KR101767435B1 - Displaying control apparatus of head up display and method thereof - Google Patents

Displaying control apparatus of head up display and method thereof Download PDF

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KR101767435B1
KR101767435B1 KR1020150161010A KR20150161010A KR101767435B1 KR 101767435 B1 KR101767435 B1 KR 101767435B1 KR 1020150161010 A KR1020150161010 A KR 1020150161010A KR 20150161010 A KR20150161010 A KR 20150161010A KR 101767435 B1 KR101767435 B1 KR 101767435B1
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information
road
gradient information
unit
detected
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KR1020150161010A
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Korean (ko)
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KR20170057892A (en
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금병직
오형석
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현대오트론 주식회사
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    • G—PHYSICS
    • G02—OPTICS
    • G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
    • G02B27/00—Optical systems or apparatus not provided for by any of the groups G02B1/00 - G02B26/00, G02B30/00
    • G02B27/01—Head-up displays
    • G02B27/0101—Head-up displays characterised by optical features
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K35/00—Instruments specially adapted for vehicles; Arrangement of instruments in or on vehicles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
    • B60W40/06—Road conditions
    • B60W40/072—Curvature of the road
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
    • G01S7/021—Auxiliary means for detecting or identifying radar signals or the like, e.g. radar jamming signals
    • G01S7/022—Road traffic radar detectors
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
    • G01S7/4804—Auxiliary means for detecting or identifying lidar signals or the like, e.g. laser illuminators
    • G01S7/4806—Road traffic laser detectors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R2300/00—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
    • B60R2300/20—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of display used
    • B60R2300/205—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of display used using a head-up display
    • G—PHYSICS
    • G02—OPTICS
    • G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
    • G02B27/00—Optical systems or apparatus not provided for by any of the groups G02B1/00 - G02B26/00, G02B30/00
    • G02B27/01—Head-up displays
    • G02B27/0101—Head-up displays characterised by optical features
    • G02B2027/014—Head-up displays characterised by optical features comprising information/image processing systems
    • G—PHYSICS
    • G02—OPTICS
    • G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
    • G02B27/00—Optical systems or apparatus not provided for by any of the groups G02B1/00 - G02B26/00, G02B30/00
    • G02B27/01—Head-up displays
    • G02B27/0101—Head-up displays characterised by optical features
    • G02B2027/0141—Head-up displays characterised by optical features characterised by the informative content of the display
    • G—PHYSICS
    • G02—OPTICS
    • G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
    • G02B27/00—Optical systems or apparatus not provided for by any of the groups G02B1/00 - G02B26/00, G02B30/00
    • G02B27/01—Head-up displays
    • G02B27/0179—Display position adjusting means not related to the information to be displayed
    • G02B2027/0183—Adaptation to parameters characterising the motion of the vehicle

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • General Physics & Mathematics (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Optics & Photonics (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Mathematical Physics (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Navigation (AREA)
  • Traffic Control Systems (AREA)

Abstract

A road gradient information storage unit stores gradient information of roads. A GPS module for detecting the current position of the subject vehicle; An information collecting unit for recognizing a forward object and collecting detection information of the forward object; A head-up display unit for displaying object information on the forward object; And a control unit for detecting gradient information of a forward road in the road gradient information storage unit based on a current position of the vehicle detected by the GPS module and detecting detection information of the forward object collected through the information collecting unit, Up position information of the front object is detected by using the gradient information of the front object and the position of the object information with respect to the front object through the head up display unit according to the gradient information at the position where the forward object is located And a control unit for controlling the operation of the control unit.

Description

Technical Field [0001] The present invention relates to a display control apparatus and method for a head-up display,

BACKGROUND OF THE INVENTION 1. Field of the Invention [0001] The present invention relates to an apparatus and method for controlling a display of a head-up display, and more particularly to an apparatus and method for controlling a display of a head-up display for adjusting the position of object information displayed on an object in accordance with gradient information of a front road .

There is a disadvantage in that the information providing apparatus for the user mounted on the vehicle is distracted by the driver's attention and there is a risk of accident occurrence. A head up display (HUD) is an information providing device for solving such a problem. The head-up display can display various information provided to the driver on the top of the windshield. Accordingly, there is an advantage in that the risk of an accident can be prevented because the driver does not have to turn his or her gaze to check the information, but the position of the provided information does not coincide with the position of the actual image at the front, There is a problem in that the driver's safety and convenience may be deteriorated due to a cognitive load to recognize the displayed information.

In order to solve such a problem, an augmented reality type head-up display which coincides the positions of the images of actual objects located in the front and the information displayed in the head-up display based on the driver's view is emerging. The augmented reality type head-up display can generate a virtual graphic and display it in combination with the actual image in front of the driver, so that the information required by the driver can be recognized by the driver as if it is displayed together with the actual object in front of the driver.

However, in the conventional augmented reality type head-up display device, when object information is displayed on an object, object information is displayed at a specific position corresponding to the object so that at the point where there is a road gradient, There is a problem that an image mismatch occurs between the two.

Background Art [0002] The background art of the present invention is disclosed in Korean Patent Application Publication No. 10-2013-0104821 (2033.09.25) entitled " Vehicle Information Display System and Method ".

SUMMARY OF THE INVENTION The present invention has been made to solve the above-mentioned problems, and it is an object of the present invention to provide a method and apparatus for displaying object information of an object at an accurate position irrespective of a gradient state of a front road, And to provide a display control apparatus and method for a head-up display that reduces image mismatching between the head-up display.

An object of the present invention is to provide a display control apparatus and method for a head-up display that displays object information at an accurate position, thereby improving reliability of object information and enabling safe operation.

An apparatus for controlling display of a head-up display according to an aspect of the present invention includes: a road gradient information storage unit for storing gradient information of a road; A GPS module for detecting the current position of the subject vehicle; An information collecting unit for recognizing a forward object and collecting detection information of the forward object; A head-up display unit for displaying object information on the forward object; And a control unit for detecting gradient information of a forward road in the road gradient information storage unit based on a current position of the vehicle detected by the GPS module and detecting detection information of the forward object collected through the information collecting unit, Up position information of the front object is detected by using the gradient information of the front object and the position of the object information with respect to the front object through the head up display unit according to the gradient information at the position where the forward object is located And a control unit for controlling the operation of the control unit.

The present invention further includes a photographing unit for photographing a forward image, wherein the control unit analyzes the image photographed by the photographing unit to detect gradient information of a forward road, And corrects the gradient information of the road using the gradient information of the road ahead detected by the photographing unit.

The control unit detects the lane on the image photographed by the photographing unit, detects the vanishing point through the detected lane, and then, using at least one of the shape of the lane and the height of the vanishing point, And the gradient information is detected.

The information collecting unit of the present invention may include at least one of a radar sensor, a rider sensor, and a camera.

The sensing information may include at least one of a distance from the subject vehicle to the forward object and an angle at which the forward object is positioned around the subject vehicle.

A display control method of a head-up display according to an aspect of the present invention is characterized in that the control unit detects the current position of the vehicle through the GPS module, and determines, based on the detected current position of the vehicle, Detecting gradient information; The control unit collecting detection information of a forward object through the information collecting unit, detecting gradient information at a point where the forward object is located using the sensed information of the forward object and the gradient information of the forward road; And adjusting the position of the object information through the head-up display unit according to the gradient information at the position where the forward object is located.

In the step of detecting the gradient information of the forward road of the present invention, the control unit photographs the forward image through the photographing unit, analyzes the image, detects gradient information of the forward road through the lane of the image, And corrects the gradient information of the forward road detected by the road gradient information storage unit by using the gradient information of the forward road detected through the photographing unit.

In the step of detecting the gradient information of the front road of the present invention, the control unit detects a lane in the image photographed by the photographing unit, detects a vanishing point through the lane, The gradient information of the front road is detected using at least one of the height of the front road.

The sensing information may include at least one of a distance from the subject vehicle to the forward object and an angle at which the forward object is positioned around the subject vehicle.

According to an aspect of the present invention, object information of an object is displayed at an accurate position regardless of a gradient state of a forward road, thereby reducing image mismatch between the object and object information.

According to an aspect of the present invention, object information is displayed at an accurate position, thereby improving reliability of object information and enabling safe driving.

1 is a block diagram of a display control apparatus of a head-up display according to an embodiment of the present invention.
2 is a diagram showing a state in which object and object information are mismatched by a road gradient.
3 is a diagram illustrating an example in which the position of object information is corrected according to an embodiment of the present invention.
4 is a flowchart of a display control method of a head-up display according to an embodiment of the present invention.

Hereinafter, an apparatus and method for controlling a display of a head-up display according to an embodiment of the present invention will be described in detail with reference to the accompanying drawings. In this process, the thicknesses of the lines and the sizes of the components shown in the drawings may be exaggerated for clarity and convenience of explanation. Further, the terms described below are defined in consideration of the functions of the present invention, which may vary depending on the user, the intention or custom of the operator. Therefore, definitions of these terms should be made based on the contents throughout this specification.

FIG. 1 is a block diagram of a display control apparatus of a head-up display according to an embodiment of the present invention. FIG. 2 is a diagram illustrating a state in which object and object information are mismatched by a road gradient. FIG. 8 is a diagram illustrating an example in which the position of object information is corrected according to an embodiment. FIG.

1 to 3, a head-up display apparatus according to an embodiment of the present invention includes a road gradient information storage unit 10, a Global Positioning System (GPS) module 20, an information collecting unit 30, A head-up display unit 50, and a control unit 60. The head-

The road gradient information storage unit 10 stores gradient information for each position of the road.

The road gradient information storage unit 10 may be provided in various ways. For example, the road gradient information storage unit 10 may be separately provided in a management system capable of wireless communication with a vehicle. In this case, the management system can receive the gradient information from the vehicle through the wireless communication network, detect the gradient information corresponding to the current position of the vehicle in the road gradient information storage unit 10, and transmit the detected gradient information to the corresponding vehicle do.

In addition, the gradient information may be received from a road information database provided in a navigation system provided in a vehicle other than the separate management system as described above.

That is, the gradient information can be received from various media such as a separate map database unit, a navigation system, and a management system.

The GPS module 20 receives the GPS signal from the GPS satellite, acquires the current position of the vehicle using the received GPS signal, and inputs the current position of the acquired vehicle to the control unit 60. [

The current position of the subject vehicle detected through the GPS module 20 is determined by the position of the forward object 70 positioned in front of the subject vehicle, for example, the preceding vehicle traveling in front of the subject vehicle, It becomes a reference for detecting the position of the display panel or the like. For reference, in the present embodiment, the front object 70 may include an object, for example, a preceding vehicle or a display panel, which is positioned in front of the subject vehicle and can be an object for displaying the object information 80. [

Here, the object information 80 is various to display information about the forward object 70, and the object information 80 may include the virtual image 81, the virtual icon 82, and the like.

The information collecting unit 30 recognizes the forward object 70 and collects the sensing information of the forward object 70. [ The information collecting unit 30 may include a radar sensor, a rider sensor, a camera, and the like. The sensing information detected through the information collecting unit 30 may include a distance between the subject vehicle 70 and the forward object 70 positioned at the front and an angle at which the forward object 70 is positioned around the subject vehicle. The detection information of the forward object 70 becomes a reference for obtaining the gradient information of the point where the forward object 70 is located.

The photographing unit 40 photographs a video image in front of the vehicle. Particularly, the photographing section 10 photographs the viewing direction viewed by the driver of the subject vehicle or the traveling direction in which the subject vehicle travels, and acquires an image of the forward object.

As the photographing unit 10, an FIR (Far Infra Red) camera, a CMOS (Complementary Metal-Oxide Semiconductor) camera, a CCD (Charge Coupled Device) The CMOS camera or the CCD camera senses the light in the visible region and projects the image, thereby acquiring an image similar to that of a human eye. And the FIR camera acquires the image by projecting light of infrared band which is not seen by human.

The head-up display unit 50 displays various object information 80 corresponding to the forward object 70 to the windshield of the vehicle in response to a control signal from the control unit 60 At this time, the position of the object information 80 is moved according to the gradient information of the front road so that the object information 80 can be displayed at an appropriate position.

That is, the head-up display unit 50 generates the object information 80 and displays it in combination with the actual image in front of the driver. Based on the driver's view, the head-up display unit 50 displays the object information 70 of the front objects 70 80) to the appropriate position. By this head-up display unit 50, the driver recognizes the information as if it is displayed together with the actual forward object 70 in front of the driver.

The control unit 60 displays the object information 80 on the windshield of the vehicle through the head up display unit 50 based on the image photographed through the photographing unit 40. [

For example, the control unit 60 displays the object information 80 for the forward object 70 at a position corresponding to the object 70. At this time, the object information 80 can be displayed at a position different from the position to be displayed by the road gradient state at the position where the forward object 70 is located. That is, the forward object 70 and the object information 80 can be mismatched.

2 shows an example in which the vehicle running ahead of the subject vehicle is mismatched with the object information 80 by a road gradient.

The control unit 60 detects the current position of the subject vehicle and detects the gradient information of the forward road in the road gradient information storage unit 10 using the current position of the subject vehicle.

Further, the control unit 60 analyzes the image photographed by the photographing unit 40 and detects the gradient information of the point where the forward object 70 is located. In this case, the control unit 60 detects the lane on the image photographed by the photographing unit 40, and detects the vanishing point through the detected lane. Then, the control unit 60 detects the gradient information of the forward road using the height of the detected vanishing point and the shape of the lane.

That is, the control unit 60 detects the gradient information of the forward road in the road gradient information storage unit 10 using the current position of the vehicle, that is, a method of detecting the gradient information of the forward road on a map basis, A method of using the image photographed by the imaging unit 40, that is, a method of detecting the gradient information of the front road based on the actual measurement can be used. In particular, the controller 60 can improve the accuracy of the gradient information of the forward road by correcting the gradient information of the forward road detected on the map basis to the gradient information detected based on the actual measurement.

The control unit 60 collects sensing information of the forward object 70 through the information collecting unit 30 and acquires sensing information of the forward object 70 using the gradient information of the forward road and the sensing information of the forward object 70 And detects gradient information at the point.

That is, the control unit 60 detects the current position of the vehicle using the GPS module 20, and collects sensing information about the forward object 70 using the information collecting unit 30. [ As the detection information for the forward object 70 is collected, the control unit 60 uses the current position of the subject vehicle and the detection information for the forward object 70, The current position of the object 70 is detected.

When the current position of the forward object 70 is detected as described above, the control unit 60 calculates the gradient of the point at which the forward object 70 is located, based on the gradient information detected as described above about the current position of the forward object 70 Information.

The control unit 60 adjusts the position of the object information 80 in accordance with the road gradient at the point where the forward object 70 is located and displays the object information 80 at the correct position, (80), improves the reliability of the driver with respect to the object information (80), and enables safe driving.

For example, as shown in FIG. 3 (a), while the vehicle is traveling, the point where the forward object 70 is located is downhill as shown in FIG. 3 (b) The control unit 60 displays the object information 80 of the forward object 70 in the downward direction according to the road gradient at the position of the forward vehicle so that the forward object 70 and the object 70 Thereby eliminating the inconsistency between the information 80.

Hereinafter, a display control method of a head-up display according to an embodiment of the present invention will be described in detail with reference to FIG.

4 is a flowchart of a display control method of a head-up display according to an embodiment of the present invention.

Referring to FIG. 4, the control unit 60 detects the current position of the vehicle using the GPS module 20 (S10).

Next, the control unit 60 detects the gradient information of the forward road in the road gradient information storage unit 10 using the current position of the subject vehicle (S20).

In this case, the road gradient information storage unit 10 may be provided in various media such as a map database unit, a navigation system, and a management system, and the controller 60 may be connected to each medium having the road gradient information storage unit 10 So that the gradient information of the front road can be detected.

Further, the control unit 60 detects the lane on the image photographed by the photographing unit 40, and detects the vanishing point through the detected lane. Next, the control unit 60 detects the gradient information of the forward road using the height of the detected vanishing point and the direction of the lane (S30).

In this case, the control unit 60 can correct the gradient information of the forward road detected on the map basis in the road gradient information storage unit 10 to the gradient information detected based on the actual basis through the photographing unit 40.

On the other hand, the control unit 60 uses the information collection unit 30 to collect detection information about the forward object 70 (S40). The sensing information may include a distance from the subject vehicle 70 to the front object 70 and an angle at which the front object 70 is positioned around the subject vehicle.

Next, the control unit 60 detects the current position of the forward object 70 using the current position of the subject vehicle and the detection information of the forward object 70 (S50).

When the current position of the forward object 70 is detected in this way, the control unit 60 detects the gradient information of the point where the forward object 70 is located among the gradient information of the forward road centered on the current position of the subject vehicle (S60).

The control unit 60 moves the position of the object information 80 in accordance with the road gradient at the point where the forward object 70 is located (S70), and moves the object information 80 about the forward object 70 to the correct position It is possible not only to reduce image mismatch between the object 70 and the object information 80, but also to improve the reliability of the object information 80 and ensure safe driving.

While the present invention has been particularly shown and described with reference to exemplary embodiments thereof, it is clearly understood that the same is by way of illustration and example only and is not to be taken by way of limitation, I will understand. Accordingly, the true scope of the present invention should be determined by the following claims.

10: Road gradient information storage unit
20: GPS module
30: Information collecting section
40; Shooting section
50: Head-up display section
60:
70: forward object
80: Object information

Claims (9)

A road gradient information storage unit for storing gradient information of a road;
A GPS module for detecting the current position of the subject vehicle;
An information collecting unit for recognizing a forward object and collecting sensing information about the forward object;
A head-up display unit for displaying object information on the forward object;
A photographing unit for photographing a forward image; And
Detecting gradient information of a forward road in the road gradient information storage unit based on the current position of the vehicle detected by the GPS module, analyzing the image taken by the photographing unit, and detecting gradient information of the forward road The gradient information of the forward road stored in the road gradient information storage unit, and the gradient information of the front road detected in the image photographed by the photographing unit, And a control unit for adjusting the position of the object information through the head-up display unit according to gradient information at a position where the forward object is located after detecting gradient information at a position where the forward object is located,
Wherein the control unit corrects the gradient information of the forward road detected by the road gradient information storage unit using gradient information of the forward road detected through the photographing unit,
Wherein the control unit detects a lane in the image photographed by the photographing unit, detects a vanishing point through the detected lane, and then, based on the detected height of the vanishing point and the shape of the lane, And detects the gradient information of the front road.
delete delete The information processing apparatus according to claim 1, wherein the information collecting unit
A radar sensor, a rider sensor, and a camera.
2. The method of claim 1,
A distance from the subject vehicle to the forward object, and an angle at which the forward object is positioned around the subject vehicle.
The control unit detects the current position of the vehicle through the GPS module, detects the gradient information of the road ahead in the road gradient information storage unit based on the detected current position of the vehicle, analyzes the image captured by the photographing unit Detecting gradient information of a front road;
Wherein the control unit collects detection information of the forward object through the information collection unit, and stores the detection information of the forward object, the gradient information of the forward road stored in the road gradient information storage unit, Detecting gradient information at a point where the forward object is located using gradient information of a forward road; And
And controlling the position of the object information with respect to the forward object through the head-up display unit according to the gradient information at the position of the forward object,
The control unit corrects the gradient information of the forward road detected by the road gradient information storage unit using gradient information of the forward road detected through the photographing unit in the step of detecting the gradient information of the forward road,
In the step of detecting the gradient information of the forward road, the control unit detects a lane on the image photographed by the photographing unit, detects a vanishing point through the detected lane, and then displays the height of the vanishing point and the shape of the lane And the gradient information of the forward road is detected from the image photographed by the photographing section.
delete delete 7. The method of claim 6,
A distance from the subject vehicle to the forward object, and an angle at which the forward object is positioned around the subject vehicle.
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