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

The present invention relates to a vehicle control device provided in a vehicle and a method of controlling the vehicle. A vehicle control device according to one embodiment of the present invention includes a communication unit configured to perform communication with a shoe, a sensing unit configured to sense information related to the vehicle and a position of the shoe, and a processor configured to control the communication unit such that the shoe outputs an alarm based on a situation in which the vehicle is to be accelerated or decelerated and the position of the shoe when the situation is detected through the sensing unit.

CROSS-REFERENCE TO RELATED APPLICATION

Pursuant to 35 U.S.C. § 119(a), this application claims the benefit of an earlier filing date of and the right of priority to Korean Application No. 10-2017-0089807, filed on Jul. 14, 2017, the content of which is incorporated by reference herein in their entirety.

BACKGROUND OF THE INVENTION

1. Field of the Invention

The present invention relates to a vehicle control device mounted in a vehicle and a method for controlling the vehicle.

2. Background of the Invention

A vehicle is an apparatus capable of moving a user in the user-desired direction. Typically, a representative example may be a car.

Meanwhile, for convenience of a user using a vehicle, various types of sensors and electronic devices are provided in the vehicle. Specifically, a study on an Advanced Driver Assistance System (ADAS) is actively undergoing. In addition, an autonomous vehicle is actively under development.

A vehicle may be provided with various types of lamps. In general, the vehicle includes various vehicle lamps having a lighting function of facilitating articles or objects near the vehicle to be recognized during driving at night, and a signaling function of notifying a driving state of the vehicle to other vehicles or pedestrians.

For example, the vehicle may include devices operating in a manner of directly emitting light using lamps, such as a head lamp emitting light to a front side to ensure a driver's view, a brake lamp turned on when slamming the brake on, turn indicator lamps used upon a left turn or a right turn.

As another example, reflectors for reflecting light to facilitate the vehicle to be recognized from outside are mounted on front and rear sides of the vehicle.

Installation criteria and standards of the lamps for the vehicle are regulated as rules to fully exhibit each function.

Meanwhile, as the development of the advanced driving assist system (ADAS) is actively undergoing in recent time, development of a technology for optimizing user's convenience and safety while driving a vehicle is required.

In recent years, wearable devices have been actively developed, and development of a vehicle control using the wearable devices is increasingly needed.

SUMMARY OF THE INVENTION

One aspect of the present invention is to provide a vehicle control device, capable of controlling shoes (or a shoe) in an optimized manner, and a method of controlling the vehicle.

Another aspect of the present invention is to provide a vehicle control device, capable of controlling a vehicle using a shoe in an optimized manner, and a method of controlling the vehicle.

Another aspect of the present invention is to provide a vehicle control device, capable of improving safety and convenience in driving a vehicle using a shoe, which serves to provide an optimized function related to the vehicle, and a method of controlling the vehicle.

The tasks to be solved in the present invention may not be limited to the aforementioned, and other problems to be solved by the present invention will be obviously understood by a person skilled in the art based on the following description.

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 unit configured to perform communication with a shoe, a sensing unit configured to sense vehicle-related information and a position of the shoe, and a processor configured to control the communication unit such that the shoe outputs an alarm based on a situation in which the vehicle is to be accelerated or decelerated and the position of the shoe when the situation is detected through the sensing unit.

In an embodiment, the processor may decide a first situation in which the vehicle is to be accelerated or a second situation in which the vehicle is to be decelerated, based on the vehicle-related information, and output an alarm through the shoe based on the position of the shoe in the first situation or the second situation.

In an embodiment, the processor may control the communication unit so that the shoe outputs an alarm when the shoe is not positioned on an accelerator pedal in the first situation or when the shoe is not positioned on a brake pedal in the second situation.

In an embodiment, the processor may control the communication unit so that the shoe outputs an alarm through different portions thereof in the first situation and the second situation.

In an embodiment, the shoe may include a first alarm portion provided at a first position and a second alarm portion provided at a second position different from the first position. The processor may control the communication unit so that the first alarm portion of the shoe outputs an alarm when the vehicle is in the first situation, and control the communication unit so that the second alarm portion of the shoe outputs an alarm when the vehicle is in the second situation.

In an embodiment, the processor may control the communication unit to stop the output of the alarm when it is detected that the shoe is positioned on the accelerator pedal in the first situation or the shoe is positioned on the brake pedal in the second situation while the alarm is output.

In an embodiment, the first situation in which the vehicle is to be accelerated may include a case where a first signal associated with a traffic light is sensed or a case where the vehicle travels at a speed slower than the lowest speed of a currently-traveling road. Also, the second situation in which the vehicle is to be decelerated may include a case where a second signal associated with a traffic light is sensed, a case where collision possibility with a front-side vehicle is a predetermined value or more, or a case where a distance between an object located outside the vehicle and the vehicle is a predetermined distance or less.

In an embodiment, the processor may decide a degree that an accelerator pedal or a brake pedal is to be pressed for each of the situations, and control the communication unit so that the shoe outputs an additional alarm when the accelerator pedal or the brake pedal is pressed to a degree weaker than the decided degree.

In an embodiment, the shoe may be provided with a magnetic body, and each of an accelerator pedal and a brake pedal of the vehicle may be formed in a manner that a magnetic field direction is variable. The processor may control the magnetic field directions of the accelerator pedal and the brake pedal such that the shoe is positioned on the accelerator pedal in the first situation and the shoe is positioned on the brake pedal in the second situation.

In an embodiment, the processor may perform a preset function based on a pedal pressed by the shoe, sensed through the sensing unit, and a driving state of the vehicle.

In an embodiment, the processor may transmit the driving state of the vehicle to an external device through the communication unit when the shoe is pressing the brake pedal but the vehicle is accelerated.

In an embodiment, the processor may turn off the vehicle or drive the vehicle in an autonomous driving mode up to a preset place when the shoe is pressing the brake pedal but the vehicle is accelerated.

In the embodiment, a footboard of a driver's seat of the vehicle may be provided with a first pad corresponding to an accelerator pedal, and a second pad corresponding to a brake pedal, and the processor may control driving of the vehicle based on the shoe pressing the first pad or the second pad.

In an embodiment, the first pad and the second pad may be activated when a driving mode of the vehicle is in an autonomous running mode. When the driving mode of the vehicle is the autonomous driving mode, the processor may control driving of the vehicle based on the shoe pressing the first pad or the second pad, regardless of the situation in which the vehicle is to be accelerated or decelerated.

In an embodiment, the processor may accelerate the vehicle when the shoe is brought into contact with a first position adjacent to an accelerator pedal, and decelerate the vehicle when the shoe is brought into contact with a second position adjacent to the brake pedal, regardless of the situation in which the vehicle is to be accelerated or decelerated, when the vehicle is in the autonomous driving mode.

In an embodiment, the processor may accelerate the vehicle when a first portion of the shoe is brought into contact with a footboard of a driver's seat of the vehicle, and decelerate the vehicle when a second portion different from the first portion is brought into contact with the footboard of the driver's seat, regardless of the situation in which the vehicle is to be accelerated or decelerated, when the vehicle is in the autonomous driving mode.

In the embodiment, the processor may accelerate or decelerate the vehicle in proportion to an area where the shoe is brought into contact with the footboard of the driver's seat or intensity of the shoe pressing the footboard of the driver's seat.

A vehicle according to one embodiment of the present invention may include a vehicle control device described in this specification.

A method of controlling a vehicle according to one embodiment of the present invention may include connecting the vehicle to a shoe to perform communication with each other, sensing vehicle-related information and a position of the shoe, and outputting an alarm through the shoe based on a situation in which the vehicle is to be accelerated or decelerated and the position of the shoe when the situation is sensed.

In an embodiment, the outputting may be configured to decide a first situation in which the vehicle is to be accelerated or a second situation in which the vehicle is to be decelerated, based on the vehicle-related information, and output an alarm through the shoe when the shoe is not positioned on an accelerator pedal in the first situation or when the shoe is not positioned on a brake pedal in the second situation.

The details of other embodiments are included in the detailed description and drawings.

According to an embodiment of the present invention, one or more of the following effects can be provided.

First, the present invention can provide a new shoe which can help driving of the vehicle.

Second, the present invention can provide a system that can provide an alarm to a user in an optimized manner according to a state of the vehicle through a shoe.

Third, the present invention can provide a new user interface that can output an alarm to the user on the basis of a position of a shoe in a situation in which the vehicle is to be accelerated and a situation in which the vehicle is to be decelerated, so as to remarkably improve safety and convenience in driving the vehicle.

Fourth, the present invention can provide a new user interface that can control driving of a vehicle using a shoe in an autonomous driving mode.

The effects of the present invention are not limited to those effects mentioned above, and other effects not mentioned may be clearly understood by those skilled in the art from the description of the appended claims.

DETAILED DESCRIPTION OF THE INVENTION

Description will now be given in detail according to exemplary embodiments disclosed herein, with reference to the accompanying drawings. For the sake of brief description with reference to the drawings, the same or equivalent components may be provided with the same or similar reference numbers, and description thereof will not be repeated. In general, a suffix such as “module” and “unit” may be used to refer to elements or components. Use of such a suffix herein is merely intended to facilitate description of the specification, and the suffix itself is not intended to give any special meaning or function. In describing the present disclosure, if a detailed explanation for a related known function or construction is considered to unnecessarily divert the gist of the present disclosure, such explanation has been omitted but would be understood by those skilled in the art. The accompanying drawings are used to help easily understand the technical idea of the present disclosure and it should be understood that the idea of the present disclosure is not limited by the accompanying drawings. The idea of the present disclosure should be construed to extend to any alterations, equivalents and substitutes besides the accompanying drawings.

It will be understood that when an element is referred to as being “connected with” another element, the element can be connected with the another element or intervening elements may also be present. In contrast, when an element is referred to as being “directly connected with” another element, there are no intervening elements present.

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 a view illustrating appearance of a vehicle at various angles in accordance with an embodiment of the present invention.

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

FIGS. 5 and 6are reference views illustrating 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.

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

For example, the vehicle may 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 unit200may be disposed inside 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 wind shield, 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 terrain, an animal and the like.

The lane OB01may 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 terrain 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, for example.

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 processor may 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 apparatus400may 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 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 touch pad 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 touch pad 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, the vehicle100according to the present invention may include a vehicle control device800.

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

Without a limit to this, the vehicle control device800may be a separate device, independent of the controller170. When the vehicle control device800is implemented as a component independent of the controller170, the vehicle control device800may be provided on a part of the vehicle100.

Hereinafter, description will be given of an example that the vehicle control device800is a component separate from the controller170for the sake of explanation. In this specification, functions (operations) and control methods described in relation to the vehicle control device800may be executed by the controller170of the vehicle. That is, every detail described in relation to the vehicle control device800may be applied to the controller170in the same/like manner.

Also, the vehicle control device800described herein may include some of the components illustrated inFIG. 7and various components included in the vehicle. For the sake of explanation, the components illustrated inFIG. 7and the various components included in the vehicle will be described with separate names and reference numbers.

Hereinafter, description will be given in more detail of the components included in the vehicle control device800according to an embodiment of the present invention with reference to the accompanying drawings.

FIG. 8is a conceptual view illustrating a vehicle control device according to an embodiment of the present invention.

As illustrated inFIG. 8, the vehicle control device800according to the present invention may include a communication unit810, a sensing unit820, a display unit830, a processor870and the like.

First, the vehicle control device800according to the present invention may include a communication unit810.

The communication unit810may be the communication device400described above. The communication unit810may be connected to a device (shoes in this invention) existing in the vehicle100to perform communication with the device. Such communication-available device, for example, may include a mobile terminal, a wearable device, a device having a communication unit (or a communication module or a communication device), and the like.

The communication unit810may be configured to perform communication with the shoes. In one example, the vehicle control device800(or vehicle100) and the shoes may be connected to each other to allow wireless communication therebetween through the communication unit810. The vehicle control device800and the shoes may be wirelessly connected to each other so as to enable wireless communication with each other according to a user request. Or, if they have been connected before to allow the wireless communication, the vehicle control device and the shoes may be wirelessly connected to enable the wireless communication therebetween, in response to an entrance of the shoes into the vehicle.

The communication unit810may be provided in the vehicle (or in the vehicle control device), or may be in a form of a separate module so as to perform communication with (to be electrically coupled to) components of the vehicle.

The vehicle control device800may control a shoe900through the communication unit810.

Specifically, the vehicle control device800may transmit a control signal to the shoe900through the communication unit810so as to control the shoe900. The shoe900may perform a function/operation/control corresponding to the control signal when the control signal is received.

Conversely, the present invention may enable the shoe900to control the vehicle control device800(or the vehicle100). Specifically, the shoe900may transmit a control signal for controlling the vehicle to the vehicle control device800. In response to this, the vehicle control device800may perform the function/operation/control corresponding to the control signal transmitted from the shoe900.

In addition, the vehicle control device800related to the present invention may include a sensing unit820. The sensing unit820may be the object detecting apparatus300described with reference toFIG. 7or the sensing unit120provided in the vehicle100.

The sensing unit820may also be implemented in combination of at least two of the camera310, the radar320, the LiDAR330, the ultrasonic sensor340and the infrared sensor350provided in the object detecting apparatus300, and the sensing unit120.

The sensing unit820may sense information related to the vehicle100of the present invention.

The information related to the vehicle may be at least one of vehicle information (or a driving status of the vehicle) and the surrounding information related to the vehicle.

For example, the vehicle information may include a driving speed of the vehicle, a weight of the vehicle, a number of passengers in the vehicle, a braking force of the vehicle, a maximum braking force of the vehicle, a driving mode of the vehicle (autonomous driving mode or manual driving mode), a parking mode of the vehicle (autonomous parting mode, automatic parking mode, manual parking mode), whether or not a user is present in the vehicle, information associated with the user (for example, whether or not the user is an authenticated user), and the like.

The surrounding information of the vehicle, for example, may be a state of a road surface on which the vehicle is traveling (e.g., a frictional force), the weather, a distance from a front-side (rear-side) vehicle, a relative speed of a front-side (rear-side) vehicle, a curvature of a curve when a driving lane is the curve, ambient brightness of the vehicle, information associated with an object existing in a reference region (predetermined region) based on the vehicle, whether or not an object enters (or leaves) the predetermined region, whether or not the user exists near the vehicle, information associated with the user (for example, whether or not the user is an authenticated user), and the like.

The surrounding information (or surrounding environment information) of the vehicle may include external information related to the vehicle (e.g., ambient brightness, temperature, a position of the sun, information related to nearby subject (a person, another vehicle, a sign, etc.), a type of a driving road surface, a landmark, line information, and driving lane information), and information required for an autonomous driving/autonomous parking/automatic parking/manual parking mode.

In addition, the surrounding information may further include a distance from an object existing around the vehicle to the vehicle100, a type of the object, a parking space for the vehicle, an object for identifying the parking space (for example, a parking line, a string, another vehicle, a wall, etc.), and the like.

Further, the information related to the vehicle may include whether or not a mobile terminal is placed in a rack provided in the vehicle, whether or not the mobile terminal has entered (exists) in the vehicle, whether the mobile terminal has entered (exists) within a predetermined distance from the vehicle, whether or not the mobile terminal and the vehicle control device are connected to each other to enable communication therebetween, and the like.

The information related to the vehicle sensed through the sensing unit820may be used in an autonomous driving mode for autonomous driving of the vehicle. Specifically, the processor870may control the vehicle to travel in an autonomous driving mode, by using information related to the vehicle sensed through the sensing unit820.

Meanwhile, the sensing unit820may further include an internal camera220.

For example, the internal camera220may be arranged to capture a space in which an accelerator pedal and a brake pedal provided in a driver's seat are present. In the space, a lower part of a driver's body (for example, the driver's feet and the driver's shoes) may exist.

The sensing unit820may sense (decide, determine, detect, extract) information related to the shoes worn by the driver, based on an image received through the internal camera220.

In one example, the information related to the shoe (or a pair of shoes) may include a position of the shoe, whether the shoe is in contact with the accelerator pedal or brake pedal, whether the shoe is pressing the accelerator pedal or the brake pedal, and the like.

That is, the sensing unit820according to the present invention may sense the information related to the vehicle and the position of the shoe.

In addition, the vehicle control device800related to the present invention may include a display unit830.

The display unit830included in the vehicle control device800according to the present invention, which is a display device provided in the vehicle100, may be the display module251described above.

The processor830may be the output unit250or the display module251illustrated inFIG. 7. The display unit830may include an output unit (e.g., a touch screen) of a mobile terminal that can perform communication with the communication device400.

The display unit830may include a transparent display. The transparent display may be attached to the windshield or the window.

The display module830may be disposed on one area of a steering wheel, one area251a,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.

For example, the display unit830may include a cluster, a center fascia (CID), a navigation device, a head-up display (HUD), and the like.

The display unit830may have an inter-layered structure or an integrated structure with a touch sensor in order to implement a touch screen. The touch screen may function as the user input unit210which provides an input interface between the vehicle100(or the vehicle control device800) and the user and simultaneously provide an output interface between the vehicle100(or the vehicle control device800) and the user.

The processor870may output various information related to the vehicle to the display unit830. In addition, the processor870may output the information related to the vehicle to a different position of the display unit830according to a type of information related to the vehicle.

Various information output to the display unit830will be described later in detail with reference to the accompanying drawings.

The display unit830may be a navigation system770(or a navigation device). Also, the display unit830may include a navigation system770.

That is, the display unit830may refer to a navigation device provided in the vehicle100. The navigation device may be built in the vehicle100from shipment of the vehicle100or a navigation device mounted by the user.

The display unit830may refer to a navigator for a vehicle, and may be a navigation system independent of the navigation system provided by the mobile terminal900.

The description of the display unit830in this specification may be applied to a navigation system770, a navigation device, or a navigator for vehicle in the same or similar manner.

Meanwhile, the vehicle control device800of the present invention may include the processor870for controlling the camera810, the sensing unit820, and the like.

The processor870may be the controller170described inFIG. 7.

The processor870may control the components described inFIG. 7and the components described inFIG. 8.

For example, the processor870may sense (decide, determine, detect, extract) a situation in which the vehicle must be accelerated or decelerated, based on information related to the vehicle sensed through the sensing unit820. In addition, the processor870may sense a position of the shoe900through the sensing unit820.

When the situation in which the vehicle100must be accelerated or decelerated is sensed through the sensing unit820, the processor870may control the communication unit810such that the shoe900outputs an alarm, based on the situation and the position of the shoe.

In this specification, the process in which the processor870controls the communication unit810so that the shoe900performs a specific operation/function/control may be understood as meaning that the processor870controls the shoe900through the communication unit810to perform the specific operation/function/control or performs the specific operation/function/control through the shoe900.

For example, the process in which the processor870controls the communication unit810so that the shoe900outputs the alarm may include meaning that the processor870controls the shoe900to output the alarm, meaning that the processor870controls the shoe900so that the alarm is output through the shoe900, or meaning that the processor870outputs the alarm through the shoe900.

Hereinafter, description will be given in more detail of a shoe900configured to perform communication with the vehicle control device800, with reference to the accompanying drawings.

FIG. 9is a conceptual view illustrating a shoe according to an embodiment of the present invention.

The shoe900related to the present invention may include a communication unit910, an alarm unit920, a magnetic body930, a sensing unit940, and a controller970.

The shoe900may be formed to be wearable on the user's foot.

The shoe900described in this specification may perform communication through the communication unit910. The shoe900may perform communication with an external device (for example, the vehicle control device800) through the communication unit910.

In this regard, the shoe900may be understood as one embodiment of a mobile terminal. Also, the shoe900may be understood as one embodiment of a wearable device in that it is formed to be wearable by the user and is configured to perform communication.

The communication unit910included in the shoe900may be connected to perform communication with the communication unit810of the vehicle control device800. The communication unit910may include the technical features of the communication device400described above.

The alarm unit920may be configured to output an alarm under the control of the vehicle control device800received through the controller970or the communication unit910. Here, the alarm unit920may output the alarm in various forms, such as vibration, sound, screen output, and the like.

The alarm unit920may include a first alarm portion921and a second alarm portion922disposed at different positions. The first alarm portion921may be disposed with being spaced apart from the second alarm portion922.

The first alarm portion921and the second alarm portion922may be independently controlled. For example, when the first alarm portion921outputs an alarm, the second alarm portion922may not output an alarm.

The first alarm portion921and the second alarm portion922may output alarms in a manner of varying a degree of vibration, a volume level of sound, or brightness of a screen.

However, the present invention is not limited to this, and the first alarm portion921and the second alarm portion922may output alarms together.

The first alarm portion921and the second alarm portion922may independently output alarms under the control of the controller970or the vehicle control device800.

In this specification, the shoe900outputting an alarm may refer to the alarm unit920outputting an alarm through at least one of the first alarm portion921and the second alarm portion922.

The magnetic body930may refer to an object having magnetic properties. The magnetic body930provided in the shoe900of the present invention may be formed so as to change a magnetic property under the control of the controller970(or the vehicle control device800).

The magnetic body930may have, for example, an N pole or an S pole. The magnetic body930may have an N pole or S pole which is decided or varied under the control of the controller970(or the vehicle control device800).

The magnetic body930may be formed to have an N pole or S pole under the control of the controller970(or the vehicle control device800). That is, the magnetic body930may not have any magnetic property under the control of the controller970(or the vehicle control device800).

An embodiment related to the magnetic body930will be described later in detail with reference toFIG. 15.

Meanwhile, the shoe900may further include a sensing unit940. The sensing unit940may include the technical features of the sensing unit820of the vehicle control device800. For example, the sensing unit940may use, for example, a pressure sensor to determine which part of the shoe has been brought into contact with a footboard.

In addition, the shoe900may include the controller970that is capable of controlling the components described above.

The controller970may independently control the components of the shoe or may control the components of the shoe based on a control command of the vehicle control device800received through the communication unit910.

Controlling the shoe900in this specification may be understood as the controller970controlling the components of the shoe900based on a control command received from the vehicle control device800. Also, controlling the shoe900may be understood as the controller970controlling the components of the shoe900based on a preset algorithm.

Hereinafter, various embodiments in which the vehicle control device800controls the shoe900in the present invention will be described in more detail with reference to the accompanying drawings.

Referring toFIG. 10, in the present invention, the vehicle control device800is connected to the shoe900to perform communication with the shoe900(S1010).

In detail, the processor870of the vehicle control device800may be connected to the communication unit910of the shoe900through the communication unit810thereof so as to perform communication with the communication unit910.

At this time, the processor870may be connected to the shoe900to perform communication with the shoe900, based on a satisfaction of a preset condition.

For example, the preset condition may include when a driver is detected to be aboard the vehicle100, when a door of the vehicle100is changed from a closed state into an open state, when a shoe is moved in a preset motion by the driver aboard the vehicle100, when a user request for a communication connection is received, or the like.

The processor870may decide (determine, detect, sense) whether the preset condition is satisfied by using the sensing unit820.

In addition, the vehicle control device and the shoe of the present invention may be connected to each other to enable mutual communication in various manners.

Thereafter, in the present invention, the vehicle control device senses vehicle-related information and a position of the shoe (S1020).

In detail, the processor870may sense the vehicle-related information and the position of the shoe through the sensing unit820, in a connected state with the shoe900to enable communication through the communication unit810.

The shoe may refer to a shoe located in the driver's seat. That is, the shoe is preferably a shoe that the driver wears.

The processor870may sense the information related to the vehicle through the sensing unit820. The information related to the vehicle may include information used to determine a situation in which the vehicle is to be accelerated and a situation in which the vehicle is to be decelerated.

For example, the information related to the vehicle may include traffic light information, sign information, other vehicle information, or information related to a specific object (e.g., person, bicycle, building, obstacle, etc.), located in the vicinity of the vehicle.

In addition, the processor870may sense the position of the shoe through the sensing unit820. For example, the processor870may sense the information related to the shoe900located in the driver's seat (the position of the shoe), using the internal camera220included in the sensing unit820.

Thereafter, in the present invention, when a situation in which the vehicle100is to be accelerated or decelerated is detected, the vehicle control device800outputs an alarm through the shoe based on the situation and the position of the shoe (S1030).

The processor870may decide a first situation in which the vehicle is to be accelerated and a second situation in which the vehicle is to be decelerated, using the vehicle-related information sensed through the sensing unit820.

For example, as illustrated inFIG. 11, the first situation in which the vehicle100is to be accelerated may include when a first signal associated with a traffic light is sensed (for example, when a turn-on of a green light G is detected), when the vehicle is driven at a speed slower than the lowest speed (e.g., 60 km/h) of a current driving road (e.g., when moving at 40 km/h), or the like.

The first situation in which the vehicle100is to be accelerated may refer to a situation in which the vehicle must be accelerated by pressing the accelerator pedal.

As another example, as illustrated inFIG. 11, the second situation in which the vehicle100is to be decelerated may include when a second signal associated with a traffic light is sensed (e.g., when a turn-on of a red light R is detected), when collision probability P against a front-side vehicle is a predetermined value or more, when a distance d between an object (e.g., a person, another vehicle, a building, an obstacle, etc.) and the vehicle100is a predetermined distance or less, and the like.

The second situation in which the vehicle is to be decelerated may further include when the vehicle is moving at a speed faster than a maximum speed (speed limit) of a current driving road.

The collision possibility against the front-side vehicle may be decided based on, for example, a relative speed between the vehicle100and the front-side vehicle, and a distance between the vehicle100and the front-side vehicle. For example, the collision probability against the front-side vehicle may be decided based on a time to collision (TTC).

The collision probability P increases when the TTC is short.

The collision possibility value P may be decided based on the TTC. The TTC may be decided based on the relative speed between the vehicle100and the front-side vehicle, and the distance between the vehicle100and the front-side vehicle.

The second situation in which the vehicle100is to be decelerated may refer to a situation in which the vehicle must be decelerated by pressing the brake pedal.

In addition, the present invention may be applied to a situation in which a vehicle is to be accelerated and a situation in which the vehicle is to be decelerated, which have not been listed above.

As described above, the present invention may decide the first situation in which the vehicle is to be accelerated and/or the second situation in which the vehicle is to be decelerated, based on the vehicle related information sensed through the sensing unit820(e.g., the first and second signals associated with the traffic light, the lowest/highest speed limit on the current driving road, the collision probability against the front-side vehicle, the detection of an object existing outside the vehicle, the distance between the object and the vehicle, etc.).

Thereafter, the processor870may output an alarm through the shoe900, based on the position of the shoe900in the first situation or the second situation.

In the present invention, the shoe900for outputting the alarm will be described as an example of a right shoe that controls an accelerator pedal1210and a brake pedal1220. However, the present invention is not limited to this, and the shoe900may also refer to at least one of a left shoe and a right shoe.

As illustrated inFIG. 12, the processor870may control the sensing unit820to sense the position of the shoe900when the first situation in which the vehicle is to be accelerated or the second situation in which the vehicle is to be decelerated is detected through the sensing unit820.

The processor870may control the communication unit810so that the shoe900can output the alarm through the alarm unit920when the shoe900is not positioned on the accelerator pedal1210or the brake pedal1220of the vehicle in the first situation or the second situation.

Specifically, the processor870may output the alarm through the shoe900when the shoe900is not positioned on the accelerator pedal1210or the brake pedal1220of the vehicle in the first situation or the second situation.

Here, the state that the shoe is not positioned on the accelerator pedal1210or the brake pedal1220may refer to that the accelerator pedal1210or the brake pedal1220is not pressed or the shoe is not brought into contact with the accelerator pedal1210or the brake pedal1220.

For example, the processor870may control the communication unit810so that the shoe900outputs an alarm when the shoe900is not positioned on the accelerator pedal1210in the first situation in which the vehicle is to be accelerated or when the shoe is not positioned on the brake pedal1220in the second situation in which the vehicle is to be decelerated.

Here, the case where the shoe900is not positioned on the accelerator pedal1210may include a case where the shoe900is positioned on the brake pedal1220or a case where the shoe900is brought into contact with a footboard of the driver's seat (i.e., when the shoe900is not brought into contact with any of the accelerator pedal1210and the brake pedal1220).

The case where the shoe900is not located on the brake pedal1220may include a case where the shoe900is positioned on the accelerator pedal1210or a case where the shoe900is brought into contact with the footboard of the driver's seat (i.e., when the shoe900is not brought into contact with any of the accelerator pedal1210and the brake pedal1220).

The processor870may transmit a control signal to the shoe900through the communication unit810so that the shoe outputs an alarm when the shoe900is not positioned on the accelerator pedal1210in the first situation in which the vehicle is to be accelerated or when the shoe is not positioned on the brake pedal1220in the second situation in which the vehicle is to be decelerated.

The controller970of the shoe900may control the alarm unit920of the shoe900to output an alarm, in response to the control signal received through the communication unit910.

At this time, the processor870may control the communication unit810so that the shoe900outputs an alarm through different portions in the first situation in which the vehicle is to be accelerated and the second situation in which the vehicle is to be decelerated.

That is, the processor870may control the shoe to output an alarm through different portions of the shoe in the first and second situations.

As described above, the shoe900may include the first alarm portion921provided at a first position and the second alarm portion922provided at a second position different from the first position.

Here, the first position may be a right portion of the shoe where the accelerator pedal is located, and the second position may be a left portion of the shoe where the brake pedal is located.

The processor870may control the communication unit810so that the first alarm portion921of the shoe outputs an alarm in the first situation in which the vehicle is to be accelerated. In addition, the processor870may control the communication unit810so that the second alarm portion922of the shoe outputs an alarm in the second situation in which the vehicle is to be decelerated.

For example, as illustrated in (a) ofFIG. 13, the processor870may sense the first situation in which the vehicle is to be accelerated through the sensing unit820. In this instance, when the shoe900sensed through the sensing unit820is not positioned on the accelerator pedal1210(e.g., when the shoe900is positioned on the brake pedal1220) in the first situation, the processor870may control the shoe (or the communication unit810) to output an alarm through the first alarm portion921provided at the first position (the right portion) of the shoe900(the first alarm portion arranged at one side where the acceleration pedal is disposed).

Also, as illustrated in (b) ofFIG. 13, the processor870may sense the second situation in which the vehicle is to be decelerated through the sensing unit820. At this time, when the position of the shoe900sensed through the sensing unit820is not positioned on the brake pedal1220(for example, when the shoe900is positioned on the accelerator pedal1210) in the second situation, the processor may control the shoe (or the communication unit810) to output an alarm through the second alarm portion922provided at the second position (left portion) of the shoe900(the second alarm portion disposed at one side where the brake pedal is disposed).

On the other hand, the processor870may control the communication unit (or the shoe) so that the shoe900outputs an alarm in different manners in the first situation in which the vehicle is to be accelerated and in the second situation in which the vehicle is to be decelerated.

For example, the processor870may control the shoe900to output an alarm in a first manner (e.g., a manner of outputting vibration for a predetermined period) in the first situation in which the vehicle is to be accelerated.

As another example, the processor870may control the shoe (or the communication unit) to output an alarm in a second manner (e.g., a manner of continuously outputting vibration), which is different from the first manner, in the second situation in which the vehicle is to be decelerated.

In addition, the processor870may differently control a type of alarm (e.g., vibration and sound) output from the shoe or intensity of the alarm for each of the first and second situations.

Meanwhile, as illustrated in (a) ofFIG. 13, when it is detected that the shoe900is positioned on (or presses) the accelerator pedal1210in the first situation in which the vehicle is to be accelerated while the alarm is output through the shoe900, the processor870may control the communication unit810(or the shoe) to stop the output of the alarm.

Specifically, while the first alarm portion921outputs an alarm because the shoe900is not positioned on the accelerator pedal1210in the first situation, when it is detected that the shoe900is positioned on (or presses) the accelerator pedal1210, the processor870may transmit a control signal for stopping the alarm output of the first alarm portion921to the shoe900through the communication unit810.

The controller970of the shoe900may stop the alarm output of the first alarm portion921based on the control signal.

Also, as illustrated in (b) ofFIG. 13, while the alarm is output through the shoe900, when it is detected that the shoe900is positioned on (or presses) the brake pedal1220in the second situation in which the vehicle is to be decelerated, the processor870may control the communication unit810(or the shoe) to stop the output of the alarm.

Specifically, while the second alarm portion922outputs the alarm because the shoe900is not positioned on the brake pedal1220in the second situation, when it is detected that the shoe900is positioned on (or presses) the brake pedal1220, the processor870may transmit a control signal for outputting the alarm output of the second alarm portion922to the shoe900through the communication unit810.

The controller970of the shoe900may stop the alarm output of the second alarm portion922based on the control signal.

With the configuration, the present invention can provide a new user interface capable of outputting an alarm to guide a position where a driver's foot is to be positioned in an optimized manner for each of the first situation in which the vehicle is to be accelerated and the second situation in which the vehicle is to be decelerated.

Meanwhile, the processor870may decide a degree, to which the accelerator pedal or the brake pedal is to be pressed, for each situation. For example, the processor870may determine how much the accelerator pedal1210should be pressed in the first situation where the vehicle is to be accelerated. In addition, the processor870may determine how much the brake pedal1220should be pressed in the second situation in which the vehicle is to be decelerated.

For example, in the second situation in which the vehicle is to be decelerated, the processor870may determine a time to collision (TTC) based on a current speed of the vehicle and a distance from an object (e.g., another vehicle, a person, etc.) located at the front of the vehicle100.

Thereafter, the processor870may determine (calculate) the degree to which the brake pedal1220should be pressed based on the TTC and a braking force of the vehicle.

The processor870may control the communication unit810so that the shoe900outputs an additional alarm when the accelerator pedal or brake pedal is pressed to a degree weaker than the determined degree.

For example, as illustrated in (a) ofFIG. 14, when the shoe is not positioned on the accelerator pedal in the first situation in which the vehicle is to be accelerated or the shoe is not positioned on the brake pedal in the second situation in which the vehicle is to be decelerated, the processor870may control the communication unit (or the shoe) so that the shoe900outputs a first alarm1400a.

At this time, the processor870may determine a degree1410that the accelerator pedal should be pressed in the first situation in which the vehicle is to be accelerated, or a degree1410that the brake pedal should be pressed in the second situation in which the vehicle is to be decelerated.

At this time, when the accelerator pedal is pressed in the first situation in which the vehicle is to be accelerated but is pressed to a degree weaker than the degree1410to be pressed, as illustrated in (b) ofFIG. 14, the shoe900may control the communication unit810(or the shoe900) so that the shoe900outputs an additional alarm (a second alarm)1400b.

Similarly, when the brake pedal is pressed in the second situation in which the vehicle is to be decelerated but is pressed to a degree weaker than the degree to be pressed, as illustrated in (b) ofFIG. 14, the processor870may control the communication unit810(or the shoe900) to output the additional alarm (or the second alarm)1400b.

At this time, as illustrated in (b) ofFIG. 14, the first alarm1400amay also be output from the shoe900until the accelerator pedal1210or the brake pedal1220is pressed up to the degree1410to be pressed.

Also, as illustrated inFIG. 13, alternately, the first alarm1400amay not be output based on that the shoe is positioned on the accelerator pedal in the first situation or the shoe is positioned on the brake pedal in the second situation.

The first alarm1400a, as illustrated inFIGS. 9 to 13, may be an alarm output when the shoe900is not positioned on the accelerator pedal in the first situation or when the shoe900is not positioned on the brake pedal in the second situation.

On the other hand, the second alarm1400b(additional alarm) is an alarm output when the accelerator pedal or the brake pedal is not pressed to the degree to be pressed in the first or second situation, and may be distinguished from the first alarm.

The first alarm1400aand the second alarm1400bmay be different in the method of outputting the alarm, the type of the alarm, or the intensity of the alarm.

Thereafter, as illustrated in (c) ofFIG. 14, the processor870may control the communication unit810(or the shoe900) to stop the output of the additional alarm (the second alarm) when the accelerator pedal is pressed up to the degree1410to be pressed in the first situation in which the vehicle is to be accelerated or the brake pedal is pressed up to the degree1410to be pressed in the second situation in which the vehicle is to be decelerated.

At this time, when the first alarm1400ais being output, the processor870may control the communication unit810(or the shoe900) to stop the output of the first alarm.

With this configuration, the present invention can not only induce the driver's foot to be placed on the accelerator pedal or the brake pedal in the first situation in which the vehicle is to be accelerated and in the second situation in which the vehicle is to be decelerated, but also guide the degree to be pressed to the driver, thereby remarkably improving safety of driving.

Meanwhile, the present invention can provide a vehicle control device, capable of guiding a driver's foot to be placed on the accelerator pedal or brake pedal in the first situation in which the vehicle is to be accelerated and the second situation in which the vehicle is to be decelerated, and the shoe.

As described above, the shoe900of the present invention may be provided with a magnetic body930. The magnetic body930may have an N pole or an S pole. Magnetism of the magnetic body930may be varied under the control of the controller970.

On the other hand, the accelerator pedal1210and the brake pedal1220of the vehicle may be formed so as to change a direction of a magnetic field.

For example, each of the accelerator pedal1210and the brake pedal1220may be provided with a magnetic body having a direction of a magnetic field which is variable under the control of the processor870.

Changing the direction of the magnetic field may refer to changing magnetism.

FIG. 15illustrates one example in which the magnetic body provided in the shoe900is fixed to the N pole. Hereinafter, this example will be described.

The processor870may control the direction of the magnetic field of each of the accelerator pedal1210and the brake pedal1220so that the shoe900is positioned on the accelerator pedal1210in the first situation in which the vehicle is to be accelerated, and the shoe900is positioned on the brake pedal1220in the second situation in which the vehicle is to be decelerated.

The processor870may sense the magnetic field direction formed on the magnetic body930of the shoe900through the sensing unit820and decide (detect, determine) the magnetism of the magnetic body930of the shoe900based on the sensed magnetic field direction.

For example, the processor870may decide the magnetism of the magnetic body930to be an N pole or an S pole, based on the magnetic field direction of the magnetic body930of the shoe900sensed through the sensing unit820(N pole inFIG. 15).

Thereafter, the processor870may sense the first situation in which the vehicle is to be accelerated and the second situation in which the vehicle is to be decelerated, based on the vehicle related information through the sensing unit820.

For example, as illustrated in (a) ofFIG. 15, when the first situation in which the vehicle is to be accelerated is sensed through the sensing unit820and the magnetic body930of the shoe900is detected as the N pole, the processor870may control (decide) the magnetic field direction of the accelerator pedal1210and the brake pedal1220so that the magnetism of the accelerator pedal1210becomes the S pole and the magnetism of the brake pedal1220becomes the N pole.

In this case, since the magnetic body930of the shoe900has the N pole and the accelerator pedal1210has the S pole, an attractive force is applied between the shoe900(the magnetic body930of the shoe) and the accelerator pedal1210.

On the other hand, since the magnetic body930of the shoe900has the N pole and the brake pedal1220has the N pole, a repulsive force R is applied between the shoe900(the magnetic body930of the shoe) and the brake pedal1220.

Accordingly, the present invention can provide a vehicle control device capable of physically inducing a driver's foot to be placed on an accelerator pedal in a first situation in which the vehicle is to be accelerated, in a manner that the processor870decides a magnetic field direction of the accelerator pedal such that a magnetism (e.g., S pole) opposite to a magnetism (e.g., N pole) formed on the shoe is formed on the accelerator pedal and causes the brake pedal to form the same magnetism (e.g., N pole) as the magnetism (e.g., N pole) formed on the shoe in the first situation.

As another example, as illustrated in (b) ofFIG. 15, when the second situation in which the vehicle is to be decelerated is sensed through the sensing unit820and the magnetic body930of the shoe900is detected as the N pole, the processor870may control (decide) the magnetic field directions of the accelerator pedal1210and the brake pedal1220so that the magnetism of the accelerator pedal1210becomes the N pole and the magnetism of the brake pedal1220becomes the S pole.

In this case, since the magnetic body930of the shoe900has the N pole and the accelerator pedal1210has the N pole, a repulsive force R is applied between the shoe900(the magnetic body930of the shoe) and the accelerator pedal1210.

On the other hand, since the magnetic body930of the shoe900has the N pole and the brake pedal1220has the S pole, an attractive force A is applied between the shoe900(the magnetic body930of the shoe) and the brake pedal1220.

Accordingly, the present invention can provide a vehicle control device capable of physically inducing a driver's foot to be placed on a brake pedal in a second situation in which the vehicle is to be decelerated, in a manner that the processor870decides a magnetic field direction of the accelerator pedal such that the same magnetism (e.g., N pole) as a magnetism (e.g., N pole) formed on the shoe is formed on the accelerator pedal and causes the brake pedal to form a magnetism (e.g., S pole) opposite to the magnetism (e.g., N pole) formed on the shoe in the second situation.

Meanwhile, the processor870of the vehicle control device800related to the present invention may perform a preset function based on a pedal being pressed by the shoe900sensed through the sensing unit820and a traveling state (driving state) of the vehicle.

In one example, as illustrated in (a) ofFIG. 16, when the shoe900is currently pressing the brake pedal1220but the vehicle100is accelerated, the processor870, as illustrated in (b) ofFIG. 16, may transmit driving information (traveling information) related to the vehicle100to an external device1600(e.g., an external server, a mobile terminal, the Internet, etc.) through the communication unit810.

That is, the situation that the shoe900is pressing the brake pedal1220but the vehicle100is accelerated may refer to an occurrence of a sudden unintended acceleration in the vehicle. At this time, the driving information related to the vehicle may include information related to a degree to which the brake pedal is pressed, speed/acceleration of the vehicle in a pressed state of the brake pedal, and the like.

As another example, when the shoe900is pressing the brake pedal1220but the vehicle100is accelerated, the processor870may turn off the vehicle as illustrated in (c) ofFIG. 16, or control the vehicle to travel in an autonomous driving mode up to a preset place1610as illustrated in (d) ofFIG. 16.

The processor870may turn off the vehicle to stop the engine of the vehicle when the shoe900is pressing the brake pedal1220but the vehicle100is accelerated.

When the shoe900is pressing the brake pedal1220but the vehicle100is accelerated, the processor870may switch a manual driving mode to the autonomous driving mode, such that the vehicle is autonomously driven up to a preset place (e.g., a rest area, a gas station, a vacant lot, a shoulder road, etc.) closest to a current point of the vehicle among a plurality of preset places.

With such a configuration, the present invention can provide a vehicle control device, capable of determining a sudden unintended acceleration of the vehicle based on a type of a pedal pressed by a shoe and a driving state of the vehicle, and coping with the sudden intended acceleration in an optimized manner.

As described above, the processor870of the vehicle control device800related to the present invention can drive the vehicle in the manual driving mode or in the autonomous driving mode.

The vehicle100related to the present invention can operate in any one of a manual driving mode and an autonomous driving mode. Specifically, the processor870may drive the vehicle100in any one of the manual driving mode and the autonomous driving mode.

The driving modes of the vehicle100may include the manual driving mode and the autonomous driving mode.

The autonomous driving mode (or the automatic driving mode) may refer to a mode in which the vehicle travels by itself based on a preset algorithm, regardless of the driver's driving operation. For example, the autonomous driving mode may be a mode in which the vehicle can travel on its own within a predetermined section or at least a part of a section up to a destination set by a user.

In the autonomous driving mode, for example, the vehicle may be driven according to a preset algorithm to perform autonomous driving, without varying steering or speed of the vehicle, even without a driver's driving operation.

Since the manual driving mode and the autonomous driving mode belong to a general technical field, a more detailed description will be omitted.

The processor870of the vehicle control device800related to the present invention can move the drivers seat backward when the vehicle enters the autonomous driving mode. This is to provide a larger space for the driver sitting in the drivers seat.

In this case, the driver's foot may not reach the accelerator pedal1210or the brake pedal1220.

The vehicle control device800of the present invention can accelerate or decelerate the vehicle, in response to the operation of the accelerator pedal1210or the brake pedal1220when a situation in which an emergency acceleration or emergency braking is required occurs even in the autonomous driving mode.

At this time, the present invention may provide a control method capable of manually accelerating or decelerating a vehicle even when a driver's foot does not reach an accelerator pedal or a brake pedal, which results from that a driver's seat has been moved backward in an autonomous driving mode.

As illustrated in (a) ofFIG. 17, a footboard1700of a drivers seat of the vehicle100according to the present invention may be provided with a first pad1710corresponding to the accelerator pedal1210and a second pad1720corresponding to the brake pedal1220.

The processor870may control driving (running, traveling) of the vehicle based on whether the shoe900presses the first pad1710or the second pad1720.

For example, the processor870may accelerate the vehicle100when the shoe900presses the first pad1710. The processor870may also decelerate the vehicle100when the shoe900presses the second pad1710.

Whether or not the shoe900has pressed the first pad1710or the second pad1720may be detected by the sensing unit820or determined (detected) based on an electric signal received from the first or second pad1710or1720.

Meanwhile, the first pad1710and the second pad1720may be activated when the driving mode of the vehicle100is the autonomous driving mode. That is, the first pad1710and the second pad1720may be in an inactive state when the driving mode of the vehicle100is the manual driving mode.

The processor870may also switch the first pad1710and the second pad1720from the inactive state into an active state when the driving mode of the vehicle100is switched into the autonomous driving mode and the driver's seat is moved backward by a predetermined distance or more.

In addition, in a state that the driving mode of the vehicle is the autonomous driving mode and the driver's seat has been moved backward by a predetermined distance or more, the processor870may activate the first pad1710and the second pad1720, in response to a detection of the first situation in which the vehicle is to be accelerated or the second situation in which the vehicle is to be decelerated.

The processor870may also activate the first pad1710and the second pad1720based on a detection of a preset movement (motion) of the shoe. For example, the preset movement may be a movement that the shoe900taps the footboard1700of the driver's seat by a preset number of times within a preset time, a movement that the shoe900taps a specific area of the footboard1700of the driver's seat, a movement that the shoe900presses the first pad1710and/or the second pad1720for a predetermined time or more, a movement that the shoe900alternately presses the first pad1710and the second pad1720by a predetermined number of times or more.

Whether or not the shoe900is moved in the preset movement may be sensed through the sensing unit820or in response to information sensed by the sensing unit940of the shoe900being received through the communication unit810.

In addition, the first pad1710and the second pad1720may be activated based on a user input through the user input unit.

On the other hand, when the driving mode of the vehicle is the autonomous driving mode, the processor870may control driving of the vehicle based on that the shoe presses the first pad or the second pad, regardless of the situation in which the vehicle is to be accelerated or decelerated.

In detail, the processor870may accelerate the vehicle when the first pad1710is pressed by the shoe900and decelerate the vehicle when the second pad1720is pressed by the shoe900, in the autonomous driving mode of the vehicle, regardless of the first situation in which the vehicle is to be accelerated or the second situation in which the vehicle is to be decelerated.

As another example, the processor870may control driving of the vehicle, in response to the shoe pressing the first pad or the second pad, in a state where the vehicle is in the autonomous driving mode and the driver's seat has been moved by a predetermined distance or more, regardless of the first situation in which the vehicle is to be accelerated or the second situation in which the vehicle is to be decelerated.

With this configuration, the present invention can provide a new vehicle control device capable of manually driving the vehicle more immediately in the autonomous driving mode.

Meanwhile, the processor870may control driving of the vehicle based on a position of the shoe in a state where the first pad1710and the second pad1720are not provided.

That is, according to the present invention, even if the separate physical structure such as the first pad1710and the second pad1720are not provided on the footboard1700of the driver's seat, the position of the shoe900may be sensed and the vehicle may be manually accelerated or decelerated in the autonomous driving mode based on the sensed position of the shoe900.

For example, the processor870, as illustrated in (b) ofFIG. 17, may sense the position of the shoe900through the sensing unit820. For example, the processor870may sense through the sensing unit820that the shoe900is brought into contact with (located on) a first position1730adjacent to the accelerator pedal1210or a second position1740adjacent to the brake pedal1220.

The processor870may accelerate the vehicle100when the shoe900is brought into contact with the first position1730adjacent to the accelerator pedal1210while the vehicle100is in the autonomous driving mode.

The processor870may also decelerate the vehicle100when the shoe900is brought into contact with the second position1740adjacent to the brake pedal1220while the vehicle100is in the autonomous driving mode.

The first position and the second position may refer to different portions of the footboard1700of the driver's seat, and may be understood as a first portion and a second portion (or first and second regions).

The first position1730may refer to a portion of the footboard1700of the driver's seat, which is located at the rear (on the driver's side) by a predetermined distance from the position of the accelerator pedal1210, and a size of the first position may be preset.

The second position1740may refer to a portion of the footboard1700of the driver's seat, which is located at the rear (on the driver's side) by a predetermined distance from the position of the brake pedal1220. In addition, the size of the second position may be preset.

The first position and the second position are preferably separated from each other in a non-overlapping manner.

Acceleration or deceleration of the vehicle based on the contact of the shoe with the first position or the second position may be performed under the control of the processor870when the vehicle is in the autonomous driving mode or the first situation in which the vehicle is to be accelerated or the second situation in which the vehicle is to be decelerated is detected through the sensing unit820in the autonomous driving mode.

That is, the processor870may accelerate or decelerate the vehicle according to a contact position (the first or second position) of the shoe, based on at least one of cases in which the vehicle is in the autonomous driving mode, the first situation in which the vehicle is to be accelerated or the second situation in which the vehicle is to be decelerated is detected through the sensing unit820in the autonomous driving mode, and the driver's seat has been moved backward by a predetermined distance.

The processor870may also activate the first position1730and the second position1740based on a preset movement of the shoe.

That is, the processor870may accelerate the vehicle when the shoe900is brought into contact with the first position1730after the shoe900makes the preset movement, and decelerate the vehicle when the shoe900is brought into contact with the second position1740after the shoe900moves the preset movement.

For example, the preset movement may be a movement that the shoe900taps the footboard1700of the driver's seat by a preset number of times within a preset time, a movement the shoe900taps a specific area of the footboard1700, a movement that the shoe900contacts (or presses) the first position1730and/or the second position1740for a predetermined time or more, and a movement that the shoe900alternately contacts (presses) the first position1730and the second position1740by a predetermined number of times or more.

Whether or not the shoe900is moved in the preset movement may be sensed through the sensing unit820or in response to information sensed by the sensing unit940of the shoe900being received through the communication unit810.

Also, the first location1730and the second location1740may be activated based on a user input through the user input unit.

On the other hand, the processor870may control driving of the vehicle, in response to the shoe pressing the first position1730or the second position1740, regardless of the situation in which the vehicle is to be accelerated or decelerated, when the driving mode of the vehicle is in the autonomous driving mode.

Specifically, the processor870may accelerate the vehicle when the shoe is brought into contact with the first position1730adjacent to the accelerator pedal, and decelerate the vehicle when the shoe is brought into contact with the second position1740adjacent to the brake pedal, regardless of the first situation in which the vehicle is to be accelerated or the second situation in which the vehicle is to be decelerated, when the vehicle is in the autonomous driving mode.

As another example, when the vehicle is in the autonomous driving mode and the driver seat has been moved backward by a predetermined distance or more, the processor870may control driving of the vehicle, in response to the shoe pressing the first position1730or the second position1740, regardless of the first situation in which the vehicle is to be accelerated or the second situation in which the vehicle is to be decelerated.

With this configuration, the present invention can provide a new vehicle control device capable of manually driving the vehicle more immediately in the autonomous driving mode.

The processor870of the vehicle control device800of the present invention may manually accelerate or decelerate the vehicle in the autonomous driving mode according to an area of the shoe which contacts the footboard1700of the driver's seat.

For example, as illustrated inFIG. 18, the processor870may determine (detect, decide) which portion of the shoe900has been brought into contact with the footboard1700of the driver's seat.

The processor870, as illustrated in (a) ofFIG. 18, may accelerate the vehicle100when a first portion1800a(e.g., a front portion) of the shoe900is brought into contact with the footboard1700of the driver's seat.

Also, as illustrated in (b) ofFIG. 18, the processor870may decelerate the vehicle when a second portion1800b(e.g., a rear portion of the shoe) different from the first portion is brought into contact with the footboard1700of the driver's seat.

At this time, the processor870may differently control intensity (degree) of acceleration or deceleration of the vehicle100in proportion to an area (or a size of the area) of the shoe900brought into contact with the footboard of the driver's seat.

Specifically, the processor870may accelerate the vehicle more quickly as the contact area of the first portion1800aof the shoe900is greater.

In addition, the processor870may decelerate the vehicle more quickly as the contact area of the second portion1800bof the shoe900is greater.

In addition, the processor870may differently control intensity (degree) of acceleration or deceleration of the vehicle100in proportion to intensity (strength) of the shoe900pressing the footboard of the driver's seat.

Specifically, the processor870may accelerate or decelerate the vehicle more quickly as a degree that the first portion1800aof the shoe900or the second portion1800bof the shoe900presses the footboard of the driver's seat is stronger.

Alternatively, the processor870may accelerate or decelerate the vehicle more slowly as a degree that the first portion1800aof the shoe900or the second portion1800bof the shoe900presses the footboard of the driver's seat is weaker.

That is, the processor870may accelerate or decelerate the vehicle in proportion to the area (or the size of the area) of the shoe900brought into contact with the footboard1700of the driver's seat or the strength (intensity) with which the shoe presses the footboard of the driver's seat.

The contact portion and the contact area of the shoe900with the footboard of the driver's seat and the degree of the shoe900pressing the footboard1700may be sensed through the sensing unit820of the vehicle control device800or through the sensing unit940of the shoe900.

The processor870may accelerate or decelerate the vehicle according to the contact portion of the shoe (e.g., the first or second portion of the shoe) with the footboard of the driver's seat, based on at least one of cases where the vehicle is in the autonomous driving mode or the first situation in which the vehicle is to be accelerated or the second situation in which the vehicle is to be decelerated is detected through the sensing unit820, or the driver's seat has been moved backward by a predetermined distance.

The processor870may also control driving of the vehicle (or at least one of the first portion1800aand the second portion1800bof the shoe900may be activated) based on a contacted portion of the shoe900, when the shoe900makes a preset movement.

That is, the processor870may accelerate the vehicle when the first portion1800aof the shoe is brought into contact with (or presses) the footboard1700of the driver's seat after the shoe900makes a preset movement, and decelerate the vehicle when the second portion1800bis brought into contact with (or presses) the footboard1700of the driver's seat after the shoe900makes a preset movement.

For example, the preset movement may be a movement that the shoe900taps the footboard1700of the driver's seat by a preset number of times within a preset time, a movement that the shoe900taps a specific area of the footboard1700of the driver's seat, a movement of contacting (or pressing) the first portion1800aand/or the second portion1800bof the shoe for a predetermined time or more, and a movement that the first portion1800aand the second portion1800bof the shoe are alternately brought into contact with the footboard1700of the driver's seat by a predetermined number of times or more.

Whether or not the shoe900makes the preset movement may be sensed through the sensing unit820or in response to information sensed by the sensing unit940of the shoe900being received through the communication unit810.

Also, the first portion1800aand the second portion1800bof the shoe900may be activated based on a user input through the user input unit.

On the other hand, the processor870may control driving of the vehicle based on the fact that the first portion1800aor the second portion1800bof the shoe is brought into contact with (or presses) the footboard1700of the driver's seat, when the driving mode of the vehicle is the autonomous driving model.

Specifically, in the autonomous driving mode of the vehicle, the processor870may accelerate the vehicle when the first portion of the shoe is brought into contact with the footboard of the driver's seat, and decelerate the vehicle when the second portion different from the first portion is brought into contact with the footboard of the driver's seat, regardless of the first situation in which the vehicle is to be accelerated or the second situation in which the vehicle is to be decelerated.

As another example, the processor870may control driving of the vehicle, in response to the first portion1800aor the second portion1800bof the shoe being brought into contact with (or pressing) the footboard1700of the driver's seat, regardless of the first situation in which the vehicle is to be accelerated or the second situation in which the vehicle is to be decelerated, when the vehicle is in the autonomous driving mode and the driver's seat has been moved backward by a predetermined distance.

With this configuration, the present invention can provide a new vehicle control device capable of manually driving the vehicle more immediately in the autonomous driving mode.

On the other hand, when the processor870enters a state in which the mode is to be switched from the autonomous driving mode to the manual driving mode, as illustrated in (a) ofFIG. 19, the processor870may control the communication unit810(or the shoe900) so that the shoe900outputs an alarm.

For example, the state in which the mode is to be switched from the autonomous driving mode to the manual driving mode may include a case where a user input is received, or a case where a vehicle has entered a road to be driven only in the manual driving mode.

The processor870may output the alarm through the shoe900until the shoe900is positioned on (presses, or contacts) the accelerator pedal1210or the brake pedal1220, although entering the manual driving mode.

Afterwards, as illustrated in (b) ofFIG. 19, when the shoe900is positioned on (contacts or presses) the accelerator pedal1210or the brake pedal1220, the processor870may control the communication unit810(or the shoe900) to stop the output of the alarm.

With this configuration, the present invention can provide a new user interface capable of manually accelerating or decelerating the vehicle in various ways even when the vehicle is in the autonomous driving mode or when the driver's seat has been moved backward by a predetermined distance in the autonomous driving mode.

The present invention may also provide a vehicle control device and a shoe capable of effectively providing feedback to a driver by outputting an alarm through the shoe until the shoe is positioned on a pedal when a driving mode is switched from an autonomous driving mode to a manual driving mode.

Meanwhile, the present invention may provide a control method capable of providing notification (feedback) to a driver through a shoe in various ways. Hereinafter, various embodiments of the present invention will be described with reference to the accompanying drawings.

First, referring toFIG. 20, the processor870of the vehicle control device800of the present invention may sense a first situation in which the vehicle is to be accelerated or a second situation in which the vehicle is to be decelerated through the sensing unit820.

For example, when a second signal (e.g., red light) associated with a traffic light located ahead is sensed through the sensing unit820, the processor870may calculate an arrival time taken by the vehicle to reach a stop line located near the traffic light, on the basis of a distance between the stop line and the vehicle, and a speed of the vehicle.

Further, when the arrival time is too short (i.e., when the speed of the vehicle is too fast or the arrival time is shorter than an arrival time according to a reference condition), the processor870may calculate an appropriate time required for the vehicle to reach the stop line at the arrival time according to the reference condition.

In this case, the processor870may determine that the vehicle is in the second situation in which the vehicle is to be decelerated.

The processor870may determine whether the shoe900is positioned on the brake pedal1220through the sensing unit820when the second situation in which the vehicle is to be decelerated is detected.

Thereafter, the processor870may output an alarm through the shoe900, as illustrated inFIG. 20, when the shoe900is not positioned on the brake pedal1220in the second situation.

The processor870may then stop the output of the alarm when it is sensed that the shoe900is positioned on (contacts or presses) the brake pedal1220while the alarm is output.

On the other hand, the processor870may decide a degree to press the brake pedal1220to reach the stop line at the arrival time according to the reference condition. The processor870may then output an additional alarm through the shoe900when the brake pedal1220is not pressed to the decided degree even though the shoe900is positioned on the brake pedal1220.

The processor870may output a graphic object on the display unit830when the shoe900is not positioned on the accelerator pedal1210in the first situation in which the vehicle is to be accelerated or the shoe900is not positioned on the brake pedal1220in the second situation in which the vehicle is to be decelerated.

The graphic object may include at least one of a graphic object2000aindicating a current position of the shoe900or a graphic object2000bguiding the pedal where the shoe900should be positioned.

With such a configuration, the present invention can notify which pedal the driver's foot should be positioned in an optimized manner through the alarm of the shoe or the display unit.

Referring toFIG. 21, the vehicle control device800of the present vehicle100may sense a sudden deceleration of a front vehicle2100. For example, the processor870may sense that the front vehicle2100has been suddenly decelerated (suddenly stopped) when a relative speed between the vehicle100and the front vehicle2100increases by a predetermined value or more based on information related to the vehicle sensed through the sensing unit820.

When driving information (sudden stop information) is received from the front vehicle2100through the communication unit810due to the sudden deceleration of the front vehicle2100, the processor870may also sense a sudden deceleration of the front vehicle2100based on the received driving information.

In this case, as illustrated in (a) ofFIG. 21, the processor870may decide that the vehicle is in the second situation in which the vehicle is to be decelerated when the front vehicle2100performs the sudden deceleration.

In this case, similarly, as illustrated in (b) ofFIG. 21, the processor870may sense a position of the shoe900, and output an alarm through the shoe900when the shoe900is not positioned on the brake pedal1220(or is positioned on the accelerator pedal1210).

The processor870may output a warning message through the display unit820when the shoe900is not positioned on the brake pedal1220.

Referring to (a) ofFIG. 22, the processor870may sense a case where a driving speed of the vehicle is not reduced even though a second signal (e.g., red light) associated with a traffic light (e.g., a red light) sensed through the sensing unit820has been detected.

That is, the processor870may detect a case where the second signal associated with the traffic light has been detected and the shoe900does not press the brake pedal1220.

In this case, as illustrated in (b) ofFIG. 22, the processor870may decelerate the vehicle by activating an Autonomous Emergency Brake (AEB) function among Advanced Driver Assistance System (ADAS) functions.

At this time, when a function related to the driving of the vehicle, such as the AEB function among the ADAS functions, is performed, the processor870may output an alarm of the shoe900so that the shoe900is positioned at a place for performing the performed driving of the vehicle (e.g., brake).

For example, when the vehicle is decelerated by the AEB function, the processor870may control the communication unit810(or the shoe900) so that the shoe900outputs an alarm until the shoe900is positioned on the brake pedal1220.

On the other hand, as illustrated in (a) ofFIG. 23, the processor870may detect a case where the vehicle is to be accelerated, in a state where a second signal associated with a traffic light is detected. For example, the processor870may sense a pressed state of the accelerator pedal1210, not the brake pedal1220, in the second situation in which the vehicle is to be decelerated as the second signal associated with the traffic light is detected.

In this case, as illustrated in (b) ofFIG. 23, the processor870may output an alarm through the shoe until the shoe900is positioned on (presses) the brake pedal1220.

Further, the case where the accelerator pedal1210other than the brake pedal1220is pressed in the second situation in which the vehicle is to be decelerated may be a case where the driver is confused to cause a mistake in manipulation of the vehicle. In this case, the processor870may not accelerate the vehicle when the accelerator pedal1210other than the brake pedal1220is pressed in the second situation in which the vehicle is to be decelerated. That is, the processor870may not accelerate the vehicle (i.e., ignore the input of the accelerator pedal) when the accelerator pedal is pressed in the second situation in which the vehicle is to be decelerated, and may not decelerate the vehicle (i.e., ignore the input of the brake pedal) when the brake pedal is pressed in the first situation in which the vehicle is to be accelerated.

Also, as illustrated in (c) ofFIG. 23, the processor870may output an alarm through the shoe so that the shoe900can be positioned on (press) the brake pedal1220when the accelerator pedal1210other than the brake pedal1220is pressed in the second situation in which the vehicle is to be decelerated.

Similarly, when the brake pedal1220other than the accelerator pedal1210is pressed in the first situation in which the vehicle is to be accelerated, the processor870may output an alarm through the shoe so that the shoe900can be positioned on (press) the accelerator pedal1210.

Meanwhile, the shoe900of the present invention may be configured so that a shoelace (or a top side of the foot) can be tightened or loosened. Tightening or loosening the shoelace may be performed by the control of the controller970or the alarm unit920of the shoe900.

The alarm of the shoe described in this specification may include tightening the shoelace, loosening the shoelace, repeatedly tightening or loosening the shoelace, or the like.

Meanwhile, the present invention may provide a control method of tightening a shoelace when the driver needs to be vigilant according to a driving state of the vehicle, and loosening the shoelace when the driver is allowed to drive the vehicle comfortably.

For example, as illustrated inFIG. 24, the processor870may sense whether a surrounding environment of the vehicle satisfies a preset first condition through the sensing unit820.

Here, the preset first condition may refer to a condition that the driver should be vigilant. For example, as illustrated in (a) ofFIG. 24, the preset first condition may include whether the surrounding environment of the vehicle is in a snowy state, in a rainy state, is that snow, water, or leaves are filed on a road, in a foggy state, and the like.

When the surrounding environment of the vehicle satisfies the preset first condition, as illustrated in (b) ofFIG. 24, the processor870may control the communication unit810(or the shoe900) so as to tighten the shoelace.

Specifically, the processor870may sense through the sensing unit820whether the surrounding environment of the vehicle satisfies a preset second condition.

Here, the preset second condition may refer to a condition that the driver can comfortably drive the vehicle. For example, as illustrated in (c) ofFIG. 24, the preset second condition may include whether the vehicle is traveling on a highway, whether a traffic condition of a currently-traveling road of the vehicle is smooth, and the like.

When the surrounding environment of the vehicle satisfies the preset second condition, the processor870may control the communication unit810(or the shoe900) so as to release the shoelace, as illustrated in (d) ofFIG. 24.

On the other hand, the processor870may control the shoe variously according to the driver's status.

For example, the processor870may determine whether the driver's status satisfies a preset condition through the sensing unit820.

Here, the preset condition may refer to a condition that the driver cannot concentrate on driving. For example, as illustrated in (a) ofFIG. 25, the preset condition may include a case where a drowsiness level of the driver is a predetermined value or more, a case where the driver's gaze is directed to the front, a case where the driver suddenly falls (hypoglycemic shock, etc.), and the like.

In this case, as illustrated in (b) ofFIG. 25, the processor870may control the communication unit810(or the shoe900) so that the shoelace is tightened on the basis of the fact that the driver's status satisfies the preset condition.

Also, as illustrated in (c) ofFIG. 25, the processor870may control the communication unit810(or the shoe900) so that the shoe900outputs an alarm based on the fact that the driver's status satisfies the preset condition.

Meanwhile, the present invention may perform various functions according to a distance between the vehicle and the shoe.

The processor870may sense that the shoe900is moved out of the vehicle through the sensing unit820. That is, the processor870may sense that the driver is getting off the vehicle.

The processor870may detect a distance d2between the vehicle100and the shoe900through the sensing unit820when it is sensed through the sensing unit820that the shoe900is getting off the vehicle.

Thereafter, the processor870may lock a door of the vehicle, as illustrated in (b) ofFIG. 26, when the distance d2between the vehicle100and the shoe900is a predetermined distance or more.

On the other hand, the processor870may vary a tightened degree of the shoe depending on whether the shoe900is moved into the vehicle or moved out of the vehicle.

For example, as illustrated in (a) ofFIG. 27, the processor870may sense that the shoe900enters from the outside to the inside of the vehicle through the sensing unit820(i.e., sense that the driver is boarding the vehicle).

In this case, the processor870may control the communication unit810(or the shoe900) so that the shoelace is loosened, as illustrated inFIG. 27, to improve the driver's comfort.

On the other hand, as illustrated in (b) ofFIG. 27, the processor870may detect that the shoe900is moved out of the vehicle (i.e., may detect that the driver is getting off the vehicle).

In this case, as illustrated in (d) ofFIG. 27, the processor870may control the communication unit810(or the shoe900) so that the shoelace is tightened to make the driver easily walk.

On the other hand, the shoe900of the present invention can measure a number of steps.

The processor870may receive a number of steps walked (counted) up to now within the day from the shoe900.

The processor870, as illustrated in (a) ofFIG. 28, may output path information directed to a parking place that is spaced from a destination by a predetermined distance, so as to fully fill a target number of steps, when the number of steps received from the shoe900determines that the number of steps received from the shoe900is less than a target number of steps while the vehicle100still has a predetermined distance or less up to the destination.

In this case, as illustrated in (b) ofFIG. 28, the driver may park the vehicle at the parking place spaced apart from the destination by the predetermined distance, and fill the target number of steps.

Meanwhile, the shoe900of the present invention may perform communication with a mobile terminal2900. The shoe900may be controlled by the mobile terminal2900through communication with the mobile terminal2900.

In the present invention, as illustrated in (a) ofFIG. 29, when the mobile terminal2900places a call to a vehicle (e.g., a taxi, a carpooling vehicle, etc.), the processor870may output an alarm through the shoe900.

For example, as illustrated inFIG. 29B, the shoe900may output an alarm when the vehicle, which has been called through the mobile terminal2900is within a predetermined distance from the mobile terminal (or the shoe).

Also, as illustrated in (c) ofFIG. 29, the shoe900may output an alarm larger than the alarm when the vehicle, which has been called through the mobile terminal2900, arrives at a called place. In addition, the shoe900may output an alarm through a different portion based on a direction in which the called vehicle approaches or a direction in which the called vehicle is located.

With this configuration, the present invention can provide a shoe capable of more easily recognize the access of the called vehicle through the shoe, and guiding more easily the direction that the called vehicle is approaching or the position where the called vehicle is located.

Meanwhile, the shoe900of the present invention may sense a movement of the shoe through the sensing unit940. The controller970of the shoe900may transmit an emergency signal to the vehicle control device or the mobile terminal when the sensed movement of the shoe corresponds to a preset motion.

For example, the preset motion may be a motion that occurs when the driver falls while boarding on a vehicle (such as a lorry or a truck), namely, a motion that the shoe is lifted up to a predetermined height and then moved downward at a predetermined speed or more.

When the emergency signal is received from the shoe900, the processor870of the vehicle control device or the mobile terminal informs an emergency situation to a preset emergency call number or transmits information related to the emergency situation to an external server.

In this specification, all operations/functions/controls performed in the processor870of the vehicle control device800may be performed by the controller970of the shoe900.

For example, the controller970of the shoe900may receive at least one of information related to the vehicle or information related to the shoe from the vehicle control device800through the communication unit910.

The controller970of the shoe900may sense (detect, determine, decide) a situation in which the vehicle is to be accelerated or decelerated, based on the received information related to the vehicle. In this case, the controller970of the shoe900may output an alarm through the alarm unit920based on the above situation and a position of the shoe.

Specifically, the controller970of the shoe900may decide the first situation in which the vehicle is to be accelerated or the second situation in which the vehicle is to be decelerated based on the information related to the vehicle.

Further, the controller970of the shoe900may sense the position of the shoe through the sensing unit940of the shoe.

The controller970of the shoe900may output an alarm through the alarm unit930when the shoe900is not positioned on the accelerator pedal in the first situation in which the vehicle is to be accelerated or when the shoe900is not positioned on the brake pedal in the second situation in which the vehicle is to be decelerated.

At this time, the controller970of the shoe900may output an alarm through the first alarm portion921when the vehicle is in the first situation to be accelerated, and output an alarm through the second alarm portion922when the vehicle is in the second situation to be decelerated.

The controller970of the shoe900may stop the output of the alarm when it is detected that the shoe is positioned on the accelerator pedal in the first situation or is positioned on the brake pedal in the second situation while the alarm is output.

In addition, the controller970of the shoe900may decide a degree that the accelerator pedal or the brake pedal is to be pressed for each of the first situation or the second situation. This may be decided based on information related to the vehicle received from the vehicle control device through the communication unit910.

The controller970of the shoe900may output an additional alarm through the alarm unit920when the accelerator pedal or the brake pedal is pressed to a degree weaker than the decided degree.

In addition, the controller970of the shoe900may change a magnetism of the magnetic body930according to the first situation in which the vehicle is to be accelerated and the second situation in which the vehicle is to be decelerated.

For example, it is assumed that that an N pole is formed on the accelerator pedal and an S pole is formed on the brake pedal.

The controller970of the shoe900may allow the magnetic body930to have a magnetism (e.g., S pole) opposite to a magnetism (N pole) formed on the accelerator pedal, such that an attractive force is applied between the magnetic body930of the shoe900and the accelerator pedal, when the first situation in which the vehicle is to be accelerated is sensed. In this case, the shoe and the brake pedal may have the same magnetism (S pole) so as to be subjected to a repulsive force.

The controller970of the shoe900may allow the magnetic body930to have a magnetism (e.g., N pole) opposite to a magnetism (S pole) formed on the brake pedal such that an attractive force is applied between the magnetic body930of the shoe900and the brake pedal when the second situation in which the vehicle is to be decelerated is sensed. In this case, the shoe and the accelerator pedal may have the same magnetism (N pole), so as to be subjected to a repulsive force.

Also, when the brake pedal is being pressed but an acceleration of the vehicle is sensed, the controller970of the shoe900may receive driving information related to the vehicle from the vehicle control device, or transmit movement information related to the shoe to the vehicle control device or the mobile terminal.

In addition, the controller970of the shoe900of the present invention may perform all operations/functions/controls performed by the processor870of the vehicle control device800in the same/similar manner.

According to an embodiment of the present invention, one or more of the following effects can be provided.

First, the present invention can provide a new shoe which can help driving of the vehicle.

Second, the present invention can provide a system that can provide an alarm to a user in an optimized manner according to a state of the vehicle through a shoe.

Third, the present invention can provide a new user interface that can output an alarm to the user on the basis of a position of a shoe in a situation in which the vehicle is to be accelerated and a situation in which the vehicle is to be decelerated, so as to remarkably improve safety and convenience in driving the vehicle.

Fourth, the present invention can provide a new user interface that can control driving of a vehicle using a shoe in an autonomous driving mode.

The effects of the present invention are not limited to those effects mentioned above, and other effects not mentioned may be clearly understood by those skilled in the art from the description of the appended claims.

The vehicle control device800described above may be included in the vehicle100.

The operation or control method of the vehicle control device800described above may be applied to an operation or control method of the vehicle100(or the control unit170) in the same or similar manner.

For example, a method of controlling the vehicle100(or a method of controlling the vehicle control device800) may include connecting the vehicle100to a shoe to perform communication with each other, sensing vehicle-related information and a position of the shoe, and outputting an alarm through the shoe based on a situation in which the vehicle is to be accelerated or decelerated and the position of the she when the situation is sensed.

The outputting may be configured to decide a first situation in which the vehicle is to be accelerated or a second situation in which the vehicle is to be decelerated based on the vehicle-related information, and output an alarm through the shoe when the shoe is not positioned on an accelerator pedal in the first situation or the shoe is not positioned on a brake pedal in the second situation.

More detailed embodiments will be replaced with the aforementioned description or applied in the same/like manner.

Each of the steps may be performed not only by the vehicle control device800but also by the controller170provided in the vehicle100.

Further, all functions, configurations, or control methods performed by the vehicle control device800described above may be performed by the controller170provided in the vehicle100. That is, all of the control methods described in this specification may be applied to a control method of a vehicle or a control method of a control device.

Further, all functions, configurations, or control methods performed by the vehicle control device800described above may be performed by a controller provided in the mobile terminal. In addition, all the control methods described in this specification can be applied to a method of controlling a mobile terminal in the same/like manner.

The present invention can be implemented as computer-readable codes in a program-recorded medium. 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 the processor or the 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.