Vehicle driving assistant device

• US 10,708,552 B2
• Filed: 07/12/2017
• Issued: 07/07/2020
• Est. Priority Date: 07/13/2016
• Status: Active Grant

• Current Assignee: Mobile Appliance, Inc.
• Original Assignee: Mobile Appliance, Inc.
• Inventors: Cha, Kyoung Hwan, Lim, Jong Hoon
• Primary Examiner(s): Elahi, Shan E
• Application Number:
  US16/317,282
• Publication Number:
  US 20190246076A1
• Time in Patent Office: 1,091 Days
• Field of Search: 348148
• CPC Class Codes: B60Q 9/00 Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00 , e.g. haptic signalling
• CPC Class Codes: B60W 2552/15 Road slope, i.e. the inclination of a road segment in the longitudinal direction
• CPC Class Codes: B60W 30/08 Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
• CPC Class Codes: B60W 40/02 related to ambient conditions
• CPC Class Codes: B60W 40/076 Slope angle of the road
• CPC Class Codes: B60W 50/02 Ensuring safety in case of control system failures, e.g. by diagnosing, circumventing or fixing failures
• CPC Class Codes: G01P 15/18 in two or more dimensions
• CPC Class Codes: G06T 2207/30244 Camera pose
• CPC Class Codes: G06T 2207/30252 Vehicle exterior; Vicinity of vehicle
• CPC Class Codes: G06T 7/70 Determining position or orientation of objects or cameras camera calibration G06T7/80
• CPC Class Codes: G06V 20/56 exterior to a vehicle by using sensors mounted on the vehicle
• CPC Class Codes: H04N 7/183 for receiving images from a single remote source
• CPC Class Codes: Y02T 90/14 Plug-in electric vehicles

Abstract

Provided is a vehicle driving assistant device, including: a sensor module; a camera module which photographs images; and a control module which calculates a gradient value of a ground where a vehicle is located based on a first center axis value measured by the sensor module when a front side of the vehicle is located in a first direction after being mounted and a second center axis value measured by the sensor module when the front side of the vehicle is located in a second direction which is opposite to the first direction and determines an effective area for following an object in the image based on a center axis fixing error value of the sensor module calculated using at least one of the first and second center axis values and the gradient value.

Claims

1. A vehicle driving assistant device, comprising:

a sensor module;

a camera module which photographs images; and

a control module which calculates a gradient value of a ground where a vehicle is located based on a first center axis value measured by the sensor module when a front side of the vehicle is located in a first direction after being mounted and a second center axis value measured by the sensor module when the front side of the vehicle is located in a second direction which is opposite to the first direction and determines an effective area for following an object in the image based on a center axis fixing error value of the sensor module calculated using at least one of the first and second center axis values and the gradient value,

wherein the center axis fixing error value includes a process error value obtained when the sensor module is warped at the time of being soldered to a printed circuit board and a mounting error value obtained when the sensor module is warped at the time of being mounted to the vehicle.

2. The vehicle driving assistant device of claim 1, wherein the sensor module includes:

a sensor unit which outputs an acceleration signal; and

a signal processing unit which processes the acceleration signal to calculate at least one of the first and second center axis values.

3. The vehicle driving assistant device of claim 2, wherein the sensor unit includes a tri-axial accelerometer which outputs the acceleration signal.

4. The vehicle driving assistant device of claim 2, wherein the signal processing unit outputs the first and second center axis values after converting the acceleration signal into a digital signal.

5. The vehicle driving assistant device of claim 2, wherein the sensor unit includes at least one of a tri-axial accelerometer, a magnetic field sensor, and a gravity sensor, which outputs the acceleration signal.

6. The vehicle driving assistant device of claim 1, wherein the control module includes:

a gradient value calculating unit which calculates the gradient value with the first and second center axis values;

an area determining unit which calculates the center axis fixing error value based on at least one of the first and second center axis values and the gradient value and determines the effective area with the center axis fixing error value; and

a following control unit which follows the object in the effective area when a vehicle driving assisting function is performed.

7. The vehicle driving assistant device of claim 6, wherein when the gradient value is larger than a set reference gradient value, the area determining unit determines that there is an error in determination of the effective area to output a determination error signal to the following control unit.

8. The vehicle driving assistant device of claim 7, wherein:

the control module further includes an error alarming unit which outputs an error alarm, and

the following control unit controls the error alarming unit to output the error alarm when the determination error signal is input.

9. The vehicle driving assistant device of claim 6, wherein the gradient value calculating unit calculates the gradient value by subtracting the second center axis value from the first center axis value.

10. The vehicle driving assistant device of claim 6, wherein the area determining unit calculates the center axis fixing error value subtracting the gradient value from the first center axis value or adding the gradient value and the second center axis value.

11. The vehicle driving assistant device of claim 6, wherein the area determining unit shifts a reference effective area set by a shift value corresponding to the center axis fixing error value to determine the effective area.

12. The vehicle driving assistant device of claim 1, wherein the center axis fixing error value of the sensor module is calculated using the first and second center axis values and the gradient value.