KR100271883B1 - A detecting method of an obstacle of front direction as driving a vehicle and its device - Google Patents

A detecting method of an obstacle of front direction as driving a vehicle and its device Download PDF

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Publication number
KR100271883B1
KR100271883B1 KR1019970033696A KR19970033696A KR100271883B1 KR 100271883 B1 KR100271883 B1 KR 100271883B1 KR 1019970033696 A KR1019970033696 A KR 1019970033696A KR 19970033696 A KR19970033696 A KR 19970033696A KR 100271883 B1 KR100271883 B1 KR 100271883B1
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South Korea
Prior art keywords
vehicle
vehicle speed
brake
distance
braking force
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KR1019970033696A
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Korean (ko)
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KR19990010820A (en
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유용상
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류정열
기아자동차주식회사
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Publication of KR19990010820A publication Critical patent/KR19990010820A/en
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    • 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
    • B60K31/00—Vehicle fittings, acting on a single sub-unit only, for automatically controlling vehicle speed, i.e. preventing speed from exceeding an arbitrarily established velocity or maintaining speed at a particular velocity, as selected by the vehicle operator
    • B60K31/0008—Vehicle fittings, acting on a single sub-unit only, for automatically controlling vehicle speed, i.e. preventing speed from exceeding an arbitrarily established velocity or maintaining speed at a particular velocity, as selected by the vehicle operator including means for detecting potential obstacles in vehicle path
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R21/00—Arrangements or fittings on vehicles for protecting or preventing injuries to occupants or pedestrians in case of accidents or other traffic risks
    • B60R21/01—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents
    • B60R21/013—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents including means for detecting collisions, impending collisions or roll-over
    • B60R21/0134—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents including means for detecting collisions, impending collisions or roll-over responsive to imminent contact with an obstacle, e.g. using radar systems
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T7/00—Brake-action initiating means
    • B60T7/12—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger
    • B60T7/22—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger initiated by contact of vehicle, e.g. bumper, with an external object, e.g. another vehicle, or by means of contactless obstacle detectors mounted on the vehicle
    • 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
    • B60K31/00—Vehicle fittings, acting on a single sub-unit only, for automatically controlling vehicle speed, i.e. preventing speed from exceeding an arbitrarily established velocity or maintaining speed at a particular velocity, as selected by the vehicle operator
    • B60K31/0008—Vehicle fittings, acting on a single sub-unit only, for automatically controlling vehicle speed, i.e. preventing speed from exceeding an arbitrarily established velocity or maintaining speed at a particular velocity, as selected by the vehicle operator including means for detecting potential obstacles in vehicle path
    • B60K2031/0016—Identification of obstacles; Selection of a target vehicle
    • 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
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/08—Interaction between the driver and the control system
    • B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
    • B60W2050/143—Alarm means

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Transportation (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Traffic Control Systems (AREA)
  • Regulating Braking Force (AREA)

Abstract

PURPOSE: A detecting method of obstacles in front of a vehicle is provided to prevent an accident and damage of a vehicle body by detecting obstacles in front of a vehicle all the time and automatically operating a brake in a dangerous situation. CONSTITUTION: An ignition switch is turned on. Each vehicle speed(V) and height(h) is detected by a wheel speed sensor, a vehicle speed sensor and a height sensor, and then inputted to an ECU(Electronic Circuit Unit). The ECU compares if the height(h) is larger than H-A and smaller than H+A wherein the H is reference safe height from the lower face of a vehicle body to the ground while the A is a constant for an allowable safe limit. If h less than H+A and more than H-A is not obtained, the ECU makes a driver operate a brake and alarms the dangerous state by lighting on an alarm lamp. To operate the brake, the braking force of the brake is decided depending on the vehicle speed(V) from the vehicle speed sensor. The brake system is operated according to the decided braking force. Therefore, the driver is protected from an accident by operating the brake system promptly.

Description

차량운행시 전방장애물 탐지방법 및 그 장치Forward obstacle detection method and device therefor when driving a vehicle

본 발명은 차량운행시 전방 장애물 탐지방법 및 그 장치에 관한 것으로서 특히, 차체의 하부에 거리감지센서를 장착하여 차체의 저면에서부터 노면까지의 거리를 측정할 수 있도록 하고, 제어부(electronic circuit unit; E.C.U)의 입력포트에 거리감지센서와 휠 스피드 센서 및 차속센서를 연결하되, E.C.U에 정상적인 주행시 차체와 노면 사이의 안전거리(평지)를 기준값으로 설정하여 거리 측정값을 비교할 수 있도록 하며, 또한 E.C.U로부터 정상주행으로 판단하는 차속을 기준값으로 설정하여 실제의 차속값과 비교할 수 있도록 하되, E.C.U의 출력포트에는 브레이크 시스템의 구동부 및 경고등을 연결하여 위험상황일 경우 운전자에게 경고함과 동시에 브레이크 시스템을 비상작동시키도록 한 것인 바, 운전자가 미처 확인하지 못한 비정상 노면에서의 차량의 주행을 방지함으로써 차량의 추락, 전복 등 안전사고를 예방하고, 또한 탑승자의 인명사고 방지와 함께 차체의 손상, 파손을 예방할 수 있도록 된 것이다.BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a method and a device for detecting a front obstacle during a vehicle driving. In particular, a distance detection sensor is mounted on a lower portion of a vehicle to measure a distance from a bottom of the vehicle body to a road surface. Connect the distance sensor, wheel speed sensor and vehicle speed sensor to the input port of), but set the safety distance (flat) between the vehicle body and the road surface as a reference value during normal driving to the ECU so that the distance measurement value can be compared. The vehicle speed judged to be normal driving is set as the reference value so that it can be compared with the actual vehicle speed value, but the drive unit and warning light of the brake system are connected to the output port of the ECU to warn the driver in case of a dangerous situation and to emergencyly operate the brake system. The main cause of the vehicle on abnormal roads that the driver did not see. By preventing traffic, safety accidents such as falling and overturning of vehicles can be prevented, as well as damage to and damage to the vehicle body can be prevented along with prevention of human accidents.

일반적으로 차량운행시 지형 및 노면의 조건은 각기 달라지며, 그 형태 또한 다양하게 나타나고 있다.In general, the terrain and road conditions are different when driving a vehicle, and the shape of the vehicle is also varied.

차량의 안전운행을 방해하는 장애요소로는 지면에 돌출턱이 형성되어 있거나 공사 등을 위하여 땅을 파놓은 경우 또는 노면의 굴곡, 요철이 심하거나 도랑이 있는 경우가 있으며, 기타 낙석이나 화물이 떨어져 있는 경우 등이 있다.Obstacles that impede the safe operation of vehicles include protruding jaws on the ground or digging ground for construction, or road curvature, irregularities or grooves, and other falling rocks or cargo. Cases, etc.

상기와 같은 장애요소들은 심한 경우 차량의 운행이 더 이상 불가능하거나 운행할 수 있더라도 무리하게 운행을 강행하여 차체에 손상을 유발할 수 있다.In the severe case, such obstacles may cause damage to the vehicle body by forcibly driving the vehicle even if it is no longer possible to operate or operate the vehicle.

따라서, 이러한 경우에는 가능한 한 운행을 자제하는 것이 좋을 것이나, 우천으로 인한 시계불량시나 야간운행시에는 전방에 출현하는 장애물을 용이하게 발견할 수 없을 뿐만 아니라 착시현상, 착오 등에 의해 위험상황에 노출되는 경우가 빈번히 발생하고 있다.Therefore, in this case, it is better to refrain from running as much as possible, but in case of poor visibility due to rainy weather or night driving, it is not easy to find obstacles appearing in front of it, and it is exposed to dangerous situations due to optical illusions and errors. Cases are frequent.

또한 장애물이 발견되어도 이미 대처하기가 곤란하거나 급박한 상황에 이르는 경우가 많으며, 이때 노면의 상태를 확인하지 않거나 미처 확인하지 못한 상태에서 기민하게 브레이크 작동을 행하여 급제동을 하기란 역시 매우 곤란한 일이 아닐 수 없다.In addition, even when obstacles are found, it is often difficult to cope with the situation or urgent situation.In this case, it is not very difficult to brake quickly by braking operation without checking or not checking the condition of the road surface. Can't.

오히려 경사노면이나 커브길 등에서 제동거리가 충분히 확보되지 못한 상태에서의 급제동이나 그 급제동에 의한 차량의 추락 또는 전복사고 등이 실질적으로 빈발하고 있다.On the contrary, sudden braking in a state in which a braking distance is not sufficiently secured on a slope road or a curve road, a vehicle falling or a rollover accident due to the braking is substantially frequent.

이처럼 운전자가 일일이 지형, 노면상태를 확인할 수는 없을 것이며, 낯선 길을 운행할 경우에는 위험성이 더욱 커질 수밖에 없다.As such, the driver will not be able to check the terrain and road conditions one by one, and the danger will be greater when driving on unfamiliar roads.

본 발명은 상기의 결점을 해소하기 위한 것으로, 차량운행시 전방의 장애물을 항시 감지하여 위험성이 있을 경우 브레이크를 자동으로 작동시킴으로써 안전사고의 위험방지와 차체의 파손위험을 예방할 수 있도록 하는 차량운행시 전방 장애물 탐지방법 및 그 장치를 제공하고자 한다.The present invention is to solve the above-mentioned drawbacks, the vehicle operation to prevent the risk of safety accidents and damage to the vehicle body by preventing the risk of safety accidents by automatically operating the brakes if there is a risk at all times when the vehicle is running. An object of the present invention is to provide a method and a device for detecting a forward obstacle.

이러한 본 발명은 차체의 하부에 거리감지센서를 장착하여 차체의 저면에서 부터 노면까지의 거리를 측정할 수 있도록 하고, E.C.U의 입력포트에 거리감지센서와 휠 스피드 센서 및 차속센서를 연결하되, E.C.U에 정상적인 주행시 차체와 노면 사이의 안전거리(평지)를 기준값으로 설정하여 거리 측정값을 비교할 수 있도록 하며, 또한 E.C.U로부터 정상주행으로 판단하는 차속을 기준값으로 설정하여 실제의 차속값과 비교할 수 있도록 하되, E.C.U의 출력포트에는 브레이크 시스템의 구동부 및 경고등을 연결하여 위험상황일 경우 운전자에게 경고함과 동시에 브레이크 시스템을 비상작동시키도록 한 것이다.The present invention is equipped with a distance sensor on the lower part of the vehicle body to measure the distance from the bottom of the vehicle body to the road surface, and connects the distance sensor and the wheel speed sensor and the vehicle speed sensor to the input port of the ECU, ECU In order to compare the distance measurement value by setting the safety distance (flat) between the vehicle body and the road surface as a reference value during normal driving, and also to set the vehicle speed determined by the ECU as a reference value to compare with the actual vehicle speed value. In addition, the output port of the ECU is connected to the driving part of the brake system and a warning light to warn the driver in case of a dangerous situation and to make the brake system emergency.

제1도는 본 발명에 따른 플로우 챠트.1 is a flow chart according to the present invention.

제2도는 본 발명 장애물 탐지장치의 장착 일예를 보인 측면도.Figure 2 is a side view showing an example of mounting the obstacle detection device of the present invention.

제3도는 본 발명에 따른 블록 다이어그램.3 is a block diagram according to the present invention.

제4도는 본 발명의 차속/브레이크 제동력의 특성 그래프.4 is a characteristic graph of vehicle speed / brake braking force of the present invention.

* 도면의 주요부분에 대한 부호의 설명* Explanation of symbols for main parts of the drawings

10 : 차체 20 : 거리감지센서10: body 20: distance sensor

30 : 휠 스피드 센서 40 : 차속센서30: wheel speed sensor 40: vehicle speed sensor

50 : E.C.U 60 : 브레이크 시스템50: E.C.U 60: Brake system

70 : 경고등70: warning light

이하, 본 발명의 실시예를 첨부 도면을 참고하여 상세히 설명하면 다음과 같다.Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings.

제1도는 본 발명에 따른 플로우 챠트이고, 제2도는 본 발명 장애물 탐지장치의 장착 일예를 보인 측면도이며, 제3도는 본 발명에 따른 블록 다이어그램을 나타낸 것이다. 또한 제4도는 본 발명의 차속/브레이크 제동력의 특성 그래프를 나타낸 것이다.1 is a flow chart according to the present invention, Figure 2 is a side view showing an example of mounting the obstacle detection device of the present invention, Figure 3 shows a block diagram according to the present invention. Figure 4 also shows a characteristic graph of the vehicle speed / brake braking force of the present invention.

제1도에 도시된 바와 같이 차량운행시 전방 장애물을 탐지하는 방법은, 점화 스위치의 ‘온’상태에서 차체와 지면 사이의 실측거리(h) 및 차속(V)을 전자회로유닛에 입력하는 입력단계(S10)와; 상기 실측거리(h)가 상기 전자회로유닛에 설정된 안전기준거리(H)를 기준으로 기설정된 안전허용치(A)에서 벗어나는 지를 판단하는 판단단계(S20)와; 상기 판단단계의 결과에 따라 상기 안전허용치(A)를 벗어날 경우 경보를 출력하는 경보출력단계(S30)로 구성된다.As shown in FIG. 1, a method for detecting a forward obstacle while driving a vehicle includes inputting an actual distance h and a vehicle speed V between the vehicle body and the ground in the 'on' state of the ignition switch to the electronic circuit unit. Step S10; A determination step (S20) of determining whether the measured distance (h) deviates from a safety allowable value (A) preset based on a safety reference distance (H) set in the electronic circuit unit; Alarm output step (S30) for outputting an alarm when out of the safety allowable value (A) according to the result of the determination step.

상기 경보출력단계(S30)후에는 브레이크 시스템을 작동시키는 제동단계(40)를 추가로 포함할 수가 있으며, 상기 제동단계(S40)는 차속에 대한 브레이크 제동력(BF)을 결정하는 제동력설정단계(S41)와; 상기 제동력설정에 따라 브레이크 시스템을 작동하는 작동단계(S42)로 구성될 수가 있다.After the alarm output step (S30) may further include a braking step (40) for operating the brake system, the braking step (S40) is a braking force setting step (S41) for determining the brake braking force (BF) for the vehicle speed )Wow; According to the braking force setting, it may be configured as an operating step (S42) for operating the brake system.

또한, 제4도에 도시된 바와 같이 상기 브레이크 제동력(BF)은 초기에 차속에 대하여 비례증가하며, 소정의 임계차속(Vc)에서는 일정한 브레이크 제동력(BF)을 갖게 맵핑될 수가 있다.In addition, as shown in FIG. 4, the brake braking force BF initially increases in proportion to the vehicle speed, and may be mapped to have a predetermined brake braking force BF at a predetermined critical vehicle speed Vc.

다음으로 제2도에 도시된 바와 같이, 차량운행시 전방 장애물 탐지장치는, 차체(10)의 하부에 거리감지센서(20)를 장착하여 차체(10)의 저면에서부터 노면까지의 거리를 측정할 수 있도록 하되, 거리감지센서(20)의 장착위치는 바람직하게는 차체(10)의 앞부분이 되겠다.Next, as shown in FIG. 2, the front obstacle detecting apparatus for driving a vehicle may measure a distance from the bottom of the vehicle body 10 to the road surface by mounting a distance sensor 20 under the vehicle body 10. To be able to, but the mounting position of the distance sensor 20 is preferably the front portion of the vehicle body (10).

또한, E.C.U(50)의 입력포트에 거리감지센서(20)와 휠 스피드 센서(30) 및 차속센서(40)를 연결하되, E.C.U(50)에 정상적인 주행시 차체(10)와 노면 사이의 안전거리(평지)를 기준값으로 설정하여 거리 측정값을 비교할 수 있도록 하고, 또한 E.C.U(50)로부터 정상주행으로 판단하는 차속을 기준값으로 설정하여 실제의 차속값과 비교할 수 있도록 한다.In addition, the distance sensor 20, the wheel speed sensor 30 and the vehicle speed sensor 40 is connected to the input port of the ECU 50, the safety distance between the vehicle body 10 and the road surface during normal driving to the ECU 50 By setting (flat) as a reference value, the distance measurement value can be compared, and the vehicle speed judged by the ECU 50 as normal driving is set as the reference value so that the actual vehicle speed value can be compared.

아울러 E.C.U(50)의 출력포트에는 브레이크 시스템(60)의 구동부 및 경고등(70)을 연결하여 위험상황일 경우 이들을 동작시킬 수 있도록 구성한다.In addition, the output port of the E.C.U (50) is connected to the drive unit and the warning light 70 of the brake system 60 is configured to operate in a dangerous situation.

이하 본 발명의 내용을 보다 상세히 기술하면 다음과 같다.Hereinafter, the content of the present invention will be described in detail.

본 발명 차량운행시 전방 장애물 탐지방법에서, 상기 입력단계(S10)은, 우선 점화스위치(IG)가 ‘ON’된 상태에서 휠 스피드 센서(30)와 차속센서(40) 및 거리감지센서(20)로부터 각각 차속(V) 및 거리측정값(h)을 검출하여 이를 E.C.U(50)에 입력한다.In the method of detecting a front obstacle during vehicle operation, the input step (S10), first, the wheel speed sensor 30, the vehicle speed sensor 40 and the distance sensor 20 in the state that the ignition switch (IG) is 'ON'. ) Detects the vehicle speed V and the distance measurement value h, respectively, and inputs it to the ECU 50.

판단단계(S20)에서는, 상기 입력데이터들로부터 E.C.U(50)에서는 H-A〈h〈H+A를 비교하게 된다. 여기서, H는 E.C.U에 설정된 차체의 저면에서 정상 노면(평지)까지의 안전 기준거리를 나타내며, A는 안전허용치를 나타내는 상수이며, h는 차체의 저면에서 주행노면까지의 실측거리를 나타낸다.In the determination step S20, the E.C.U 50 compares H-A < h < H + A from the input data. Here, H represents the safety reference distance from the bottom of the vehicle body set to E.C.U to the normal road surface (flat), A is a constant representing the safety allowance, and h represents the actual distance from the bottom of the vehicle body to the driving surface.

상기와 같이 H-A〈h〈H+A를 비교한 결과 이 조건을 만족하지 않으면, 위험상황으로 판단하여 E.C.U(50)는 경고등(70)을 점등시켜 운전자에게 제동을 행하도록 함과 동시에 위험상황임을 경고한다. 즉, 예를 들어, 평지에서 거리감지 센서(20)까지의 높이가 10이라고 하면 상기 안전기준거리 H는 10으로 설정되며, 상기 안전허용치 A를 2로 설정을 하면 상기 비교조건은 8〈h〈12가 된다. 따라서, 주행중 거리감지센서(20)에 의해 측정되는 실측거리 h에 의해 지면에 대해 2이하 높이의 돌출 장애물이나 2이하 깊이의 웅덩이에 대해서는 안전주행상황으로 판단하게 되나, 실측거리 h가 상기 비교조건식 8〈h〈12을 만족하지 않는 경우, 즉 실측 거리 h가 지면에 대해 2이상의 높이를 가진 장애물이나 2이상의 깊이를 갖는 웅덩이에 대해서는 비상상황으로 판단하여 경보를 출력하게 된다.As a result of comparing HA &lt; H &lt; H + A as described above, if this condition is not satisfied, the ECU 50 judges that it is a dangerous situation and turns on the warning lamp 70 to brake the driver and indicate that it is a dangerous situation. Warning. That is, for example, when the height from the flat to the distance sensor 20 is 10, the safety reference distance H is set to 10, and if the safety allowable value A is set to 2, the comparison condition is 8 &lt; 12. Therefore, the driving distance h measured by the distance sensor 20 while driving is determined as a safe driving situation for a projecting obstacle having a height of 2 or less and a puddle of a depth of 2 or less with respect to the ground, but the measured distance h is the comparative conditional expression. If 8 <h <12 is not satisfied, that is, the measured distance h is determined to be an emergency situation for an obstacle having a height of 2 or more or a depth of 2 or more with respect to the ground, and an alarm is output.

즉, 경보출력단계(S30)은 상기 판단단계(S20)에서 비교, 판단된 결과에 따라서 경보를 출력하는 단계이다.That is, the alarm output step S30 is a step of outputting an alarm according to the result of the comparison and determination in the determination step S20.

경보출력단계(S30)는, 경보출력과 함께 브레이크 시스템을 작동하여 제동하는 단계로, 차속센서(40)에 의해 입력된 차속(V)에 따라서 브레이크 제동력을 결정하는 제동력설정단계(S41)와; 결정된 제동력에 의해 브레이크 시스템을 작동하는 작동단계(S42)로 구성된다. 브레이크 제동력설정단계(S41)는, 제4도에 도시된 바와 같이 차속에 비례하는 제동력을 가지나, 일정한 임계속도(Vc)가 설정되어 있어, 상기 임계속도(Vc)이상에서는 일정한 제동력을 제공하게 된다. 작동단계(S42)는, 브레이크 제동력이 결정되면 그 값에 따라 브레이크 시스템(60)을 작동시켜 강제 제동을 행하도록 한다.The alarm output step (S30) is a step of operating and braking the brake system together with the alarm output, the braking force setting step (S41) for determining the brake braking force according to the vehicle speed (V) input by the vehicle speed sensor (40); It consists of an operating step (S42) for operating the brake system by the determined braking force. In the brake braking force setting step S41, as shown in FIG. 4, the brake braking force setting step S41 has a braking force that is proportional to the vehicle speed, but a constant threshold speed Vc is set to provide a constant braking force above the threshold speed Vc. . In the operation step S42, when the brake braking force is determined, the brake system 60 is operated according to the value to perform forced braking.

이처럼 차량이 주행하고 있는 지면의 높낮이에 따라 이를 정상 지면과 비교하여 지면이 상대적으로 낮아지거나 높아지는 경우 브레이크 시스템(60)을 신속히 작동시킴으로써 안전사고의 위험을 예방할 수 있다.As such, when the ground is relatively lower or higher than the normal ground according to the height of the ground on which the vehicle is traveling, the brake system 60 can be operated quickly to prevent the risk of a safety accident.

이상과 같은 본 발명 차량운행시 전방 장애물 탐지방법 및 그 장치는, 차체(10)의 하부에 거리감지센서(20)를 장착하여 차체(10)의 저면에서부터 노면까지의 거리를 측정할 수 있도록 하고, E.C.U(50)의 입력포트에 거리감지센서(20)와 휠 스피드 센서(30) 및 차속센서(40)를 연결하되, E.C.U(50)에 정상적인 주행시 차체(10)와 노면 사이의 안전거리(평지)를 기준간으로 설정하여 거리 측정값을 비교할 수 있도록 하며, 또한 E.C.U(50)로부터 정상주행으로 판단하는 차속을 기준값으로 설정하여 실제의 차속값과 비교할 수 있도록 하되, E.C.U(50)의 출력포트에는 브레이크 시스템(60)의 구동부 및 경고등(70)을 연결하여 위험상황일 경우 이들을 동작시킬 수 있도록 하여, 운전자가 확인하지 못한 비정상 노면에서의 차량의 주행을 방지함으로써 차량의 추락, 전복 등 안전사고를 예방하며, 아울러 탑승자의 인명사고방지와 함께 차체의 손상, 파손을 예방할 수 있는 효과가 있는 발명인 것이다.As described above, the method and apparatus for detecting a front obstacle during vehicle operation include mounting a distance sensor 20 on the lower portion of the vehicle body 10 so as to measure the distance from the bottom surface of the vehicle body to the road surface. The distance sensor 20, the wheel speed sensor 30 and the vehicle speed sensor 40 are connected to the input port of the ECU 50, but the safety distance between the vehicle body 10 and the road surface during normal driving to the ECU 50 Level) is set between the reference values so that distance measurement values can be compared, and the vehicle speed determined as normal driving from the ECU 50 can be set as the reference value so that the actual vehicle speed value can be compared with the output of the ECU 50. By connecting the driving part of the brake system 60 and the warning light 70 to the port, it is possible to operate them in a dangerous situation, thereby preventing the vehicle from driving on an abnormal road surface that the driver has not checked, thereby preventing the vehicle from falling down or overturning. four Prevention and inventions in addition to the effect that prevents damage and breakage of the body of the occupant with a avoid accidents.

Claims (6)

점화 스위치의 ‘온’상태에서 차체와 지면 사이의 실측거리(h) 및 차속(V)을 제어부에 입력하는 입력단계와; 상기 실측거리(h)가 상기 제어부에 설정된 안전기준거리(H)를 기준으로 기설정된 안전허용치(A)에서 벗어나는 지를 판단하는 판단단계와; 상기 판단단계의 결과에 따라 상기 안전허용치(A)를 벗어날 경우 경보를 출력하는 경보출력단계로 구성되는 것을 특징으로 하는 차량운행시 전방 장애물 탐지 방법.An input step of inputting a measured distance (h) and a vehicle speed (V) between the vehicle body and the ground to the controller in the 'on' state of the ignition switch; A determination step of determining whether the measured distance h deviates from a safety allowable value A preset based on the safety reference distance H set in the controller; And an alarm output step of outputting an alarm when the safety marginal value (A) is departed according to the result of the determination step. 제1항에 있어서, 경보출력단계후 브레이크 시스템을 작동시키는 제동단계를 추가로 포함하는 것을 특징으로 하는 차량운행시 전방 장애물 탐지방법.The method of claim 1, further comprising a braking step of operating the brake system after the alarm output step. 제2항에 있어서, 상기 제동단계는 차속에 대한 브레이크 제동력을 결정하는 제동력 설정 단계와; 상기 제동력설정에 따라 브레이크 시스템을 작동하는 작동단계로 구성됨을 특징으로 하는 차량운행시 전방 장애물 탐지방법.The method of claim 2, wherein the braking step comprises: a braking force setting step of determining a brake braking force for a vehicle speed; And an operating step of operating the brake system according to the braking force setting. 제3항에 있어서, 상기 브레이크 제동력은 초기에, 차속에 대하여 비례증가 하며, 소정의 임계차속에서는 일정한 브레이크 제동력을 갖게 맵핑되는 것을 특징으로 하는 차량운행시 전방 장애물 탐지방법.The method of claim 3, wherein the brake braking force is initially increased in proportion to the vehicle speed, and is mapped to have a predetermined brake braking force at a predetermined critical vehicle speed. 차체에서 지면까지의 실측거리를 감지하도록 차체에 장착된 거리감지 센서와; 차속을 검출하는 차속센서와; 위험한 상황임을 운전자에게 표시하는 경고등과; 점화스위치가 ‘온’인 상태에서 상기 거리감지센서로부터 입력된 실측거리가 설정된 안전기준거리를 기준으로 기설정된 안정허용치를 벗어나는 경우, 상기 경고등을 작동시키어 운전자에게 위험상황임을 알리는 제어부를 포함하여 구성되는 것을 특징으로 하는 차량운행시 전방 장애물 탐지장치.A distance detecting sensor mounted to the vehicle body to detect an actual distance from the vehicle body to the ground; A vehicle speed sensor detecting a vehicle speed; A warning light to indicate to the driver that it is a dangerous situation; If the measured distance input from the distance sensor in the state that the ignition switch is 'on' out of the predetermined safety allowance based on the set safety reference distance, comprising a control unit to notify the driver of the dangerous situation by operating the warning light Front obstacle detection device during vehicle operation, characterized in that the. 제5항에 있어서, 제어신호에 따라 브레이크 시스템을 작동시키는 브레이크 시스템 구동부가 추가로 구성되며, 상기 제어부는 상기 경고등을 작동시키는 동시에 브레이크 시스템 구동부를 작동시키는 것을 특징으로 하는 차량운행시 전방 장애물 탐지장치.The apparatus of claim 5, further comprising a brake system driver configured to operate the brake system according to a control signal, wherein the controller operates the brake system driver while operating the warning lamp. .
KR1019970033696A 1997-07-18 1997-07-18 A detecting method of an obstacle of front direction as driving a vehicle and its device KR100271883B1 (en)

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