KR101460309B1 - Driver assistance systems and controlling method for the same - Google Patents

Abstract

The present invention relates to an emergency brake system including a battery supply current breaking function. The system includes: a battery disposed in a vehicle to supply electric energy into the vehicle; a radar module mounted on the vehicle to detect an object in front of the vehicle, thereby acquiring information on the object; a speed detection module for detecting the traveling speed of the vehicle; and a controller for calculating a crash expectation time with respect to the object on the basis of the information on the object and the traveling speed of the vehicle and for blocking the supply of the electric energy of the battery when the crash expectation time is not more than a first reference time, and the SOC of the battery is not more than a reference SOC.

Description

Technical Field [0001] The present invention relates to an emergency braking device and a control method thereof,

The present invention relates to an emergency braking apparatus including a battery supply current cutoff function and a control method thereof. More particularly, the present invention relates to an emergency braking apparatus and a control method thereof for preventing electric energy supplied from a battery based on an object ahead of the vehicle detected by a radar, The present invention relates to an emergency braking device including a supply current breaking function and a control method thereof.

The driver assistance system is a safety device that detects the danger and notifies the driver of the risk of an accident through visual, auditory and tactile factors, as well as a vehicle safety device that actively performs speed reduction or braking for avoiding frontal collision to be. In addition, the driving assistance system can perform lane departure warning, blind spot monitoring, and improved rearward surveillance.

The driving assist system is divided into various types according to its functions. The Forward Collision Warning System (FCW) is a system that provides visual, auditory, and tactile warning to drivers for the purpose of avoiding collision with the forward vehicle by detecting the vehicle in the same direction ahead of the driving lane to be.

The Advanced Emergency Braking System (AEBS) detects the possibility of collision with an automobile located in front of the driving lane and warns the driver. If the driver does not respond or it is determined that a collision is inevitable, It is a system for automatically decelerating the vehicle for the purpose of making it possible.

The Adaptive Cruise Control (ACC) automatically detects the vehicle in the same direction in front of the driving lane according to the driver's setting conditions and automatically accelerates or decelerates according to the speed of the vehicle and maintains the safety distance And automatically runs at the target speed.

In addition, the driving assistance system includes a lane departure warning system (LDWS), a lane keeping assist system (LKAS), blind spot detection (BSD), and a rear collision warning system Rear-end Collision Warning System, RCW).

On the other hand, in spite of the operation of the Advanced Emergency Braking System (AEBS), serious collision of the vehicle may occur. Even if an accident occurs due to a collision of an automobile, if a large current supplied from a battery included in the automobile is not blocked, there is a problem that a fire may occur in the automobile and secondary damage may occur.

SUMMARY OF THE INVENTION In order to solve the above problems, an object of the present invention is to provide an emergency response system including a battery supply current cutoff function for blocking electric energy supplied from a battery included in an automobile based on a collision prediction time with an object ahead of the automobile detected by a radar And a control method thereof.

The problems of the present invention are not limited to the above-mentioned problems, and other problems not mentioned can be clearly understood by those skilled in the art from the following description.

According to an aspect of the present invention, there is provided an emergency braking system including a battery supply current cutoff function, the battery system comprising: a battery included in the automobile and supplying electric energy to the automobile; Calculating a collision prediction time with the object based on the information of the object and the traveling speed of the vehicle, and calculating a collision prediction time with respect to the object based on the information of the object and the traveling speed of the vehicle, And a controller for controlling the supply of electric energy to the battery when the collision prediction time is equal to or less than a first reference time and the SOC of the battery is equal to or lower than a reference SOC.

The details of other embodiments are included in the detailed description and drawings.

According to the emergency braking device including the battery supply current cutoff function of the present invention and the control method thereof, one or more of the following effects can be obtained.

First, there is an advantage that a large current supplied from a battery is blocked when a car collides.

Second, there is an advantage of preventing secondary damage caused by fire when a car collides.

Third, there is an advantage in safety of the passenger by reducing the probability of fire in case of a car collision due to the large current interruption from the battery.

The effects of the present invention are not limited to the effects mentioned above, and other effects not mentioned can be clearly understood by those skilled in the art from the description of the claims.

1 is a block diagram of a driving assistance system according to an embodiment of the present invention.
2 is a diagram illustrating the operation of a vision module and a radar module of a driving assistance system according to an embodiment of the present invention.
3 is a configuration diagram of an emergency braking device including a battery supply current cutoff function according to an embodiment of the present invention.
4 is a flowchart according to an embodiment of the present invention.
5 is a flowchart according to an embodiment of the present invention.

BRIEF DESCRIPTION OF THE DRAWINGS The advantages and features of the present invention, and the manner of achieving them, will be apparent from and elucidated with reference to the embodiments described hereinafter in conjunction with the accompanying drawings. The present invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the invention to those skilled in the art. To fully disclose the scope of the invention to those skilled in the art, and the invention is only defined by the scope of the claims. Like reference numerals refer to like elements throughout the specification.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, the present invention will be described with reference to the drawings for explaining an emergency braking device including a battery supply current cutoff function and a control method thereof according to embodiments of the present invention.

The suffix "module" and "part" for constituent elements used in the following description are given or mixed in consideration of ease of specification, and do not have their own meaning or role.

FIG. 1 is a block diagram of a driving assistance system according to an embodiment of the present invention, and FIG. 2 is a diagram illustrating an operation of a vision module and a radar module of a driving assist system according to an embodiment of the present invention.

The driving assist system according to an embodiment of the present invention includes an acceleration input module 10, a brake input module 20, a vision module 30, a radar module 40, a velocity sensing module 50, 60, a position sensing module 70, a controller 100, a memory 150, a warning module 110, and a power / braking module 120.

The acceleration input module 10 is a user's operation device for increasing the speed of the vehicle. The acceleration input module 10 increases the power of the power / braking module 120 to increase the speed of the vehicle. Generally, the acceleration input module 10 increases the speed of the vehicle by increasing the rotation of the vehicle engine. The acceleration input module 10 is generally provided as an accelerator pedal in the form of a pedal below the driver's seat of the vehicle.

Acceleration input module 10 may be inputted with an acceleration degree in accordance with a user's operation. If the acceleration input module 10 is an accelerator pedal, the degree of acceleration may be input according to the pedal pressure.

When the user operates the acceleration input module 10, the acceleration input module 10 outputs an acceleration signal including the degree of acceleration to the controller 100. The controller 100 controls the power / braking module 120 according to the input acceleration signal to accelerate the vehicle. According to the embodiment, the acceleration input module 10 can directly control the power / braking module 120 to accelerate the vehicle.

The braking input module 20 is a user's operating device for reducing the speed of the vehicle or for stopping the vehicle. The braking input module 20 reduces the power of the power / braking module 120 or generates a braking force to decelerate or stop the vehicle. Generally, the braking input module 20 operates a brake that applies a frictional force to a disk of a wheel of a vehicle to reduce the speed of the vehicle. Depending on the embodiment, the braking input module 20 may directly reduce the rotation of the vehicle engine or operate a reduction device such as a retarder. The braking input module 20 is generally provided as a brake pedal in the form of a pedal below the driver's seat of the vehicle.

The braking input module 20 can be inputted with the degree of deceleration according to the operation of the user. If the braking input module 20 is a brake pedal, the degree of deceleration may be inputted according to the pedal pressure.

When the user operates the braking input module 20, the braking input module 20 outputs the braking signal including the degree of deceleration to the controller 100. The controller 100 controls the power / braking module 120 according to the input braking signal to decelerate or stop the vehicle. The braking input module 20 may directly control the power / braking module 120 to decelerate or stop the vehicle.

The speed sensing module 50 senses the current speed of the vehicle. The speed sensing module 50 senses the rotation speed of the wheels of the vehicle or senses the rotation speed of the output shaft of the transmission connected to the engine of the vehicle to calculate the current speed of the vehicle. The speed sensing module 50 may include a speed sensor for sensing a rotation speed and a processor for calculating a current speed value of the vehicle.

The speed sensing module 50 outputs the sensed speed value of the vehicle to the controller 100.

The posture sensing module 60 senses the posture variation of the vehicle. The posture sensing module 60 senses a variation of at least one of a pitch axis, a yaw axis, and a roll axis, and senses a yaw rate in the present embodiment. That is, in the present embodiment, the attitude sensing module 60 senses the yaw rate of the vehicle and senses the degree of rotation of the vehicle. The attitude detection module 60 may include a gyro sensor or an acceleration sensor for detecting the attitude change, a processor for calculating the variation value, and the like.

The attitude detection module (60) outputs the detected attitude variation value of the vehicle to the controller (100).

The position sensing module 70 senses the position of the vehicle. The position sensing module 70 is generally a receiver of a global positioning system (GPS), and receives distance and information from a satellite to calculate the position of the vehicle. According to the embodiment, the position sensing module 70 can replace the speed sensing module 50 by calculating the speed of the vehicle.

The vision module 30 is a device for recognizing an object outside the vehicle by photographing an image outside the vehicle and discriminating the type of the object. The vision module 30 is generally disposed at the front end of the vehicle to capture an image of the front of the vehicle.

As shown in FIG. 2 (a), the vision module 30 can distinguish the road R and recognize various objects O on the road R to recognize and distinguish the objects. The vision module 30 can recognize whether the object O is a vehicle, a person, or a simple object by recognizing the shape of the object O. In the case of a vehicle, the vision module 30 can discriminate whether it is a passenger car, a truck or a two-

The vision module 30 can recognize the lane L on the road R and can distinguish whether the lane L is a general lane, a center line, a curb line, or a divided lane. In addition, the vision module 30 can recognize and distinguish a curb or a walk on the road.

The vision module 30 can recognize the lane N between the lane L and the lane L through the recognized lane L. [ The vision module 30 can recognize the lane N in which the subject vehicle H equipped with the vision module 30 is running. In addition, the vision module 30 may recognize which lane N the recognized object O is located on, or whether the recognized object O lies on the lane L.

The recognition and identification of the object O can be performed in the vision module 30 itself or in the controller 100 through the image captured by the vision module 30. [

The vision module 30 has a constant field of view. As shown in Fig. 2 (a), the vision module 30 photographs the objects O in the clock F. Fig. According to the embodiment, the vision module 30 can change the photographing direction up and down and / or right and left. That is, the vision module 30 can change the center of the clock F up and down and / or right and left.

The vision module 30 may include a camera that captures an image, a processor that processes the captured image, and a memory that stores data. According to the embodiment, the vision module 30 may include a driving device capable of changing the photographing direction of the camera.

The vision module 30 may output photographed image data to the controller 100 or output information of the recognized and discriminated object O to the controller 100. [

The radar module 40 is a device that emits an electromagnetic wave to a specific object O and then receives an electromagnetic wave reflected from the object O to sense the distance, position, direction, speed, etc. with the object O. The radar module 40 is generally disposed at the front end of the vehicle to calculate the distance to a specific object O in front of the vehicle, and the like. According to an embodiment, the radar module 40 may be a lidar that fires a laser at the object O.

The radar module 40 detects the distance, position, direction, speed, and the like to the target vehicle T, which is a specified one among various objects O as shown in FIG. 2 (b). The target vehicle T is generally selected from the data detected by the radar module 40 and the vision module 30 as the object O to be tracked by the controller 100 and is generally set to the radar module 40 and the vision module 30. [ Is an object O recognized as a vehicle at a distance closest to the front of the subject vehicle H on the lane N in which the subject vehicle H is installed.

The radar module 40 may include a radar that emits electromagnetic waves, a processor that processes information about the electromagnetic waves received by the radar, and a memory that stores data.

The radar module 40 outputs information such as the distance to the object O, the position, the direction, and the velocity to the controller 100.

The warning module 110 is a device for giving a warning to a driver who drives the vehicle, and can warn the driver visually, audibly, and tactually according to the embodiment. The warning module 110 may display a warning on the dash panel of the driver's seat, a head-up display, a navigation system, an integrated information display device, and the like. The warning module 110 can make a warning through the speaker of the vehicle. The warning module 110 can warn the driver by vibrating the steering wheel of the vehicle or tightening the seat belt.

The warning module 110 may operate according to the control of the controller 100 to alert the driver.

The power / braking module 120 is a device that accelerates, decelerates, or stops the vehicle. The power / braking module 120 may include an engine and / or a motor that generates a rotational force to rotate the wheels of the vehicle, and a transmission that changes the rotation ratio of the engine and / or the motor. The power / brake module 120 may include brakes and / or retarders that generate braking forces or reduce rotation of the engine and / or motor.

The power / braking module 120 may operate under the control of the controller 100 or may be operated by the acceleration input module 10 or the braking input module 20.

The controller 100 includes an acceleration input module 10, a brake input module 20, a vision module 30, a radar module 40, a velocity sensing module 50, a position sensing module 60, and a position sensing module 70 And controls the warning module 110 and the power / braking module 120 according to the processed result. The controller 100 may include a CAN (Controller Area Network) for data communication with each module. On the other hand, the scope of the present invention is not limited to the communication using the CAN (Controller Area Network), and the communication method used in the automobile network is included in the scope of the present invention.

Memory 150 stores programs, instructions, and data. The controller 100 stores data in the memory 150 or calls programs, commands, or data stored in the memory 150. [

3 is a configuration diagram of an emergency braking device including a battery supply current cutoff function according to an embodiment of the present invention.

3, the emergency braking device including the battery supply current shutoff function includes a radar module 40, a speed sensing module 50, a warning module 110, a power / braking module 120, a current interrupting device 210, . ≪ / RTI >

The radar module 40 is mounted on the vehicle. The radar module 40 detects an object in front of the automobile and acquires information about an object in front of the automobile. Here, the acquired information may be distance, position, direction, and speed with respect to an object in front of the automobile.

The radar module 40 emits an electromagnetic wave to the preceding vehicle, and receives electromagnetic waves reflected from an object in front of the automobile to sense distance, position, direction, speed, etc. with the object. The radar module 40 transmits information about the detected leading vehicle to the controller 100.

The speed sensing module 50 senses the traveling speed of the automobile. The speed sensing module 50 senses the rotation speed of the wheels of the vehicle or senses the rotation speed of the output side of the transmission connected to the engine of the vehicle to calculate the current traveling speed of the vehicle. The speed sensing module 50 transmits the sensed traveling speed of the automobile to the controller 100.

The warning module 110 detects the possibility of collision with an object in front of the automobile and outputs a warning message to the driver. The warning message may be a visual, auditory, or tactile message. The warning module 110 outputs a warning message under the control of the controller 100 based on the predicted collision time with an object ahead of the vehicle calculated by the controller 100. [

The power / braking module 120 detects the possibility of collision with an object in front of the automobile and automatically decelerates or stops the automobile when it is determined that a collision is inevitable. The power / braking module 120 decelerates or stops the vehicle under the control of the controller 100 based on the predicted collision time with an object ahead of the vehicle calculated by the controller 100.

The current interrupting device 210 is a device for interrupting the supply of electric energy of the battery contained in the vehicle. That is, the current cut-off device 210 is a device that cuts off a large current supplied from the battery to the automobile. For example, the current cut-off device 210 may be a switch connected to an electrode of the battery. Under the control of the controller 100, the current cutoff device 210 opens the switch to cut off the electric energy supplied from the battery when the cutoff condition is satisfied based on the predicted collision time. That is, the current interruption device 210 blocks the large current supplied from the battery to the automobile.

On the other hand, electric energy may be supplied even when an accident occurs due to a collision of an automobile. For example, in the event of an accident, electrical energy must be supplied when opening or closing doors mounted in a car, using telematics for emergency relief requests, or in the event of an airbag operation, in the event of an automobile crash. In this case, the necessary electrical energy for the opening of the door mounted on the automobile, the use of telematics for urgent relief requests, and the airbag automation are supplied even in case of an accident. For example, it is possible to constitute a circuit separate from the circuit including the current interruption device 210 so that the necessary electric energy can be supplied from the battery even in the event of an accident. Although the embodiment has described the use of telematics, the operation of the airbag, and the opening or closing of the door, it is within the scope of the present invention that electric energy should be supplied even when an accident occurs due to a collision of an automobile.

The controller 100 receives information on the object ahead of the vehicle detected by the radar module 40. [ The controller 100 receives information on the traveling speed of the vehicle sensed by the speed sensing module 50.

The controller 100 calculates a time to collision (TTC) with the object based on the information of the object ahead of the car received from the radar module 40 and the traveling speed of the vehicle sensed by the speed sensing unit 50 .

Generally, the collision prediction time with an object in front of the vehicle is obtained based on the relative distance between the object ahead and the relative speed with respect to the object ahead of the object detected by the radar module 40. In other words,

The collision prediction time with an object in front of the automobile can be calculated.

The controller 100 determines whether the supply of electric energy to the battery included in the vehicle should be interrupted based on the collision prediction time. The controller 100 determines that the collision predicted time between the automobile and the object ahead of the vehicle detected in the radar is equal to or less than the first reference time and the SOC (State of Charge) of the battery contained in the vehicle is equal to or greater than the reference SOC, Is less than or equal to the first reference time.

According to an embodiment of the present invention, when the predicted collision time between an automobile and an object ahead of the vehicle detected in a radar is equal to or less than a first reference time and a state of charge (SOC) Controls the electric energy supply of the battery contained in the vehicle to be cut off based on the collision prediction time. That is, the controller 100 controls the large current supplied from the battery included in the vehicle to be blocked based on the collision prediction time. The controller 100 transmits a control signal to the current interruption device 210. The current cut-off device 210 receives the control signal of the controller 100 and cuts off the supply of electric energy from the battery. At this time, the controller 100 can receive the SOC information of the present battery from a sensor that senses the SOC of the battery contained in the vehicle. The first reference time may be a time set by an experiment in an automobile manufacturer. The reference SOC may be the time set by the experiment in the automobile manufacturer. The first reference time and the reference SOC are not limited to a specific value. For example, assuming that the first reference time is 1 second and the reference SOC is 80%, if the estimated vehicle collision time calculated by Equation 1 is 3 seconds, the controller 100 determines that the current interruption device 210 ) Is not operated. If the estimated collision time of the vehicle calculated by Equation (1) is 0.5 second and the SOC of the battery is 85%, the controller 100 transmits a control signal to the current cutoff device 210, . At this time, the current cut-off device 210 receives the control signal from the controller 100 and cuts off the electric energy supplied from the battery. That is, the current interruption device 210 blocks the large current supplied from the battery.

On the other hand, electric energy may be supplied even when an accident occurs due to a collision of an automobile. For example, in the event of an accident, electrical energy must be supplied when opening or closing doors mounted in a car, using telematics for emergency relief requests, or in the event of an airbag operation, in the event of an automobile crash. The controller 100 controls the opening of the door mounted on the vehicle, the use of telematics for emergency relief requests, and the necessary electrical energy for airbag automation to be supplied from the battery. For example, the controller 100 may constitute a separate circuit from the circuit including the current interruption device 210, so that the controller 100 can supply the necessary electric energy from the battery even when an accident occurs.

The controller 100 controls the warning module 110. The controller 100 controls the warning module 110 to output a warning message based on the calculated collision prediction time. That is, when the collision prediction time is equal to or less than the second reference time, the controller 100 controls the warning module 110 to output a warning message. At this time, the second reference time may be a time set by the automobile manufacturer. For example, if it is assumed that the second reference time is set to 5 seconds, the warning module 110 does not operate if the collision prediction time calculated by the controller 100 is 7 seconds. If the collision prediction time calculated by the controller 100 reaches 4 seconds after the vehicle approaches the front object, the warning module 110 outputs a warning message under the control of the controller 100. The warning message may be a visual, auditory, or tactile message as described above.

The controller 100 controls the power / brake module 120. The controller 100 controls the power / braking module 120 to decelerate or stop the vehicle based on the calculated collision prediction time. That is, when the collision prediction time is equal to or less than the third reference time, the controller 100 controls the power / braking module 120 to decelerate or stop the vehicle. At this time, the third reference time may be a time set by the automobile manufacturer. For example, if the third reference time is set to 3 seconds, the power / braking module 120 does not operate if the estimated collision time calculated by the controller 100 is 5 seconds. If the collision prediction time calculated by the controller 100 reaches 2 seconds, the power / braking module 120 decelerates or stops the vehicle under the control of the controller 100.

On the other hand, the automobile may include the driving assistance system described above. Here, the automobile may be an internal combustion engine automobile, an electric automobile or a hybrid automobile.

4 is a flowchart according to an embodiment of the present invention.

4, the radar module 40 is mounted on a vehicle. The radar module 40 detects an object in front of the automobile and acquires information about an object in front of the automobile. Here, the acquired information may be distance, position, direction, and speed with respect to an object in front of the automobile.

The radar module 40 emits an electromagnetic wave to the preceding vehicle, and receives electromagnetic waves reflected from an object in front of the automobile to sense distance, position, direction, speed, etc. with the object. The radar module 40 transmits information about the detected leading vehicle to the controller 100.

The controller 100 receives information on the object ahead of the vehicle detected by the radar module 40 (S310).

The speed sensing module 50 senses the traveling speed of the automobile. The speed sensing module 50 senses the rotation speed of the wheels of the vehicle or senses the rotation speed of the output side of the transmission connected to the engine of the vehicle to calculate the current traveling speed of the vehicle. The speed sensing module 50 transmits the sensed traveling speed of the automobile to the controller 100.

The controller 100 receives the traveling speed information sensed by the speed sensing module 50 (S320).

The controller 100 calculates a time to collision (TTC) with the object based on the information of the object ahead of the car received from the radar module 40 and the traveling speed of the vehicle sensed by the speed sensing unit 50 (S330).

Generally, the collision prediction time with an object in front of the vehicle is obtained based on the relative distance between the object ahead and the relative speed with respect to the object ahead of the object detected by the radar module 40. That is, the collision prediction time with the object ahead of the automobile can be calculated from Equation (1).

The controller 100 determines whether the supply of electric energy to the battery included in the vehicle should be interrupted based on the collision prediction time. That is, the controller 100 determines whether the collision prediction time between the car and an object ahead of the vehicle detected in the radar is equal to or less than a first reference time, and the state of charge (SOC) of the battery included in the vehicle is equal to or greater than a reference SOC. In addition, the controller 100 determines whether the relative speed with respect to the forward object is equal to or greater than the first reference speed. Here, the first reference speed may be set to a default value in automobile manufacturing. Further, the controller 100 determines whether the object ahead is a person or a two-wheeled vehicle (S340).

As a result of the determination, if the predicted collision time between the vehicle and an object ahead of the vehicle detected by the radar is equal to or less than the first reference time and the SOC (State of Charge) ) Is equal to or greater than the reference SOC and the relative speed with respect to the forward object is equal to or greater than the first reference speed and the forward object is a person or a two-wheel vehicle, the controller (100) Thereby controlling the energy supply to be cut off. That is, the controller 100 controls the large current supplied from the battery included in the vehicle to be blocked based on the collision prediction time. The controller 100 transmits a control signal to the current interruption device 210. The current cut-off device 210 receives the control signal of the controller 100 and cuts off the electric energy supply from the battery (S350). At this time, the controller 100 can receive the SOC information of the present battery from a sensor that senses the SOC of the battery contained in the vehicle. The first reference time may be a time set by an experiment in an automobile manufacturer. The reference SOC may be the time set by the experiment in the automobile manufacturer. The first reference time and the reference SOC are not limited to a specific value. For example, assuming that the first reference time is 1 second and the reference SOC is 80%, if the estimated vehicle collision time calculated by Equation 1 is 3 seconds, the controller 100 determines that the current interruption device 210 ) Is not operated. If the estimated collision time of the vehicle calculated by Equation (1) is 0.5 second and the SOC of the battery is 85%, the controller 100 transmits a control signal to the current cutoff device 210, . At this time, the current cut-off device 210 receives the control signal from the controller 100 and cuts off the electric energy supplied from the battery. That is, the current interruption device 210 blocks the large current supplied from the battery.

5 is a flowchart according to an embodiment of the present invention.

Referring to FIG. 5, the controller 100 receives information about an object ahead of the vehicle detected by the radar module 40 (S410).

The controller 100 receives the traveling speed information sensed by the speed sensing module 50 (S420).

The controller 100 calculates a time to collision (TTC) with the object based on the information of the object ahead of the car received from the radar module 40 and the traveling speed of the vehicle sensed by the speed sensing unit 50 (S430).

The steps S410 through S430 are the same as the steps S310 through S330 described with reference to FIG. 4, so that the detailed description of steps S410 through S430 is omitted.

The controller 100 determines whether the collision prediction time is shorter than a first reference time (S440).

If the collision prediction time is equal to or less than the second reference time, the controller 100 controls the warning module 110 to output a warning message (S450). At this time, the second reference time may be a time set by the automobile manufacturer. For example, if it is assumed that the second reference time is set to 5 seconds, the warning module 110 does not operate if the collision prediction time calculated by the controller 100 is 7 seconds. If the collision prediction time calculated by the controller 100 reaches 4 seconds after the vehicle approaches the front object, the warning module 110 outputs a warning message under the control of the controller 100. The warning message may be a visual, auditory, or tactile message as described above.

The controller 100 determines whether the collision prediction time is shorter than a third reference time (S460).

If the collision prediction time is equal to or less than the third reference time, the controller 100 controls the power / braking module 120 to decelerate or stop the vehicle (S470). At this time, the third reference time may be a time set by the automobile manufacturer. For example, if the third reference time is set to 3 seconds, the power / braking module 120 does not operate if the estimated collision time calculated by the controller 100 is 5 seconds. If the collision prediction time calculated by the controller 100 reaches 2 seconds, the power / braking module 120 decelerates or stops the vehicle under the control of the controller 100.

At this point, it will be appreciated that the combinations of blocks and flowchart illustrations in the process flow diagrams may be performed by computer program instructions. These computer program instructions may be loaded into a processor of a general purpose computer, special purpose computer, or other programmable data processing apparatus, so that those instructions, which are executed through a processor of a computer or other programmable data processing apparatus, Thereby creating means for performing functions. These computer program instructions may also be stored in a computer usable or computer readable memory capable of directing a computer or other programmable data processing apparatus to implement the functionality in a particular manner so that the computer usable or computer readable memory The instructions stored in the block diagram (s) are also capable of producing manufacturing items containing instruction means for performing the functions described in the flowchart block (s). Computer program instructions may also be stored on a computer or other programmable data processing equipment so that a series of operating steps may be performed on a computer or other programmable data processing equipment to create a computer- It is also possible for the instructions to perform the processing equipment to provide steps for executing the functions described in the flowchart block (s).

In addition, each block may represent a module, segment, or portion of code that includes one or more executable instructions for executing the specified logical function (s). It should also be noted that in some alternative implementations, the functions mentioned in the blocks may occur out of order. For example, two blocks shown in succession may actually be executed substantially concurrently, or the blocks may sometimes be performed in reverse order according to the corresponding function.

Here, the term " module " used in this embodiment means a hardware component such as software or an FPGA or an ASIC, and the module performs certain roles. However, a module is not limited to software or hardware. A module may be configured to reside on an addressable storage medium and configured to play back one or more processors. Thus, by way of example, a module may include components such as software components, object-oriented software components, class components and task components, and processes, functions, attributes, procedures, Microcode, circuitry, data, databases, data structures, tables, arrays, and variables, as will be appreciated by those skilled in the art. The functionality provided within the components and modules may be combined into a smaller number of components and modules or further separated into additional components and modules. In addition, the components and modules may be implemented to play back one or more CPUs in a device or a secure multimedia card.

While the present invention has been particularly shown and described with reference to exemplary embodiments thereof, it is to be understood that the invention is not limited to the disclosed exemplary embodiments, but, on the contrary, It should be understood that various modifications may be made by those skilled in the art without departing from the spirit and scope of the present invention.

40: Radar module
50: Speed sensing module
100: controller
110: Warning Module
120: Power / Brake Module
210: Current interruption device

Claims (13)

A battery embedded in the vehicle and supplying electrical energy to the vehicle;
A radar module mounted on the automobile and detecting an object in front of the automobile and acquiring information on the object;
A speed sensing module for sensing a traveling speed of the automobile; And
Calculating a collision prediction time with the object on the basis of the information of the object and the traveling speed of the automobile, and determining that the collision prediction time is equal to or less than a first reference time, SOC of the battery is equal to or greater than a reference SOC, And a controller for controlling the supply of electric energy to the battery when the relative speed with respect to the battery is equal to or greater than a first reference speed. The method according to claim 1,
Further comprising a current cutoff device connected to the battery,
Wherein the current cut-off device includes a battery supply current cutoff function for shutting off supply of electric energy of the battery under the control of the controller. 3. The method of claim 2,
Wherein the current cut-off device includes a battery supply current cutoff function which is a switch connected to aplasma of the battery. The method according to claim 1,
The controller comprising:
And a battery supply current cutoff function for controlling the electric energy required when an accident occurs in the automobile to be supplied from the battery. 5. The method of claim 4,
The required electrical energy is,
Wherein the emergency braking device is used for opening a door mounted on the vehicle, using telematics for an emergency relief request, or operating an airbag when the accident occurs. The method according to claim 1,
Further comprising a warning module for warning a driver of the automobile under a control of the controller of a collision with the preceding object,
If the collision prediction time is equal to or less than the second reference time,
And the controller controls the warning module to output a warning message. The method according to claim 6,
Wherein the warning message includes a battery supply current shutoff function that is a visual, audible, or tactile message. The method of claim 1, wherein
Further comprising a power / braking module for accelerating, decelerating or stopping the automobile under the control of the controller,
If the collision prediction time is less than or equal to the third reference time,
And the controller includes a battery supply current cutoff function for automatically braking the vehicle by controlling the power / control module. Receiving information on an object ahead of the vehicle detected by a radar module mounted on the vehicle;
Receiving driving speed information of the automobile sensed by a speed sensing module mounted on the automobile;
Calculating a collision prediction time with the object based on the information of the object and the traveling speed; And
And determining that the battery included in the automobile is disconnected from the electric energy supply based on the collision prediction time,
Wherein the determining step comprises:
And a battery supply current cutoff function for determining whether the collision prediction time is equal to or less than a first reference time and whether the SOC of the battery is equal to or greater than a reference SOC and the relative speed with respect to the forward object is equal to or greater than a first reference speed, A method of controlling a device. 10. The method of claim 9,
If the collision prediction time is equal to or less than a first reference time and the SOC of the battery is equal to or greater than a reference SOC,
Further comprising the step of: interrupting supply of electric energy to the battery. 10. The method of claim 9,
Determining whether the collision prediction time is less than or equal to a second reference time; And
If the collision prediction time is equal to or less than the second reference time,
Further comprising the step of outputting a warning to the driver of the vehicle warning a collision with the object.
12. The method of claim 11,
Wherein the warning message is a visual, audible or tactile message. 10. The method of claim 9,
Determining whether the collision prediction time is less than a third reference time; And
If the collision prediction time is less than or equal to the third reference time,
Further comprising the step of automatically braking the vehicle.

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