application No. 10-2016-0166534, filed Dec. 8, 2016, the disclosure of which is incorporated by reference in its entirety.

BACKGROUND

Field

The present disclosure relates to a device which senses an object located on the side-rear of a vehicle and warns the driver of the vehicle, and relates to a warning method using the same. More particularly, the present disclosure relates to a device which determines whether or not an object is located at a predetermined area of the side-rear of the vehicle by using a camera or a sensor and then warns the driver of the vehicle, and relates to a warning method using the same.

Description of the Related Art

A camera, a radar, a lidar, an infrared sensor, etc., are used to recognize the ambient conditions of a vehicle. The sensor is used in a system that recognizes a risk of collision of the vehicle and prevents a traffic accident by generating a warning sound. Also, a radar, an ultrasonic sensor, etc., are used in a system that detects the position and speed of other vehicles traveling on the side-rear of the vehicle and warns a driver. Additionally, they are also used in a system that determines what an object in front of the vehicle is, how far the object is away from the vehicle, etc., and assists the driver's driving.

The above conventional technology has been functioning as an assist device which detects a vehicle in front of or behind a traveling vehicle, pedestrians, obstacles, etc., and assists the driver's driving. In a modern vehicle technology, a driver's driving assistance system is increasing and the weight of the vehicle is reducing. In accordance with the trend of being equipped with electric and electronic parts and of becoming lighter, there is a requirement for growing the driving assistance function and for relatively reducing the weight of the vehicle.

SUMMARY

One embodiment is a vehicle side-rear warning device that includes: a camera which records a side-rear of a vehicle; a sensor; a monitor which displays an image recorded by the camera; and a side-rear warning system control unit. An image signal recorded by the camera and a signal sensed by the sensor are input to the side-rear warning system control unit. The side-rear warning system control unit determines whether an object is located at a predetermined area of the side-rear of the vehicle or not on the basis of the input image signal and the input signal sensed by the sensor. When it is determined that the object is located at a predetermined area of the side-rear of the vehicle, the side-rear warning system control unit outputs a warning signal, and when it is determined that the object is not located at a predetermined area of the side-rear of the vehicle, the side-rear warning system control unit does not output the warning signal. The monitor displays the image signal received from the side-rear warning system control unit.

Another embodiment is a warning method of the side-rear warning device of a vehicle. The warning method includes: extracting a detection target of an object from a side-rear image of the vehicle recorded by a camera disposed on the vehicle; calculating a distance between the vehicle and the object from a signal sensed by a sensor disposed on the vehicle; determining that a threat level of the object is a first threat level when the size of pixels included in the detection target is equal to or larger than a first set value and the calculated distance is equal to or less than a first distance value; displaying, when it is not determined that the threat level of the object is the first threat level, the recorded image on a monitor disposed in the vehicle without outputting a warning signal; determining that the threat level of the object is a second threat level when it is determined that the threat level of the object is the first threat level and when the size of pixels included in the detection target is equal to or larger than a second set value larger than the first set value and the calculated distance is equal to or less than a second distance value less than the first distance value; displaying the recorded image on the monitor and outputting a first warning signal, when it is not determined that the threat level of the object is the second threat level; and displaying the recorded image on the monitor and outputting a second warning signal, when it is determined that the threat level of the object is the second threat level.

Further another embodiment is a warning method of the side-rear warning device of a vehicle. The warning method includes: extracting a detection target of an object from a side-rear image of the vehicle recorded by a camera disposed on the vehicle; calculating a distance between the vehicle and the object from a signal sensed by a sensor disposed on the vehicle; determining that a threat level of the object is a first threat level when the size of pixels included in the detection target is equal to or larger than a first set value or the calculated distance is equal to or less than a first distance value; displaying, when it is not determined that the threat level of the object is the first threat level, the recorded image on a monitor disposed in the vehicle without outputting a warning signal; determining that the threat level of the object is a second threat level when it is determined that the threat level of the object is the first threat level and when the size of pixels included in the detection target is equal to or larger than a second set value larger than the first set value or the calculated distance is equal to or less than a second distance value less than the first distance value; displaying the recorded image on the monitor and outputting a first warning signal, when it is not determined that the threat level of the object is the second threat level; and displaying the recorded image on the monitor and outputting a second warning signal, when it is determined that the threat level of the object is the second threat level.

DETAILED DESCRIPTION

The objects, particular advantages and novel features of the present invention will be more apparent from the following descriptions and exemplary embodiments which are related to the accompanying drawings. In the drawings, the same or similar elements are denoted by the same reference numerals even though they are depicted in different drawings. While terms such as the first and the second, etc., can be used to describe various components, the components are not limited by the terms mentioned above. The terms are used only for distinguishing between one component and other components. Throughout the description of the present invention, the detailed description of known technologies incorporated herein will be omitted when it may make the subject matter of the present invention unclear.

The embodiment of the present invention will be described in detail with reference to the accompanying drawings.FIGS. 1 and 2are block diagrams showing a configuration of a vehicle side-rear warning device according to an embodiment of the present invention.FIGS. 5ato 5eare views showing a camera included in the vehicle side-rear warning device according to the embodiment of the present invention.FIGS. 6ato 6care views showing a monitor included in the vehicle side-rear warning device according to the embodiment of the present invention.FIGS. 7aand 7bare views showing the display type of the monitor included in the vehicle side-rear warning device according to the embodiment of the present invention.FIG. 8is a view showing a sensor included in the vehicle side-rear warning device according to the embodiment of the present invention.

As shown inFIGS. 1 and 2, the vehicle side-rear warning device1according to the embodiment of the present invention may include a camera100, a sensor200, a side-rear warning system control unit1000, and a monitor300. The camera100may record the side-rear of the vehicle. The sensor200may sense a distance between the vehicle and an object located on the side-rear of the vehicle. The monitor300may display a side-rear image of the vehicle recorded by the camera100. Here, an image signal recorded by the camera100and a signal sensed by the sensor200may be input to the side-rear warning system control unit1000. The side-rear warning system control unit1000may process the image signal received from the camera100by using an image processing algorithm and may determine whether or not the object is located at a predetermined area of the side-rear of the vehicle, through a threat detection algorithm on the basis of both the image signal received from the camera100and the signal received from the sensor. Specifically, when it is determined that the object is located at a predetermined area of the side-rear of the vehicle, the side-rear warning system control unit1000may output a warning signal. Here, the warning signal may include a visual warning signal, an auditory warning signal, and/or a tactile warning signal. Also, when it is determined that the object is not located at a predetermined area of the side-rear of the vehicle, the side-rear warning system control unit1000may not output the warning signal.

As shown inFIGS. 5ato 5c, the camera100according to the embodiment of the present invention may be disposed on a side-view mirror of the vehicle. Specifically, as shown inFIG. 5a, the camera100may be formed integrally with the side-view mirror. Also, as shown inFIG. 5b, the camera100may be formed separately from the side-view mirror and disposed on one side of the side-view mirror. Also, as shown inFIG. 5c, the side-view mirror may include only the camera100without the mirror.

As shown inFIG. 8, the sensor200according to the embodiment of the present invention may be disposed on the side-rear surface of the vehicle. Specifically, the sensor200may include an ultrasonic sensor, a radar, a lidar, an infrared sensor. Specifically, when the sensor200is an ultrasonic sensor, an ultrasonic wave launched from the ultrasonic sensor hits an object and is reflected, and then the ultrasonic sensor receives the reflected ultrasonic wave. Then, the ultrasonic sensor measures a time period from when the ultrasonic wave is launched to when the ultrasonic wave is received, thereby measuring a distance between the object and the ultrasonic sensor. Also, as in the case of the ultrasonic sensor, when the sensor200is a radar, an electromagnetic wave launched from the radar is reflected, and then the radar receives the reflected electromagnetic wave. Then, the radar measures a time period from when the electromagnetic wave is launched to when the electromagnetic wave is received, thereby measuring a distance between the object and the radar.

As shown inFIGS. 6ato 6c, the monitor300according to the embodiment of the present invention is disposed on a position for a driver to check the monitor300. The monitor300may display the side-rear image of the vehicle recorded by the camera100.

Specifically, as shown inFIG. 1, the camera100may include a first camera110and a second camera120. The sensor200may include a first sensor210and a second sensor220. The monitor300may include a first monitor310and a second monitor320. Here, the first camera110may be disposed on a left side-view mirror of the vehicle and may record the left side-rear of the vehicle. The second camera120may be disposed on a right side-view mirror of the vehicle and may record the right side-rear of the vehicle.

As shown inFIG. 8, the first sensor210may be disposed on the left of the rear of the vehicle10and may sense a distance between the vehicle and the object located on the left of the side-rear of the vehicle. The second sensor220may be disposed on the right of the rear of the vehicle10and may sense a distance between the vehicle and the object located on the right of the side-rear of the vehicle.FIG. 8describes that the first sensor210and the second sensor220are disposed on the rear of the vehicle10. However, the embodiment of the present invention is no limit to this. The first sensor210, like the first camera110, may be disposed on the left side-view mirror or may be disposed adjacent to the left side-view mirror. The second sensor220, like the second camera120, may be disposed on the right side-view mirror or may be disposed adjacent to the right side-view mirror.

As shown inFIG. 6a, the first monitor310may be disposed on the lower portion of a left A-pillar of the driver within the vehicle and may display an image recorded by the first camera110. The second monitor320may be disposed on the lower portion of a right A-pillar of the driver within the vehicle and may display an image recorded by the second camera120. In this case, the driver feels like existing side-view mirrors are disposed because the first monitor310and the second monitor320are disposed on both sides of the driver. Therefore, the driver can feel minimal awkwardness.

As shown inFIG. 2, the camera100may further include a third camera130. Here, the third camera130may be disposed on the rear of the vehicle and record the straight rear of the vehicle. Also, the sensor200may further include a third sensor230. Here, the third sensor230may be disposed on the straight rear of the vehicle and may sense a distance between the vehicle and the object located on the straight rear of the vehicle. Also, images recorded by the first camera110, the second camera120, and the third camera130may be all displayed on one monitor300.

In this case, as shown inFIG. 6b, the monitor300may be disposed in front of the driver and on the dashboard of the vehicle. Also, as shown inFIG. 6c, the monitor300may be disposed on the room mirror of the vehicle. Also, the monitor300may be built in the dashboard of the vehicle. As shown inFIG. 7a, the left side-rear image of the vehicle recorded by the first camera110may be displayed on a left area301of the monitor300, and the right side-rear image of the vehicle recorded by the second camera120may be displayed on a right area302of the monitor300. Also, as shown inFIG. 7b, the left side-rear image of the vehicle recorded by the first camera110may be displayed on the left area301of the monitor300, and the right side-rear image of the vehicle recorded by the second camera120may be displayed on the right area302of the monitor300, and the straight rear image of the vehicle recorded by the third camera130may be displayed on a middle area303of the monitor300. In this case, the driver is able to check both the left side-rear image and the right side-rear image of the vehicle through one monitor300without turning his/her head.

Also, as shown inFIGS. 5dand 5e, the camera10may include a wide angle camera140which uses a wide angle lens such as a fisheye lens. Specifically, the wide angle camera140may be, as shown inFIG. 5d, disposed on the rear window of the vehicle10or may be, as shown inFIG. 5e, disposed on the top surface of the vehicle10. When the wide angle camera140is, as shown inFIG. 5d, disposed on the rear window of the vehicle10, the wide angle camera140may be disposed within the vehicle10and the rear of the vehicle10may be recorded in more detail. Also, when the wide angle camera140is, as shown inFIG. 5e, disposed on the top surface of the vehicle10, the wide angle camera140may be disposed on a more forward portion of the vehicle, so that the side recording area of the vehicle becomes larger. As such, by recording the side-rear of the vehicle10by using the wide angle camera140, it is possible to record a panoramic image including both the left side-rear area and the right side-rear area of the vehicle. Therefore, the image of the left side-rear area and the image of the right side-rear area are extracted from the image recorded by the wide angle camera140, so that the image of the left side-rear area may be displayed on the first monitor310and the image of the right side-rear area may be displayed on the second monitor320. Likewise, as shown inFIG. 7b, the extracted image of the left side-rear area may be displayed on the left area301of the monitor300, the extracted image of the right side-rear area may be displayed on the right area302, and the extracted image of the straight rear area may be displayed on the middle area303.

Also, both the visual warning signal and the auditory warning signal may be output through the monitor300. Otherwise, the visual warning signal may be output through the monitor300and the auditory warning signal may be output through a speaker (not shown), buzzer, etc., provided separately from the monitor300. Also, the tactile warning signal may be output through a vibration device disposed on the steering, sheet, etc., of the vehicle10.

FIG. 3is a view showing the vehicle side-rear warning device according to the embodiment of the present invention.FIG. 4is a block diagram showing an image handling and threat detection module of the vehicle side-rear warning device according to the embodiment of the present invention.

As shown inFIG. 3, the side-rear warning system control unit1000included in the vehicle side-rear warning device1according to the embodiment of the present invention may include an image interface1100, a sensor interface1200, an image processing module1300, an image handling and threat detection module1400, an warning determination module1500, a display controller1600, and an audio controller1700. The image signal recorded by the camera100may be input to the image interface1100, and then the image signal which has passed through the image interface1100may be transmitted to the image processing module1300. The image signal transmitted to the image processing module1300may be transmitted to the image handling and threat detection module1400. The image signal which has been processed by the image handling and threat detection module1400and includes information on the threat detection may be transmitted to the warning determination module1500. Also, the signal sensed by the sensor200is input to the sensor interface1200, and the signal which has passed through the sensor interface1200may be transmitted to the warning determination module1500. Here, if the warning determination module1500determines that the object exists on the side-rear of the vehicle, the warning determination module1500may generate a warning signal and may transmit the image signal including the visual warning signal to the display controller1600or may transmit the auditory warning signal to the audio controller1700. Also, the auditory warning signal may be transmitted to a vibration device controller (not shown). If the warning determination module1500determines that the object does not exist on the side-rear of the vehicle, the warning determination module1500may transmit the image signal including no visual warning signal to the display controller1600. Then, the image signal and/or the audio signal input to the display controller1600and/or the audio controller1700may be transmitted to the monitor300.

Here, as shown inFIG. 4, the image handling and threat detection module1400of the vehicle side-rear warning device according to the embodiment of the present invention may include an image handling module1410and a threat detection module1420. Specifically, the image handling module1410may include an image input module1411, a management module1412, and an image output module1413. The threat detection module1420may include a preprocessing module1421, an object extraction module1422, and a threat factor determination module1423. The image signal which is input to the image handling and threat detection module1400through the image processing module1300may be input to the image input module1411of the image handling module1410. Then, the input image signal may be transmitted to the management module1412of the image handling module1410and to the preprocessing module1421of the threat detection module1420. The management module1412of the image handling module1410manages the image handling module1410. The management module1412may manage the image signal which is input to the image input module1411and the image signal which is output from the image output module1413. The image signal input to the preprocessing module1421of the threat detection module1420may go through the pre-process and then be transmitted to the object extraction module1422. The object extraction module1422may extract the object from the input image. Subsequently, a signal including information on the object may be transmitted to the threat factor determination module1423. The threat factor determination module1423determines whether the input object is a threat factor or not in accordance with a predetermined criterion. Then, a signal including information on whether the object is a threat factor or not may be transmitted to the image output module1413of the image handling module1410. The image output module1413of the image handling module1410may transmit the image signal and the signal including the information on the threat factor to the warning determination module1500.

FIG. 9is a view for describing that the threat detection module according to the embodiment of the present invention determines whether the object included in the image is a threat factor or not.FIGS. 10aand 10bare views showing that the warning signal and the image are displayed on the monitor according to the embodiment of the present invention.FIGS. 11ato 11dare views for describing a method for detecting the object included in the image recorded by the camera according to the embodiment of the present invention.FIGS. 12aand 12bare views for describing whether the object in the image recorded by the camera according to the embodiment of the present invention is a threat factor or not in accordance with the size of a detection target.

As shown inFIG. 9, when the object included in the image is located at a predetermined area, the threat detection module1420may determine that the object is a threat factor. Specifically, the threat detection module1420determines whether the object is a threat factor or not by determining whether or not the object is parallel with the front edge of the vehicle10and is located within a first area “B” that is 3 M to 30 M away from the rear of the vehicle10, or it is determined whether or not the object is parallel with the front edge of the vehicle10and is located within a second area “A” that is from a position located at the center of the sight range of 95% and is within 3 M from the rear of the vehicle10. Then, the warning determination module1500may determine whether or not the object exists on the side-rear of the vehicle, on the basis of the image signal output from the image handling and threat detection module1400, the signal including the information on the threat factor, and the sensed signal output from the sensor interface1200. Specifically, when the warning determination module1500determines that the object is located within the first area “B” on the basis of the signal including the information on the threat factor, which has been received from the image handling and threat detection module1400, and when the warning determination module1500determines that the object is located within the first area “B” on the basis of the sensed signal, the warning determination module1500determines that the threat level of the object is a first threat level. When the warning determination module1500determines that the object is located farther than the first area “B” on the basis of at least one of the two signals, the warning determination module1500does not determine that the threat level of the object is the first threat level. Also, when the warning determination module1500determines that the object is located within the second area “A” on the basis of the signal including the information on the threat factor, which has been received from the image handling and threat detection module1400, and when the warning determination module1500determines that the object is located within the second area “A” on the basis of the sensed signal, the warning determination module1500determines that the threat level of the object is a second threat level. When the warning determination module1500determines that the object is located farther than the second area “A” on the basis of at least one of the two signals, the warning determination module1500does not determine that the threat level of the object is the second threat level. As such, only when the warning determination module1500determines that the threat factor corresponds to the threat level by using both the two signals, that is, the image signal and the sensing signal, the warning determination module1500determines that the threat factor exists. Therefore, whether the threat factor exists or not can be more accurately determined.

As described above, when the warning determination module1500determines whether or not the object exists on the side-rear of the vehicle and, as a result, determines that the object exists on the side-rear of the vehicle, the visual warning signal and the recorded image may be displayed on the monitor300. Specifically, when the warning determination module1500determines that a vehicle approaching to the right side of the vehicle is located at the second area “A” shown inFIG. 9, in other words, when the warning determination module1500determines that the threat level of the approaching vehicle is the second threat level, a second visual warning signal may be, as shown inFIG. 10a, displayed on a warning area321included in the edge of the second monitor320. Likewise, when the warning determination module1500determines that a vehicle approaching to the left side of the vehicle is located at the first area “B” shown inFIG. 9, in other words, when the warning determination module1500determines that the threat level of the approaching vehicle is the first threat level, a first visual warning signal may be, as shown inFIG. 10b, displayed on a warning area311included in the edge of the first monitor310. Here, the first visual warning signal corresponding to the first threat level may be different from the second visual warning signal corresponding to the second threat level. Specifically, when it is determined that there is no threat factor, the warning areas311and321may be represented with by a green color. When it is determined that the threat level of the object is the first threat level, the warning areas311and321may be represented with by an orange color. When it is determined that the threat level of the object is the second threat level, the warning areas311and321may be represented with by a red color. Also, when the second visual warning signal is brighter than the first visual warning signal or when the visual warning signal is repeated with a period, the period of the second visual warning signal may be less than the period of the first visual warning signal. Likewise, a first auditory warning signal corresponding to the first threat level may be different from a second auditory warning signal corresponding to the second threat level. Specifically, when the volume of the second auditory warning signal is greater than the volume of the first auditory warning signal or when the auditory warning signal is repeated with a period, the period of the second auditory warning signal may be less than the period of the first auditory warning signal. Likewise, a first tactile warning signal corresponding to the first threat level may be different from a second tactile warning signal corresponding to the second threat level. Specifically, when the magnitude of vibration of the second tactile warning signal is greater than the magnitude of the vibration of the first tactile warning signal or when the tactile warning signal is repeated with a period, the period of the second tactile warning signal may be less than the period of the first tactile warning signal.

Here, the image signal recorded without the visual warning signal may be displayed on the monitor300during normal driving, and the visual warning signal may be output only when the turn signal lamp of the vehicle is turned on. Similarly, the auditory warning signal and/or the tactile warning signal may not be output during normal driving, and may be output only when the turn signal lamp of the vehicle is turned on. When, as described above, the warning signal is output only when the turn signal lamp of the vehicle is turned on, the warning signal can be output only when there is a requirement for the information on whether the object exists on the side-rear of the vehicle or not, for example, a lane change, etc. Also, when there is no requirement for the information on whether the object exists on the side-rear of the vehicle or not, the warning signal is not output.

Also, the warning signal may be output only when the speed of the vehicle10is equal to or greater than a predetermined speed, and the warning signal may not be output when the speed of the vehicle10is less than the predetermined speed. The speed information of the vehicle10is used to determine whether the vehicle10is traveling or not. The speed information may be obtained from the vehicle10or may be obtained from other sensors such as an acceleration sensor within the system. Such a predetermined speed may be set by the driver.

Hereinafter, a detailed method in which the threat detection module1420determines whether the object is the threat factor or not will be described.

As shown inFIGS. 11ato11d,the threat detection module1420may extract the object from an image400and may extract a detection target410from the object. Here, the threat detection module1420first may designate an interest area in the image400and then may extract the object. The interest area may be an area excluding the area where the object cannot be located in the image400. The area where the object cannot be located may be an area corresponding to the sky, an area corresponding to the vehicle10, etc. When the object is extracted after the interest area is designated in the image400, it is possible to reduce a computing time period required for extracting the object because data can be analyzed and processed only for the area where the object can be located. The detection target410may be, as shown inFIGS. 11aor11c,the front side of the object. Also, the detection target410may be, as shown inFIGS. 11bor11d,the wheel of the object. Here, the vehicle side-rear warning device according to the embodiment of the present invention may include a memory (not shown) that stores the size and/or shape of the portion corresponding to the various detection targets410of the vehicle. Specifically, in an image obtained by the camera100of the present invention that has recorded a vehicle of a specific model approaching the vehicle10, the memory may store the size and/or shape of the detection target410corresponding to the front side or wheel of the vehicle of a specific model. Here, the size of the detection target410may be stored as the size of the pixels that the area of the detection target410occupies in the image400. Also, such a size of the detection target410may be also classified according to the type of a vehicle approaching the vehicle10and stored. Specifically, the approaching vehicle is divided into three types of a truck, a bus, and a sedan, and then the size of the detection target410corresponding to each of the vehicle types may be stored. Here, the size of the detection target410may be stored to correspond to the first area “B” and the second area “A”. Specifically, for example, as shown inFIG. 12a, the size of the detection target410of a sedan, which corresponds to the second area “A”, may be equal to or larger than 160×160. As shown inFIG. 12b, the size of the detection target410of the sedan, which corresponds to the first area “B”, may be from 40×40 to 160×160.

FIGS. 13aand 13bare flowcharts for describing a warning method of the vehicle side-rear warning device according to the embodiment of the present invention.

As shown inFIG. 13a, the detection target410of the object is extracted from the side-rear image400of the vehicle recorded by the camera100disposed on the vehicle (S100). A distance between the vehicle10and the object is calculated from the signal sensed by the sensor200disposed on the vehicle (S200).

It is determined that the threat level of the object is the first threat level when the size of pixels of the object included in the detection target410is equal to or larger than a first set value and the calculated distance between the vehicle and the object is equal to or less than a first distance value (S300). Specifically, it is determined whether or not the size of the pixels included in the detection target410is equal to or larger than 40×40, i.e., the size of the pixels of the detection target410, which corresponds to the first area “B” that is within 30 M from the rear of the vehicle10, and it is determined whether the distance between the vehicle10and the object calculated from the signal sensed by the sensor200is within 30 M or not.

If at least any one of the two conditions is not satisfied, the warning signal is not output and the recorded image400is output through the monitor300(S400).

If the two conditions are all satisfied, it is determined that the threat level of the object is the first threat level. And then it is determined that the threat level of the object is the second threat level when the size of pixels included in the detection target410is equal to or larger than a second set value and the calculated distance between the vehicle and the object is equal to or less than a second distance value (S500). Here, the first set value may be less than the second set value, and the first distance value may be larger than the second distance value. Specifically, it is determined whether or not the size of the pixels included in the detection target410is equal to or larger than 160×160, i.e., the size of the pixels of the detection target410, which corresponds to the second area “A” that is parallel with the front edge of the vehicle10and is from a position located at the center of the sight range of 95% and is within 3 M from the rear of the vehicle10, and it is determined whether the distance between the vehicle10and the object calculated from the signal sensed by the sensor200is within 3 M or not.

If at least one of the two conditions is not satisfied, it is determined that the object exists in the first area “B”, the first warning signal is output, and the recorded image400is output through the monitor300(S600).

If the two conditions are all satisfied, it is determined whether the object exists in the second area “A”, the second warning signal is output, and the recorded image400is output through the monitor300(S700).

As shown inFIG. 13b, the detection target410of the object is extracted from the side-rear image400of the vehicle recorded by the camera100disposed on the vehicle (S100′). A distance between the vehicle10and the object is calculated from the signal sensed by the sensor200disposed on the vehicle (S200′).

It is determined that the threat level of the object is the first threat level when the size of pixels of the object included in the detection target410is equal to or larger than a first set value or the calculated distance between the vehicle and the object is equal to or less than a first distance value (S300′). Specifically, it is determined whether or not the size of the pixels included in the detection target410is equal to or larger than 40×40, i.e., the size of the pixels of the detection target410, which corresponds to the first area “B” that is within 30 M from the rear of the vehicle10, or it is determined whether the distance between the vehicle10and the object calculated from the signal sensed by the sensor200is within 30 M or not.

If neither of the two conditions are satisfied, the warning signal is not output and the recorded image400is output through the monitor300(S400′).

If at least any one of the two conditions is satisfied, it is determined that the threat level of the object is the first threat level. And then it is determined that the threat level of the object is the second threat level when the size of pixels included in the detection target410is equal to or larger than a second set value or the calculated distance between the vehicle and the object is equal to or less than a second distance value (S500′). Here, the first set value may be less than the second set value, and the first distance value may be larger than the second distance value. Specifically, it is determined whether or not the size of the pixels included in the detection target410is equal to or larger than 160×160, i.e., the size of the pixels of the detection target410, which corresponds to the second area “A” that is parallel with the front edge of the vehicle10and is from a position located at the center of the sight range of 95% and is within 3 M from the rear of the vehicle10, or it is determined whether the distance between the vehicle10and the object calculated from the signal sensed by the sensor200is within 3 M or not.

If neither of the two conditions are satisfied, it is determined that the object exists in the first area “B”, the first warning signal is output, and the recorded image400is output through the monitor300(S600′).

If at least any one of the two conditions is satisfied, it is determined whether the object exists in the second area “A”, the second warning signal is output, and the recorded image400is output through the monitor300(S700′).

Here, the first warning signal may include at least any one of the first visual warning signal, the first auditory warning signal, and the first tactile warning signal. The second warning signal may include at least any one of the second visual warning signal, the second auditory warning signal, and the second tactile warning signal.

The features, structures and effects and the like described in the embodiments are included in at least one embodiment of the present invention and are not necessarily limited to one embodiment. Furthermore, the features, structures, effects and the like provided in each embodiment can be combined or modified in other embodiments by those skilled in the art to which the embodiments belong. Therefore, contents related to the combination and modification should be construed to be included in the scope of the present invention.

Although embodiments of the present invention were described above, these are just examples and do not limit the present invention. Further, the present invention may be changed and modified in various ways, without departing from the essential features of the present invention, by those skilled in the art. For example, the components described in detail in the embodiments of the present invention may be modified. Further, differences due to the modification and application should be construed as being included in the scope and spirit of the present invention, which is described in the accompanying claims.