Driving assistance system and vehicle comprising the same

Patent metadata

Field	Value
Publication number	US-11086335-B2
Application number	US-201715855292-A
Country	US
Kind code	B2
Filing date	Dec 27, 2017
Priority date	Aug 16, 2017
Publication date	Aug 10, 2021
Grant date	Aug 10, 2021

Abstract

A driving assistance system includes a camera and at least one processor. The camera is disposed on a mounting apparatus that is rotatably coupled to a vehicle and that rotates about a rotation axis that is spaced apart from the camera. The camera is configured to rotate together with the mounting apparatus from a first point to a second point, and to capture an external image of the vehicle at the first point and the second point. The processor is configured to control the camera to capture a first image at the first point and a second image at the second point, detect an object around the vehicle based on the first image and the second image, and determine a distance between the object and the vehicle based on the first image and the second image.

First claim

What is claimed is:

1. A driving assistance system for a vehicle, comprising:
at least one processor;
an interface configured to communicate with the at least one processor; and
a camera disposed on a mounting apparatus, the mounting apparatus having an end that is rotatably coupled to the vehicle and that is configured to rotate about a rotation axis that is spaced apart from the camera,
wherein the camera is configured to rotate together with the mounting apparatus from a first point to a second point, the camera being configured to capture an external image of the vehicle at the first point and at the second point,
wherein the at least one processor is configured to:
control the camera to capture a first image at the first point and a second image at the second point, the first image and the second image including an overlapping area,
detect an object around the vehicle based on an image processing of the first image and the second image,
determine a distance between the object and the vehicle based on the first image and the second image,
generate a route for the vehicle to depart from a parked state based on location information of the object around the vehicle,
generate the route from a first location at which the vehicle is parked to a second location at which a driver side door of the vehicle is able to be opened to a preset amount of opening, the preset amount of opening being set according to at least one of a characteristic of a driver of the vehicle or a door opening record of the driver side door by the driver, and
control the interface to provide a signal to a door driving unit to cause the door driving unit to open the driver side door based on an arrival of the vehicle at the second location.

2. The driving assistance system according to claim 1 , wherein the rotation axis forms an angle less than 90 degrees with respect to a direction perpendicular to a ground.

3. The driving assistance system according to claim 1 , wherein the camera is disposed on a side mirror of the vehicle that is configured to rotate about the rotation axis, and
wherein the camera is further configured to capture the external image of the vehicle during a rotation of the side mirror.

4. The driving assistance system according to claim 1 , wherein the camera is disposed on a front door of the vehicle and further configured to capture the external image of the vehicle during a rotation of the front door.

5. The driving assistance system according to claim 1 , wherein the at least one processor is further configured to:
determine whether the object is located in a space through which the vehicle passes based on the vehicle traveling in a straight line, and
generate the route for the vehicle to depart from the parked state that allows the vehicle to avoid the object based on a determination that the object is located in the space through which the vehicle passes based on the vehicle traveling in the straight line.

6. The driving assistance system according to claim 1 , wherein the at least one processor is further configured to:
determine whether the object is located in a space through which the vehicle passes based on the vehicle traveling in a forward direction, and
generate the route for the vehicle to depart from the parked state that allows the vehicle to move in a backward direction opposite to the forward direction based on a determination that the object is located in the space through which the vehicle passes based on the vehicle traveling in the forward direction.

7. The driving assistance system according to claim 1 ,
wherein the at least one processor is further configured to:
identify a mode for the vehicle to depart from the parked state based on a selection of one of a plurality of maneuvers for the vehicle to depart from the parked state and a selection of one of a plurality of directions for the vehicle to depart from the parked state,
wherein the plurality of maneuvers for the vehicle to depart from the parked state comprises a right-angle maneuver and a parallel maneuver, and the plurality of directions for the vehicle to depart from the parked state comprises a left front direction, a left rear direction, a right front direction, and a right rear direction of the vehicle,
generate the route for the vehicle to depart from the parked state based on the mode, and
control the interface to provide a signal to a vehicle driving device to thereby control the vehicle to travel along the route for the vehicle to depart from the parked state.

8. The driving assistance system according to claim 1 ,
wherein the camera is disposed on a side mirror of the vehicle and further configured to capture the external image of the vehicle, and
wherein the at least one processor is further configured to, based on the object being located in the route for the vehicle to depart from the parked state, control the interface to provide a signal to a mirror driving unit to cause the mirror driving unit to fold the side mirror based on the vehicle approaching the object, or to unfold the side mirror based on the vehicle moving away from the object.

9. The driving assistance system according to claim 1 ,
wherein the at least one processor is further configured to, based on the object being located in the route for the vehicle to depart from the parked state, control the interface to provide a signal to a power train driving unit to cause the power train driving unit to decelerate the vehicle based on the vehicle approaching the object, or to accelerate the vehicle based on the vehicle moving away from the object.

10. The driving assistance system according to claim 1 wherein the at least one processor is further configured to:
identify an amount of opening of a door of the vehicle based on location information of the object, and
control the interface to provide a signal to the door driving unit to cause the door driving unit to open the door of the vehicle to the identified amount of opening.

11. The driving assistance system according to claim 10 , wherein the at least one processor is further configured to identify the amount of opening of the door of the vehicle based on distance information between the door of the vehicle and the object.

12. The driving assistance system according to claim 10 , wherein the at least one processor is further configured to:
determine a distance between the vehicle and the object based on the location information of the object, and
control the interface to provide a signal to the door driving unit to cause the door driving unit to close the door based on a determination that the object approaches the vehicle within a distance from the door.

13. The driving assistance system according to claim 1 , further comprises a display, and
wherein the at least one processor is further configured to control the display to display an image captured by the camera.

14. The driving assistance system according to claim 13 , wherein the at least one processor is further configured to control the display to:
display, based on a measurement of a distance between the object and the vehicle, a first area where the distance has been measured, the first area appearing differently in the image from a second area where the distance has not been measured.

15. The driving assistance system according to claim 13 , wherein the at least one processor is further configured to control the display to display images captured by the camera, the images having directionality corresponding to a direction of rotation of the mounting apparatus.

16. The driving assistance system accordin

Assignees

• Lg Electronics Inc

Inventors

• Kim Daebum
• Son Jongin
• Han Kihoon

Classifications

• H04N23/695

  Control of camera direction for changing a field of view, e.g. pan, tilt or based on tracking of objects · CPC title

• H04N23/69

  Control of means for changing angle of the field of view, e.g. optical zoom objectives or electronic zooming · CPC title

• G06V20/58

  Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads · CPC title

• B60W2554/802

  Longitudinal distance · CPC title

• B60R2300/802

  for monitoring and displaying vehicle exterior blind spot views · CPC title