CN-115465192-B - Vehicle control method and vehicle system for executing the same

Abstract

Disclosed is a vehicle control method and a vehicle system for executing the same, the vehicle system including a communication device configured to communicate with a user terminal, an image capturing device including a plurality of first cameras respectively coupled to a side view mirror of a vehicle, and a control device configured to acquire first image data captured by the plurality of first cameras for each folding angle of the side view mirror when the vehicle is parked and folding of the side view mirror is initiated, acquire second image data captured by the plurality of first cameras for each folding angle when unfolding of the side view mirror is initiated by a control input received from the user terminal during parking of the vehicle, detect an increased obstacle around the side view mirror by comparing the first image data and the second image data, acquire position information about the increased obstacle by using the second image data, and predict a probability of collision of the increased obstacle with the corresponding side view mirror based on the position information about the increased obstacle.

Inventors

• Pu Fenjiu
• Zheng Seya

Assignees

• 现代自动车株式会社
• 起亚株式会社

Dates

Publication Date

20260508

Application Date

20220104

Priority Date

20210610

Claims (20)

1. 1. A vehicle system, comprising: A communication device configured to communicate with a user terminal; an image capture device including a plurality of first cameras respectively coupled to side view mirrors of the vehicle, and A control device configured to: Acquiring first image data photographed by the plurality of first cameras for each folding angle of the side view mirror when the vehicle is parked and folding of the side view mirror is initiated; Acquiring second image data photographed by the plurality of first cameras for each folding angle when the unfolding of the side view mirror is initiated by a control input received from the user terminal during parking of the vehicle; Detecting an increased obstacle around the side view mirror by comparing the first image data and the second image data; acquiring positional information about the added obstacle by using the second image data, and Based on the positional information about the added obstacle, the probability of the added obstacle colliding with the corresponding side view mirror is predicted.
2. 2. The vehicle system of claim 1, wherein: the control means activates a remote control function for the user terminal of the panoramic field of view monitor system when an increased obstacle around the side view mirror is not detected.
3. 3. The vehicle system of claim 2, wherein: when the side view mirror is in a manual folded state, the control means keeps the side view mirror in the folded state even when the control input is received from the user terminal, and disables a remote control function for the panoramic field of view monitor system.
4. 4. The vehicle system of claim 2, wherein: The control device moves the vehicle in cooperation with the autonomous driving system when it is predicted that the added obstacle collides with the corresponding side view mirror.
5. 5. The vehicle system of claim 4, further comprising: a detection device configured to detect an obstacle located in a surrounding space of the vehicle and acquire surrounding environment information including positional information about the detected obstacle, Wherein the control device generates obstacle map data corresponding to a surrounding space of the vehicle based on surrounding environment information acquired during parking of the vehicle, and The autonomous driving system moves the vehicle to a position where the side view mirror does not collide with the obstacle based on the position information about the added obstacle and the obstacle map data.
6. 6. The vehicle system of claim 5, wherein: When the added obstacle is detected, the control means updates the obstacle map data to include position information about the added obstacle based on the surrounding environment information acquired by the detection means, and The autonomous driving system acquires a moving path for moving the vehicle to a position where the side view mirror does not collide with the obstacle based on the updated obstacle map data.
7. 7. The vehicle system of claim 6, wherein: when the added obstacle is detected, the autonomous driving system moves the vehicle such that the added obstacle is located within the detection range of the detection device, and The obstacle map is updated based on surrounding environment information acquired in a state where the vehicle is moved such that the added obstacle is located within the detection range of the detection device.
8. 8. The vehicle system of claim 5, wherein: when the vehicle is moved to a position where the side view mirror does not collide with the obstacle, the control device completes the deployment of the side view mirror and activates a remote control function of the panoramic vision monitor system.
9. 9. The vehicle system of claim 8, wherein: the image capturing device further comprises at least one second camera, which is positioned at the front or the rear of the vehicle, and When a remote control function for the panoramic view monitor system is activated, the control device transmits peripheral image data acquired by photographing a peripheral space of the vehicle using the image photographing device to the user terminal based on a control input received from the user terminal.
10. 10. The vehicle system of claim 1, wherein: the control means detects an increased obstacle by comparing the first image data and the second image data corresponding to the same folding angle.
11. 11. The vehicle system of claim 10, wherein: When the added obstacle is detected, the control device acquires third image data photographed by the corresponding first camera in a state where the corresponding side view mirror is additionally unfolded at a predetermined angle, and acquires positional information about the added obstacle by using the second image data and the third image data including the added obstacle.
12. 12. The vehicle system of claim 2, wherein: in the process of folding the side view mirrors, when at least one side view mirror collides with the obstacle, the control device controls the side view mirrors to be in an unfolding state.
13. 13. The vehicle system of claim 12, wherein: The control device starts a remote control function for the panoramic field of view monitor system when a remote control request for the panoramic field of view monitor system is received from the user terminal in a state where the side view mirror is in the unfolded state.
14. 14. The vehicle system of claim 1, wherein: The control device controls the side view mirror to be in a folded state when the vehicle is completely stopped and the door of the vehicle is in a locked state.
15. 15. A method of controlling a vehicle including a plurality of cameras respectively coupled to side view mirrors, the method comprising: acquiring first image data photographed by a plurality of first cameras for each folding angle of the side view mirror when the vehicle is parked and folding of the side view mirror is initiated; acquiring second image data photographed by the plurality of first cameras for each folding angle when the unfolding of the side view mirror is initiated by a control input received from a user terminal during parking of the vehicle; Detecting an increased obstacle around the side view mirror by comparing the first image data and the second image data; Acquiring positional information about the added obstacle by using the second image data when the added obstacle is detected, and Based on the positional information about the added obstacle, the probability of the added obstacle colliding with the corresponding side view mirror is predicted.
16. 16. The method of claim 15, further comprising: activating a remote control function for the user terminal of the panoramic field of view monitor system when an increased obstacle around the side view mirror is not detected, and And providing the image data acquired by shooting the surrounding space of the vehicle to the user terminal according to the starting of the remote control function.
17. 17. The method of claim 16, further comprising: Maintaining the side view mirror in the folded state when the side view mirror is in the manual folded state, and A remote control function for the panoramic field of view monitor system is disabled.
18. 18. The method of claim 16, further comprising: When the increased obstacle is predicted to collide with the corresponding side view mirror, the vehicle is moved in cooperation with the autonomous driving system.
19. 19. The method of claim 18, further comprising: Acquiring surrounding environment information by a detection device that detects an obstacle located in a surrounding space of the vehicle during parking of the vehicle, and Generating obstacle map data corresponding to a surrounding space of the vehicle based on the surrounding environment information, Wherein moving the vehicle comprises: Based on the obstacle map data and the position information about the added obstacle, the vehicle is moved by the autonomous driving system to a position where the side view mirror does not collide with the obstacle.
20. 20. The method according to claim 19, wherein: moving the vehicle to a position where the side view mirror does not collide with the obstacle includes: Updating the obstacle map data to include position information about the added obstacle based on the surrounding environment information acquired by the detection means when the added obstacle is detected, and A moving path is acquired based on the updated obstacle map data for moving the vehicle to a position where the side view mirror does not collide with the obstacle.

Description

Vehicle control method and vehicle system for executing the same Technical Field The present invention relates to a vehicle control method and a vehicle system that performs the vehicle control method, and more particularly, to a vehicle control method for remotely controlling a panoramic view monitor system (surround view monitor system), and a vehicle system that performs the vehicle control method for remotely controlling a panoramic view monitor system. Background The connected car system of the vehicle supports remote control of the vehicle by an application installed in the smartphone of the driver even in a state where the driver is away from the vehicle. For example, connecting an automotive system through a driver's intelligent application supports the driver to check image information about the current surrounding situation of the vehicle. The connected automotive system uses the vehicle surroundings images acquired by the panoramic field of view monitor (Surround View Monitor, SVM) system to provide images of the current surroundings of the vehicle through the driver's smartphone. The SVM system is a parking security system that provides a real-time image of 360 degrees around the vehicle as if looking down from the top of the vehicle. The SVM system receives images from ultra-wide angle cameras located on the front, both sides, and rear of the vehicle, performs processing (such as distortion correction, viewpoint conversion, image composition, and the like) on the received images, and provides images of the surroundings of the vehicle. Cameras located at both sides of the vehicle transverse direction are typically mounted to side view mirrors located at the left and right sides of the vehicle. Therefore, in order to acquire a surrounding image of the vehicle by the SVM system, the side view mirror needs to be in an unfolded state. Therefore, in order for the driver to check the vehicle image through the application of the smart phone, it is first necessary to check the folded state of the vehicle side view mirror and to control the side view mirror to be in the unfolded state by remote control when the side view mirror is in the folded state. Meanwhile, when the driver desires to check the vehicle image at a position other than the vicinity of the vehicle, a situation may occur in which the driver manipulates the vehicle side view mirror without knowing the surrounding situation of the vehicle. In this case, when there is an object around the side mirror, the side mirror is unfolded and collides with the corresponding object, and the side mirror is damaged due to the collision. Disclosure of Invention Technical problem The present invention aims to provide a vehicle control method capable of preventing damage to a side view mirror when the side view mirror is remotely controlled by a panorama view monitor (SVM) function of a vehicle, and a vehicle system for performing the vehicle control method. Technical proposal An exemplary embodiment of the present invention provides a vehicle system including a communication device configured to communicate with a user terminal, an image photographing device including a plurality of first cameras respectively coupled to side view mirrors of the vehicle, and a control device configured to acquire first image data photographed by the plurality of first cameras for each folding angle of the side view mirrors when the vehicle is parked and folding of the side view mirrors is initiated, acquire second image data photographed by the plurality of first cameras for each folding angle when unfolding of the side view mirrors is initiated by a control input received from the user terminal during parking of the vehicle, detect an increased obstacle around the side view mirrors by comparing the first image data and the second image data, acquire position information about the increased obstacle by using the second image data, and predict a probability of collision of the increased obstacle with the corresponding side view mirror based on the position information about the increased obstacle. The control means may activate a remote control function for the user terminal of the panoramic field of view monitor system when an increased obstacle around the side view mirror is not detected. When the side view mirror is in a manual folded state, the control device may maintain the side view mirror in a folded state even when the control output is received from the user terminal, and disable a remote control function for the panoramic field of view monitor system. The control device may move the vehicle in cooperation with the autonomous driving system when the increased obstacle is predicted to collide with the corresponding side view mirror. The vehicle system may further include a detection device configured to detect an obstacle located in the vehicle surrounding space, and acquire surrounding environment information including positional information about the detected obst