KR102488056B1 - Autonomous emergency braking system considering cut-in vehicle and method for controlling thereof - Google Patents

Abstract

The present embodiments relate to a system and control method for performing emergency braking in consideration of a target vehicle that cuts into its own lane from the side of the vehicle, and detects a target vehicle traveling from the side of the vehicle and measures the distance to the target vehicle and the target vehicle. By determining the cut-in probability based on the longitudinal speed of the vehicle, the lateral speed of the target vehicle, and operation information of the direction indicator of the target vehicle, and setting the target selection area variably, when it is determined that there is a possibility of cut-in of the target vehicle, constant By performing emergency braking based on the target selection area increased by the area, an emergency braking situation caused by a cut-in vehicle can be quickly determined and emergency braking can be effectively performed.

Description

Emergency braking system considering cut-in vehicle and its control method

Embodiments of the present disclosure relate to an emergency braking system and a control method in which a vehicle in motion detects surrounding vehicles and controls emergency braking of the vehicle according to driving conditions of the vehicle and surrounding vehicles.

As the demand for the driver's convenience and safety increases along with the demand for vehicle performance, driver assistance assists the driver by in-vehicle systems controlling the vehicle based on information acquired from sensors mounted on the vehicle. A system (DAS: Driver Assist System) is a trend that is continuously researched and developed and applied to vehicles.

As one of these driver assistance systems (DAS), an emergency vehicle detects a vehicle driving in front of a vehicle and automatically controls braking of the vehicle according to the driving situation of the vehicle and the vehicle in front to prevent collision between the vehicle and the vehicle in front. A braking system (AEB: Autonomous Emergency System) is applied to vehicles.

The emergency braking system (AEB) obtains information about the distance to the vehicle in front and the relative speed of the vehicle in front using a sensor mounted on the vehicle, and the distance to the vehicle in front and the relative speed of the vehicle in front are obtained. When the Time to Collision (TTC), which is the time required for a vehicle to collide, is within a certain period of time, vehicle braking is controlled to prevent collisions between vehicles in advance.

In general, the emergency braking system (AEB) sets an area corresponding to the width of the vehicle in front of the vehicle as a target selection area, and emergency braking of the vehicle based on a TTC with a front vehicle detected as being located in the set target selection area. to control

At this time, the vehicle's emergency braking situation may be caused by a vehicle in front driving in the same lane as the vehicle, but may also be caused by a situation in which a nearby vehicle driving in a lane next to the vehicle's driving lane cuts into the vehicle's driving lane. there is.

However, since the conventional emergency braking system (AEB) sets a vehicle located in the target selection area, which is an area corresponding to the width of the vehicle, as an emergency braking situation determination target, emergency braking is not performed for surrounding vehicles intervening from the side of the vehicle. There are problems with not doing it right.

Therefore, there is a demand for a system capable of efficiently determining the emergency braking situation of the vehicle and controlling the emergency braking of the vehicle while preventing collisions with surrounding vehicles intervening from the side as well as vehicles traveling in front of the vehicle. do.

An object of the present embodiments is to provide an emergency braking system and a control method for performing emergency braking of a vehicle in a situation where a surrounding vehicle driving in a lane next to a lane in which the vehicle is traveling intervenes in front of the vehicle. there is.

An object of the present embodiments is to provide an emergency braking system and a control method for effectively determining a situation in which emergency braking of a vehicle is required according to driving conditions of a vehicle and surrounding vehicles traveling on the side of the vehicle and performing emergency braking of the vehicle. is to do

In one embodiment, a target vehicle information acquisition unit for detecting a target vehicle traveling on the side of the vehicle using a sensor mounted on the vehicle and acquiring a distance to the target vehicle, a longitudinal speed and a lateral speed of the target vehicle; A target selection area setting unit for varying a target selection area for emergency braking of the vehicle based on the distance to the target vehicle, the longitudinal speed of the target vehicle, and the lateral speed of the target vehicle; Provided is an emergency braking system considering a cut-in vehicle including an emergency braking control unit for controlling braking.

In the emergency braking system considering such a cut-in vehicle, the target selection area setting unit sets the target selection area by a first width when the time gap between the vehicle and the target vehicle according to the distance to the target vehicle and the speed of the vehicle is smaller than a preset value. and, if the time gap between the vehicle and the target vehicle is smaller than the predetermined value and the lateral speed of the target vehicle exists, the target selection area may be increased by a second width larger than the first width.

In addition, the target vehicle information acquisition unit detects the direction indicator of the target vehicle and obtains information on the direction indicator of the target vehicle, and the target selection area setting unit determines that the time gap between the vehicle and the target vehicle is smaller than a preset value and the target vehicle's lateral direction. In the state where the directional speed exists, if the direction indicated by the direction indicator of the target vehicle corresponds to the direction toward the lane on which the vehicle travels, the target selection area may be increased by a third width greater than the second width.

Another embodiment includes the steps of detecting a target vehicle traveling on the side of the vehicle using a sensor mounted on the vehicle, obtaining a distance to the detected target vehicle, a longitudinal speed and a lateral speed of the target vehicle; , A control method of an emergency braking system considering a cut-in vehicle comprising varying a target selection area for emergency braking of a vehicle based on a distance to the target vehicle, a longitudinal speed of the target vehicle, and a lateral speed of the target vehicle. can provide

According to the present embodiments, by increasing the width of the target selection area set for emergency braking of the vehicle according to the driving situation of the surrounding vehicle running from the side of the vehicle, emergency considering the surrounding vehicle intervening forward from the side of the vehicle allow braking to be performed.

According to the present embodiments, by variably setting the target selection area of the vehicle according to the driving conditions of the vehicle and surrounding vehicles, it is possible to effectively determine an emergency braking situation caused by surrounding vehicles running in front or on the side of the vehicle and perform emergency braking of the vehicle. allow you to control

1 is a diagram showing the configuration of an emergency braking system considering a cut-in vehicle according to the present embodiments.
FIG. 2 is a diagram for explaining a method of controlling emergency braking in consideration of a cut-in vehicle by an emergency braking system considering a cut-in vehicle according to exemplary embodiments.
3 to 6 are diagrams illustrating an example in which the emergency braking system considering a cut-in vehicle according to the present embodiments varies a target selection area.
7 is a diagram for explaining an alarm generation condition of an emergency braking system considering a cut-in vehicle according to the present embodiments.
8 is a diagram illustrating a process of a control method of an emergency braking system considering a cut-in vehicle according to the present embodiments.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Some embodiments of the present invention are described in detail below with reference to exemplary drawings. In adding reference numerals to components of each drawing, the same components may have the same numerals as much as possible even if they are displayed on different drawings. In addition, in describing the present invention, if it is determined that a detailed description of a related known configuration or function may obscure the gist of the present invention, the detailed description may be omitted.

In addition, in describing the components of the present invention, terms such as first, second, A, B, (a), and (b) may be used. These terms are only used to distinguish the component from other components, and the nature, sequence, order, or number of the corresponding component is not limited by the term. When an element is described as being “connected,” “coupled to,” or “connected” to another element, that element is or may be directly connected to that other element, but intervenes between each element. It will be understood that may be "interposed", or each component may be "connected", "coupled" or "connected" through other components.

1 shows the configuration of an emergency braking system (hereinafter referred to as "emergency braking system") considering a cut-in vehicle according to the present embodiments.

Referring to FIG. 1 , the emergency braking system 100 according to the present embodiments includes a target vehicle information acquisition unit 110 that obtains information about a target vehicle to be determined in an emergency braking situation for emergency braking control of the vehicle. ), a target selection area setting unit 120 for varying a target selection area set for emergency braking control of a vehicle based on information about the target vehicle, and emergency braking for controlling emergency braking of the vehicle when an emergency braking situation of the vehicle is determined. A braking control unit 130 is included.

In general, the emergency braking system 100 detects a front vehicle driving in front of the vehicle and controls emergency braking of the vehicle according to the driving situation. It is characterized in that it senses and controls emergency braking of the vehicle according to the driving situation.

In the emergency braking system 100 according to the present embodiments, the target vehicle information acquisition unit 110 detects a vehicle traveling on the side of the vehicle so as to determine an emergency braking situation caused by a vehicle traveling on the side as well as the front of the vehicle. Detect and obtain information about the detected vehicle.

The target vehicle information acquisition unit 110 obtains information about a target vehicle that drives around the vehicle and is a target for determining an emergency braking situation by using a sensor mounted on the vehicle.

The target vehicle information acquisition unit 110 obtains information about the target vehicle using sensors such as the camera sensor 10 or the radar sensor 20 mounted on the vehicle, and converts the information obtained by the sensors described above. Information on the target vehicle may be obtained by using a combination or using the above-described sensors and other sensors.

The target vehicle information acquisition unit 110 uses the lateral speed of the target vehicle obtained through the camera sensor 10 as it is, but uses only the radar sensor 20 in order to increase the reliability of the information acquired about the target vehicle. When the target vehicle is detected using this method, the detected information may be used only when the radar reflection power of the target vehicle is higher than or equal to a certain level.

In addition, since the present embodiments obtain information on the side of the vehicle, for example, a target vehicle driving in a lane next to the lane in which the vehicle is traveling, and use it to determine an emergency braking situation, the reliability of the obtained information can be maintained. When the curvature of the road on which the vehicle travels is smaller than a predetermined value, the obtained information may not be used.

For example, if the curvature of the road on which the vehicle is traveling is less than 500 m, information about the target vehicle may not be obtained, or the obtained information may not be used in the target selection area setting unit 120 to be described later. .

The target vehicle information acquisition unit 110 detects not only a vehicle driving in front of the vehicle but also a target vehicle traveling on the side of the vehicle to determine an emergency braking situation of the vehicle, and obtains information about the detected target vehicle.

For example, a target vehicle driving in a lane next to the lane on which the vehicle is traveling is detected, the distance between the vehicle and the target vehicle, the longitudinal speed at which the target vehicle moves in the driving direction of the vehicle, and the target vehicle traveling in the driving direction of the vehicle. Information about lateral speed, etc. moving in a vertical direction is acquired.

The target vehicle information acquisition unit 110 detects the target vehicle and transmits the acquired information about the target vehicle to the target selection area setting unit 120 .

The target selection area setting unit 120 variably sets the target selection area set for determining the emergency braking situation of the vehicle based on the information about the target vehicle received from the target vehicle information acquisition unit 110 .

The target selection area means an area where a target vehicle, which is an object of emergency braking situation determination when determining an emergency braking situation of a vehicle, is located. That is, when a target vehicle located in the target selection area is detected, emergency braking is determined according to the driving conditions of the vehicle and the target vehicle.

The target selection area may be set as an area in front of the vehicle and having a width corresponding to the width of the vehicle. The emergency braking system 100 detects that the target vehicle is located in the target selection area, determines an emergency braking situation according to driving conditions of the vehicle and the target vehicle, and performs emergency braking control.

The emergency braking system 100 according to the present embodiments variably sets a target selection area that is constantly set based on information obtained from a target vehicle running on the side of the vehicle, so that the target vehicle running on the side of the vehicle is in front of the vehicle. Even when the vehicle cuts in, it enables efficient emergency braking.

FIG. 2 is to explain a method in which the target selection area setting unit 120 variably sets the target selection area in the emergency braking system 100 according to the present embodiments.

Referring to (a) of FIG. 2 , the emergency braking system 100 according to the present embodiments sets a target selection area as shown in area A shown in (a) of FIG. carry out

Therefore, in the situation as shown in (a) of FIG. 2, since the target selection area of the vehicle is set to an area having a width corresponding to the width of the vehicle in front of the vehicle, other vehicles driving on the side of the vehicle may be affected by an emergency braking situation. will not be judged.

2(b) shows that the target selection area setting unit 120 of the emergency braking system 100 according to the present embodiments varies the set target selection area based on the detected information about the target vehicle.

Referring to (b) of FIG. 2 , the target selection area setting unit 120 detects a target vehicle traveling on the side of the vehicle and, based on the obtained information, sets the target selection area set as area A by area A′. It can be set to increase.

That is, the target selection area setting unit 120 increases the target selection area based on information sensed from the target vehicle, so that when a target vehicle driving on the side of the vehicle intervenes into the driving lane of the vehicle, the target selection area This allows the emergency braking situation to be judged more quickly than when this is set to A area. Therefore, it is possible to efficiently perform emergency braking even when a target vehicle traveling on the side of the vehicle cuts into the front of the vehicle.

Hereinafter, a specific method for varying the target selection region by the target selection region setting unit 120 of the emergency braking system 100 according to the present embodiments will be described with reference to FIGS. 3 to 6 .

3 to 6 show examples of varying the target selection area set by the target selection area setting unit 120. FIG. 3 shows a case where the target selection area is increased by the area A1, and FIG. 4 shows the target selection area 5 shows a case of increasing the target selection area by an area A3 that is wider than area A2.

Referring to FIG. 3 , the target selection area setting unit 120 may vary the target selection area based on the distance to the target vehicle and the longitudinal speed of the target vehicle among information received from the target vehicle information acquisition unit 110. there is.

The target selection area setting unit 120 sets a time gap (Time Gap), which is the time required to reach the current position of the target vehicle when the vehicle travels at the current speed based on the distance to the target vehicle and the speed of the vehicle Calculate.

That is, the time gap means a value obtained by dividing the distance from the target vehicle by the current speed of the vehicle.

The target selection area setting unit 120 sets the target selection area set to area A when the time gap between the vehicle and the target vehicle is smaller than a predetermined time, for example, when the time gap is smaller than 3 seconds. Set by increasing as much as the A1 area.

Even if the target vehicle is driving on the side of the vehicle, if the time gap is smaller than a certain time, it can be considered that there is a risk of collision with the vehicle when the target vehicle cuts in. When the target vehicle is cut-in, it is possible to efficiently perform emergency braking.

Alternatively, the target selection area setting unit 120 increases the target selection area by the area A1 when the time to collision (TTC) based on the distance to the target vehicle, the longitudinal speed of the target vehicle, and the speed of the vehicle is less than a predetermined time. You can do it.

TTC means a value obtained by dividing the distance from the target vehicle by the relative speed of the vehicle and the target vehicle, and means the time required for the vehicle and the target vehicle to collide when the vehicle and the target vehicle are traveling in the current driving state.

Therefore, the target selection area setting unit 120 calculates a time gap or TTC based on the information obtained from the target vehicle, and if the time gap or TTC is smaller than a predetermined time, the target selection area By increasing , it is possible to prepare for an emergency braking situation caused by cut-in of the target vehicle.

FIG. 4 shows a case where the target selection area set as area A is set to be increased by an area A2 that is wider than area A1 compared to the case shown in FIG. 3 .

Referring to FIG. 4 , the target selection area setting unit 120 uses the distance to the target vehicle, the longitudinal speed of the target vehicle, and the lateral speed of the target vehicle received from the target vehicle information acquisition unit 110 to obtain a target. Change the selection area.

For example, the time gap according to the distance to the target vehicle and the speed of the vehicle or the TTC according to the distance to the target vehicle and the relative speed of the target vehicle is within a preset time, and the target vehicle detected from the target vehicle If there is a lateral speed of , the target selection area set as area A is set by increasing it by the area A2, which is wider than area A1.

That is, if there is a lateral speed of the target vehicle in a state where the time gap or TTC between the vehicle and the target vehicle is within a certain time, there is a high possibility that the target vehicle will move to the lane next to the driving lane. By setting the target selection area by increasing it by the A2 area, which is wider than the A1 area, it is possible to quickly determine an emergency braking situation due to cut-in of the target vehicle and perform emergency braking.

FIG. 5 shows a case in which the target selection area set as area A is set to be increased by an area A3 that is wider than area A2 compared to the case shown in FIG. 4 .

Referring to FIG. 5 , the target selection area setting unit 120 determines the distance from the target vehicle, the longitudinal speed of the target vehicle, the lateral speed of the target vehicle, and the target vehicle received from the target vehicle information obtaining unit 110. A target selection area is varied using the detected information about the direction indicator of the target vehicle.

For example, a time gap according to the distance to the target vehicle and the speed of the vehicle or a TTC according to the distance to the target vehicle and the relative speed of the target vehicle is within a predetermined time and the lateral speed of the target vehicle exists In the state of doing, if the operation of the turn signal from the target vehicle is detected as in 501 and the direction of the target vehicle by the direction indicator corresponds to the direction toward the lane on which the vehicle travels, the target selection area set as area A is wider than area A2 Set by increasing as much as the A3 area.

That is, when the operation of the direction indicator lamp of the target vehicle is detected as in 501 in a state where the time gap or TTC between the vehicle and the target vehicle is smaller than the predetermined time and the lateral speed of the target vehicle is present, the target vehicle It can be judged that the possibility of cut-in is very high.

Therefore, when the operation of the direction indicator of the target vehicle is detected and the direction of the target vehicle by the direction indicator corresponds to the direction toward the lane on which the vehicle travels, the target selection area set as area A is increased by the area A3 that is wider than area A2. When the target vehicle is cut-in, an emergency braking situation can be quickly determined and emergency braking can be performed.

As described above, the target selection area setting unit 120 sequentially selects the target selection area by synthesizing information such as the distance to the target vehicle, the longitudinal speed of the target vehicle, the lateral speed of the target vehicle, and the direction indicator of the target vehicle. However, the target selection area may be varied based on each piece of information.

For example, the target selection area setting unit 120 may vary the target selection area based on the lateral speed of the target vehicle, and set the target selection area by increasing the area proportional to the lateral speed of the target vehicle. can

Alternatively, in a state where the time gap or TTC between the vehicle and the target vehicle is less than 3 seconds, the operation of the turn signal lamp of the target vehicle is detected and the direction of movement of the target vehicle by the turn signal lamp is directed toward the lane on which the vehicle is traveling. If it corresponds to the direction, the target selection area may be increased and set regardless of whether the lateral speed of the target vehicle is detected.

That is, the target selection area setting unit 120 may determine the distance from the target vehicle, the longitudinal speed of the target vehicle, and The width of the target selection area may be varied and set using at least one of information about the lateral speed and the direction indicator of the target vehicle.

6 shows a comparative example of sequentially increasing the target selection area by the target selection area setting unit 120 .

Referring to FIG. 6 , the target selection area setting unit 120 determines that, based on the information received from the target vehicle information acquisition unit 110, the time gap or TTC between the vehicle and the target vehicle is greater than a preset time. When the lateral speed of the target vehicle does not exist and the operation of the direction indicator of the target vehicle is not detected, it is determined that there is no possibility of the target vehicle cutting in.

The target selection area setting unit 120 maintains the originally set area A as the target selection area when it is determined that there is no probability that the target vehicle will cut-in to the driving lane.

The target selection area setting unit 120, if the time gap or TTC between the vehicle and the target vehicle is within a predetermined time, for example, within 3 seconds, the cut-in probability of the target vehicle is reduced to 1 step (small) After determining, the target selection area set as area A is set by increasing it by the area A1.

In addition, when it is detected that the time gap or TTC between the vehicle and the target vehicle is within a preset time and the lateral speed of the target vehicle exists, the cut-in probability of the target vehicle is determined as step 2 (middle) and the target is selected Set the area by increasing it as much as the A2 area, which is wider than the A1 area.

In a state where the time gap or TTC between the vehicle and the target vehicle is within a predetermined time and the lateral speed of the target vehicle is also present, the operation of the turn signal lamp of the target vehicle is detected as in 501, and the target vehicle by the direction indicator lamp If the direction of travel corresponds to the direction toward the driving lane of the vehicle, the cut-in probability of the target vehicle is determined to be 3 levels (large).

When the cut-in probability of the target vehicle is determined to be level 3 (high), the target selection area is set by increasing by the area A3 that is wider than the area A2.

Therefore, according to the present embodiments, by determining the cut-in probability of the target vehicle based on the information detected on the target vehicle and changing and setting the target selection area according to the cut-in probability of the target vehicle, an emergency braking situation during cut-in of the target vehicle to quickly determine and efficiently perform emergency braking.

The emergency braking control unit 130, when detecting that a target vehicle exists in the target selection area set by the target selection area setting unit 120, performs emergency braking control of the vehicle according to the driving conditions of the vehicle and the target vehicle.

The emergency braking control unit 130 may immediately brake the vehicle upon determining an emergency braking situation, or may primarily provide a warning to the driver and secondarily brake the vehicle.

7 shows an example of a condition in which the emergency braking control unit 130 generates an alarm in the emergency braking system 100 according to the present embodiments, and the relationship between the speed of the vehicle, the steering avoidance distance, the braking avoidance distance, and the warning distance. that represents the relationship.

Referring to FIG. 7 , a braking avoidance distance capable of avoiding a collision with a target vehicle through braking control of the vehicle and a steering avoidance distance capable of avoiding a collision with the target vehicle through vehicle steering control according to vehicle speed are determined. indicate

The emergency braking control unit 130 compares the distance between the vehicle and the target vehicle with the warning distance in a state where the smaller value of the steering avoidance distance and the braking avoidance distance shown in FIG. 7 is set as the alarm distance, and alerts the driver of the vehicle. Provide or control emergency braking of the vehicle.

8 illustrates a process of a control method of the emergency braking system 100 according to the present embodiments.

Referring to FIG. 8 , the emergency braking system 100 according to the present embodiments detects a target vehicle traveling on the side of the vehicle using a sensor mounted on the vehicle (S800).

The emergency braking system 100, if the target vehicle traveling on the side of the vehicle exists in a state where the time gap or TTC is within 3 seconds in both directions of the traveling lane (S810), the target vehicle is cut-in probability is determined as step 1 (small) (S860), and otherwise it is determined that there is no probability that the target vehicle will cut in (S870).

The emergency braking system 100, when it is confirmed that the target vehicle has a lateral speed in the direction of its own vehicle in a state where the time gap or TTC of the target vehicle is within 3 seconds (S820), the target vehicle cuts in The probability of doing so is determined in step 2 (medium) (S850).

When the time gap or TTC of the target vehicle is within 3 seconds and the direction indicator of the target vehicle is confirmed to blink in the direction of the target vehicle in the presence of the lateral speed of the target vehicle (S830), the target vehicle cuts in The probability of doing so is judged as 3 levels (large) (S840).

The emergency braking system 100 increases and sets the target selection area in proportion to the cut-in probability based on the cut-in probability of the target vehicle determined according to the information obtained from the target vehicle (S880). Then, based on the set target selection area, an emergency braking situation is determined according to the driving conditions of the vehicle and the target vehicle, and emergency braking control is performed (S890).

Therefore, according to the present embodiments, the target selection area set to have a width corresponding to the width of the vehicle in front of the vehicle is variably set according to the driving state of the target vehicle running on the side of the vehicle. Through this, the target selection area is increased and set as the probability that the target vehicle cuts into its own road is high, so that the emergency braking situation can be quickly determined and the emergency braking of the vehicle can be effectively performed when the target vehicle cuts in.

The above description is merely illustrative of the technical idea of the present invention, and various modifications and variations will be possible to those skilled in the art without departing from the essential characteristics of the present invention. Since the embodiments disclosed in the present invention are not intended to limit the technical idea of the present invention but to explain, the scope of the technical idea of the present invention is not limited by these embodiments.

100: Emergency braking system considering cut-in vehicles
110: target vehicle information acquisition unit
120: target selection area setting unit
130: emergency braking control unit
10: camera sensor
20: radar sensor

Claims (13)

a target vehicle information acquisition unit configured to detect a target vehicle traveling on the side of the vehicle using a sensor mounted on the vehicle, and obtain a distance from the target vehicle, a longitudinal speed and a lateral speed of the target vehicle; and
a target selection area setting unit that varies a target selection area for emergency braking of the vehicle based on a distance to the target vehicle, a longitudinal speed of the target vehicle, and a lateral speed of the target vehicle; and
Emergency braking control unit controlling emergency braking of the vehicle based on the target selection area
Including,
The target selection area setting unit,
Considering a cut-in vehicle that increases the target selection area by a first width when the time gap between the vehicle and the target vehicle according to the distance to the target vehicle and the speed of the vehicle is smaller than a preset value Emergency braking system considering a cut-in vehicle.
delete According to claim 1,
The target selection area setting unit,
When the time to collision (TTC) between the vehicle and the target vehicle according to the distance from the target vehicle, the longitudinal speed of the target vehicle, and the speed of the vehicle is smaller than a preset value, the target selection area is set to a first area. Emergency braking system considering the cut-in vehicle that increases by
According to claim 1,
The target selection area setting unit,
When the time gap between the vehicle and the target vehicle is smaller than a predetermined value and the lateral speed of the target vehicle is present, the target selection area is increased by a second width greater than the first width Emergency braking system considering a cut-in vehicle .
According to claim 4,
The target vehicle information acquisition unit,
Detecting the direction indicator of the target vehicle to obtain information about the direction indicator of the target vehicle;
The target selection area setting unit,
When the time gap between the vehicle and the target vehicle is smaller than a predetermined value, the lateral speed of the target vehicle exists, and the direction of movement by the direction indicator lamp of the target vehicle corresponds to the direction toward the lane on which the vehicle travels An emergency braking system considering a cut-in vehicle that increases the target selection area by a third area greater than the second area.
According to claim 1,
The target selection area setting unit,
An emergency braking system considering a cut-in vehicle that increases the width of the target selection area in proportion to the lateral speed of the target vehicle.
According to claim 1,
The target selection area setting unit,
An emergency braking system considering a cut-in vehicle that performs logic for varying the target selection area when the curvature of the road on which the vehicle is traveling is equal to or greater than a preset value.
According to claim 1,
The target vehicle information acquisition unit,
An emergency braking system considering a cut-in vehicle that obtains information about the target vehicle when the reflectivity of the target vehicle is greater than a predetermined value when the target vehicle is detected using a radar sensor.
According to claim 1,
The emergency braking control unit,
An emergency braking system considering a cut-in vehicle that compares a smaller value of the braking avoidance distance and the steering avoidance distance according to the speed of the vehicle and the distance to the target vehicle located in the target selection area and performs emergency braking of the vehicle.
detecting a target vehicle running on the side of the vehicle using a sensor mounted on the vehicle;
obtaining a distance to the detected target vehicle, a longitudinal speed and a lateral speed of the target vehicle; and
Varying a target selection area for emergency braking of the vehicle based on a distance to the target vehicle, a longitudinal speed of the target vehicle, and a lateral speed of the target vehicle.
Including,
The step of varying the target selection area for emergency braking of the vehicle,
Control of an emergency braking system considering a cut-in vehicle that increases the target selection area by a first width when the time gap between the vehicle and the target vehicle according to the distance to the target vehicle and the speed of the vehicle is smaller than a preset value Way.
delete According to claim 10,
The step of varying the target selection area for emergency braking of the vehicle,
When the time gap between the vehicle and the target vehicle is smaller than a predetermined value and the lateral speed of the target vehicle is present, the target selection area is increased by a second width greater than the first width Emergency braking system considering a cut-in vehicle control method.
According to claim 12,
The step of detecting the target vehicle,
Including the step of detecting the direction indicator lamp of the target vehicle and confirming the traveling direction by the direction indicator lamp,
The step of varying the target selection area for emergency braking of the vehicle,
When the time gap between the vehicle and the target vehicle is smaller than a predetermined value, the lateral speed of the target vehicle exists, and the direction of movement by the direction indicator lamp of the target vehicle corresponds to the direction toward the lane on which the vehicle travels A control method of an emergency braking system considering a cut-in vehicle in which a target selection area is increased by a third area greater than the second area.

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