KR20130005110A - Method for controlling vehicle interval - Google Patents

Method for controlling vehicle interval Download PDF

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Publication number
KR20130005110A
KR20130005110A KR1020110066492A KR20110066492A KR20130005110A KR 20130005110 A KR20130005110 A KR 20130005110A KR 1020110066492 A KR1020110066492 A KR 1020110066492A KR 20110066492 A KR20110066492 A KR 20110066492A KR 20130005110 A KR20130005110 A KR 20130005110A
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South Korea
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distance
vehicle
braking
calculating
information
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KR1020110066492A
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Korean (ko)
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김홍범
윤철환
서영덕
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현대자동차주식회사
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Priority to KR1020110066492A priority Critical patent/KR20130005110A/en
Publication of KR20130005110A publication Critical patent/KR20130005110A/en

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    • 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
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/14—Adaptive cruise control
    • B60W30/16—Control of distance between vehicles, e.g. keeping a distance to preceding vehicle
    • 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
    • B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
    • B60T8/24—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to vehicle inclination or change of direction, e.g. negotiating bends
    • B60T8/245—Longitudinal vehicle inclination
    • 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
    • B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
    • B60T8/32—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration
    • 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
    • B60W10/00—Conjoint control of vehicle sub-units of different type or different function
    • B60W10/18—Conjoint control of vehicle sub-units of different type or different function including control of braking systems
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2420/00—Indexing codes relating to the type of sensors based on the principle of their operation
    • B60W2420/40—Photo, light or radio wave sensitive means, e.g. infrared sensors
    • B60W2420/408—Radar; Laser, e.g. lidar
    • 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
    • B60W2520/00—Input parameters relating to overall vehicle dynamics
    • B60W2520/26—Wheel slip
    • 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
    • B60W2520/00—Input parameters relating to overall vehicle dynamics
    • B60W2520/28—Wheel speed
    • 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
    • B60W2552/00—Input parameters relating to infrastructure
    • B60W2552/15—Road slope, i.e. the inclination of a road segment in the longitudinal direction
    • 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
    • B60W2554/00—Input parameters relating to objects
    • B60W2554/80—Spatial relation or speed relative to objects
    • B60W2554/801—Lateral distance
    • 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
    • B60W2754/00—Output or target parameters relating to objects
    • B60W2754/10—Spatial relation or speed relative to objects
    • B60W2754/30—Longitudinal distance
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Y—INDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY
    • B60Y2300/00—Purposes or special features of road vehicle drive control systems
    • B60Y2300/14—Cruise control
    • B60Y2300/16—Control of distance between vehicles, e.g. keeping a distance to preceding vehicle

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  • Engineering & Computer Science (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Physics & Mathematics (AREA)
  • Mathematical Physics (AREA)
  • Regulating Braking Force (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)

Abstract

PURPOSE: A controlling method of a distance between vehicles is provided to minimize rear-end collisions by controlling the distance between vehicles according to a braking state and a surrounding environment. CONSTITUTION: A controlling method of a distance between vehicles comprises: a step of sensing a front vehicle; a step of calculating rear brake state information to a required brake force; a step of calculating a brake prediction distance according to the rear brake state information and environment information. The controlling method of the distance between vehicles additionally comprises: a step of controlling a distance to a front vehicle according to the brake prediction distance. The second step comprises a step of calculating a wheel speed decrease rate to the required brake power by using a wheel-speed value; and a step of calculating rear brake information by judging a tire air-pressure state and deciding wheel-slip. [Reference numerals] (AA) Start; (BB,DD) No; (CC,EE) Yes; (FF) End; (S101) Sensing a front vehicle by radar; (S102) Calculating the brake state information of an actual vehicle to required brake force by calculating wheel speed reduction rate to the required brake force using a wheel speed sensor value, a G sensor value, and a tire air-pressure sensor value and deciding wheel-slip; (S103) Calculating a predicted braking distance using the brake state information of the calculated vehicle, the vehicle posture information of the G sensor, and the current driving speed information; (S104) Is the predicted braking distance more than a reference braking distance ?; (S105) Keeping a distance between vehicles according to the reference braking distance; (S106) Controlling the increase of the distance between the vehicles according to the predicted braking distance

Description

차간거리 제어방법{Method for controlling vehicle interval}Method for controlling vehicle distance {Method for controlling vehicle interval}

본 발명은 차간거리 제어방법에 관한 것으로, 더욱 상세하게는 차량의 제동상태 및 주변환경을 고려하여 전방차량과의 간격을 제어하도록 하는 기술이다.The present invention relates to a method for controlling a distance between vehicles, and more particularly, to control a distance from a vehicle in front of a vehicle in consideration of a braking state and a surrounding environment of a vehicle.

차간거리 제어시스템은 전방차량과의 간격을 적정 간격으로 유지시키도록 제어하는 시스템이다.The inter-vehicle distance control system is a system for controlling to maintain a distance with the front vehicle at an appropriate interval.

이러한 종래의 차간거리 유지 시스템은 레이다 센서를 이용하여 전방 차량과의 거리 및 상대속도를 연산 후, 충돌까지의 시간(TTC)을 바탕으로 전방 차량과의 거리를 유지하도록 제어하는 것이다. 차간 거리는 운전자가 TTC(Time To Collision) 단계별로 설정이 가능하다. The conventional inter-vehicle distance maintaining system controls the distance between the vehicle ahead and the vehicle based on the time until collision (TTC) after calculating the distance and relative speed with the vehicle ahead using a radar sensor. The distance between cars can be set by the driver in time to collision (TTC) steps.

그런데, 차량의 타이어가 저압상태이거나 고압상태인 경우, 브레이크 패드 상태, 브레이크 유압변화, 타이어 마모 정도에 따라 제동력이 달라지고, 차량이 주행하는 도로의 주변환경(결빙도로, 급경사로, 수막현상이 발생한 도로, 러프로드) 등에 의해 제동거리가 달라질 수가 있다.However, when the tire of the vehicle is in a low pressure state or high pressure state, the braking force varies according to the brake pad state, the brake hydraulic pressure change, the tire wear level, and the surrounding environment (freezing road, steep slope, water film phenomenon) The braking distance may vary depending on the generated road, rough road).

그러나, 종래의 차간거리 유지 시스템은 이러한 차량의 상태 및 주변환경을 고려하지 않고 현재 전방 차량과 자차의 거리 및 상대속도만을 이용하여 TTC 연산 후 적정 간격을 유지하도록 제어하고 있다.However, the conventional inter-vehicle distance maintenance system is controlled to maintain the proper interval after the TTC calculation using only the distance and the relative speed of the current vehicle and the own vehicle without considering the state of the vehicle and the surrounding environment.

이와같이, 종래에는 차량의 상태(제동력 감소 등)나 주변환경을 고려하지 않으므로 악조건하에서의 제동거리 증대를 고려하지 않아 악조건하에서 추돌 사고 위험이 높아지고, 차간 거리가 매우 좁아진 후 급제동을 실시하게 된다. 이런 경우 운전자는 위화감을 느끼게 되며, 차간거리가 매우 좁아짐에 따라 운전자가 불안감을 느낄 수 있게 되어 시스템에 대한 신뢰성을 떨어뜨리는 문제점이 있었다.As described above, since the state of the vehicle (reduction of braking force, etc.) and the surrounding environment are not considered in the related art, the braking distance is increased under adverse conditions, so that the risk of a collision accident is increased under bad conditions, and the braking distance is rapidly narrowed. In this case, the driver feels a sense of discomfort, and as the inter-vehicle distance becomes very narrow, the driver can feel anxiety, thereby reducing the reliability of the system.

본 발명의 목적은 차량의 제동상태를 판단하고, 타이어 공기압정보, 차량 자세정보, 현재 주행속도 정보를 고려하여 선행차량과의 차간 거리를 제어하도록 하는데 있다.An object of the present invention is to determine the braking state of the vehicle, and to control the distance between the vehicle and the preceding vehicle in consideration of tire inflation pressure information, vehicle attitude information, current driving speed information.

상기와 같은 목적을 달성하기 위한 본 발명에 따른 차간거리 제어방법은, 전방의 선행 차량을 감지하는 과정과, 요구 제동력 대비 차량의 실제 제동상태정보를 산출하는 과정과, 상기 요구 제동력 대비 차량의 실제 제동상태정보 및 주변환경정보에 따라 제동예상거리를 산출하는 과정을 포함한다.In order to achieve the above object, the inter-vehicle distance control method according to the present invention includes a process of detecting a preceding vehicle in front of the vehicle, a process of calculating actual braking state information of the vehicle compared to the required braking force, Calculating an expected braking distance according to the braking state information and the surrounding environment information.

또한, 상기 제동예상거리에 따라 상기 선행차량과의 차간거리를 제어하는 과정을 더 포함하는 것을 특징으로 한다.The method may further include controlling a distance between the vehicle and the preceding vehicle according to the anticipated braking distance.

또한, 상기 선행차량과의 차간거리를 제어하는 과정은, 상기 급경사로 주행 시 평지 대비 낮은 변속단으로 주행하도록 제어하는 것을 특징으로 한다.In addition, the process of controlling the distance between the vehicle and the preceding vehicle, characterized in that the control to run at a lower gear stage than the flat when driving at a steep slope.

또한, 상기 요구 제동력 대비 차량의 실제 제동상태정보를 산출하는 과정은, 휠 스피드값을 이용하여 요구 제동력 대비 휠 스피드 감소율 및 감속도를 연산하고, 휠 슬립여부를 판단하여 상기 차량의 실제 제동상태정보를 산출하는 것을 특징으로 한다.The calculating of the actual braking state information of the vehicle relative to the requested braking force may include calculating a wheel speed reduction rate and a deceleration rate with respect to the requested braking force using a wheel speed value, determining whether the wheel slips, and determining actual braking state information of the vehicle. It is characterized by calculating.

또한, 상기 제동예상거리를 산출하는 과정은, 상기 차량의 실제 제동상태정보, 차량자세정보 및 현재 주행속도정보에 따라 상기 제동예상거리를 산출하는 것을 특징으로 한다.In the calculating of the braking expected distance, the braking expected distance may be calculated according to the actual braking state information, the vehicle attitude information, and the current traveling speed information of the vehicle.

또한, 상기 제동예상거리를 산출하는 과정은, 상기 요구 제동력 대비 차량의 실제 제동력이 낮을수록, 차량이 경사로를 하강주행하는 경우 상기 경사로의 경사각이 클수록, 현재 주행속도가 높을수록 상기 제동예상거리를 증대시키는 것을 특징으로 한다.In the calculating of the braking expected distance, the lower the actual braking force of the vehicle relative to the required braking force, the greater the inclination angle of the inclined slope when the vehicle descends the slope, and the higher the current traveling speed, the greater the braking expected distance. It is characterized by increasing.

상기와 같이 본 발명은 차량 제동 상태 및 주변환경에 따라 차간 거리를 제어함으로써 추돌 사고 발생을 최소화하는 효과가 있다.As described above, the present invention has the effect of minimizing the collision accident by controlling the distance between the vehicle according to the vehicle braking state and the surrounding environment.

또한, 본 발명은 급경사로에서 차간거리를 여유있게 증가시킴으로써 잦은 제동으로 인한 브레이크 관련 부품의 마모 및 소손을 방지하고 제동능력 증대를 위해 평지 대비 낮은 변속단으로 주행하도록 제어하여 시스템의 안전성 및 신뢰도를 향상시키는 효과가 있다.In addition, the present invention is to increase the distance between the car on the steep slope to prevent wear and damage of the brake-related parts due to frequent braking, and to control to run at a lower gear than the flat to increase the braking ability to improve the safety and reliability of the system There is an effect to improve.

도 1은 본 발명의 실시예에 따른 차간거리 제어 시스템의 구성도.
도 2는 본 발명의 실시예에 따른 차간거리 제어방법을 나타내는 순서도.1 is a block diagram of a distance control system according to an embodiment of the present invention.
2 is a flowchart illustrating a method for controlling a distance between vehicles according to an exemplary embodiment of the present invention.

이하, 본 발명의 일부 실시예들을 예시적인 도면을 통해 상세하게 설명한다. 각 도면의 구성요소들에 참조부호를 부가함에 있어서, 동일한 구성요소들에 대해서는 비록 다른 도면상에 표시되더라도 가능한 한 동일한 부호를 가지도록 하고 있음에 유의해야 한다. 또한, 본 발명의 실시예를 설명함에 있어, 관련된 공지 구성 또는 기능에 대한 구체적인 설명이 본 발명의 실시예에 대한 이해를 방해한다고 판단되는 경우에는 그 상세한 설명은 생략한다.Hereinafter, some embodiments of the present invention will be described in detail with reference to exemplary drawings. In adding reference numerals to the components of each drawing, it should be noted that the same reference numerals are assigned to the same components as much as possible even though they are shown in different drawings. In the following description of the embodiments of the present invention, a detailed description of known functions and configurations incorporated herein will be omitted when it may make the difference that the embodiments of the present invention are not conclusive.

본 명세서에서 개시된 교통수단 또는 그와 유사한 용어는 스포츠 기능 차량(SUV), 버스, 트럭, 다양한 상업차량을 포함하는 승용 자동차, 다양한 보트와 배를 포함하는 워터크래프트(watercraft), 에어크래프트(aircraft) 등등과 같은 모터 차량, 하이브리드(hybrid) 차량, 전기차량, 플러그인 하이브리드 전기차량, 수소(hydrogen-powered)차량, 그밖의 다른 연료를 이용하는 차량(예를 들어, 석유외의 연료를 이용하는 차량)들을 포함한다. 특히, 상술한 하이브리드 차량은 2개 또는 그 이상의 자원(예를 들어, 가솔린과 전기 에너지 둘다 이용하는 차량)을 이용한 차량이다.Means of transportation disclosed herein, or similar terms, include sport functional vehicles (SUVs), buses, trucks, passenger cars including various commercial vehicles, watercraft including various boats and ships, and aircraft. Motor vehicles such as hybrid vehicles, electric vehicles, plug-in hybrid electric vehicles, hydrogen-powered vehicles, vehicles using other fuels (eg, vehicles using fuels other than petroleum), and the like. . In particular, the aforementioned hybrid vehicle is a vehicle using two or more resources (for example, a vehicle using both gasoline and electrical energy).

도 1은 본 발명의 실시예에 따른 차간거리 제어 시스템의 구성도이다.1 is a block diagram of an inter-vehicle distance control system according to an embodiment of the present invention.

본 발명에 따른 차간거리 제어 시스템은 감지부(100), 제어부(200), 클러스터(300), 엔진(400), 및 변속부(500)를 구비한다.The inter-vehicle distance control system according to the present invention includes a sensing unit 100, a control unit 200, a cluster 300, an engine 400, and a transmission unit 500.

감지부(100)는 차량의 제동 상태(타이어 압력상태) 및 주변 환경(러프로드, 도로 수막현상, 결빙, 지면온도, 급경사로 등)을 감지한다. 이를 위해, 감지부(100)는 가속도센서(110), 휠스피드센서(120), G센서(140), 타이어 공기압 센서(140), 레이더(150)를 구비한다.The sensing unit 100 detects a braking state (tire pressure state) of the vehicle and the surrounding environment (ruffard, road hydroplaning, freezing, ground temperature, steep slope, etc.). To this end, the sensing unit 100 includes an acceleration sensor 110, a wheel speed sensor 120, a G sensor 140, a tire air pressure sensor 140, and a radar 150.

가속도센서(110)는 차량의 가속도를 감지하여 그 결과를 제어부(200)로 전달한다.The acceleration sensor 110 detects the acceleration of the vehicle and transmits the result to the controller 200.

휠스피드센서(120)는 차량의 각 바퀴의 속도를 감지하여 그 결과를 제어부(200)로 전달한다.The wheel speed sensor 120 detects the speed of each wheel of the vehicle and transmits the result to the controller 200.

G 센서(130)는 차량의 자세 즉 차량이 평지를 주행하고 있는지 언덕을 올라가고 있는지 언덕을 내려가고 있는지, 경사로인 경우 경사각도 등을 감지하여 그 결과를 제어부(200)로 전달한다.The G sensor 130 detects the attitude of the vehicle, that is, whether the vehicle is driving on a flat surface, is going up a hill, or is going down a hill, and, in the case of a slope, transmits the result to the controller 200.

타이어 공기압 센서(140)는 타이어 압력상태를 감지하여 그 결과를 제어부(200)로 전달한다.The tire air pressure sensor 140 detects a tire pressure state and transmits the result to the controller 200.

레이더(150)는 전방차량 존재여부 및 전방차량과의 거리 및 상대속도를 감지하고, 전방차량과 충돌까지 걸리는 시간(TTC)를 연산하여 그 결과를 제어부(200)로 전달한다. The radar 150 detects the presence of the front vehicle and the distance and the relative speed with the front vehicle, calculates the time (TTC) required to collide with the front vehicle, and transmits the result to the controller 200.

여기서, 감지부(100)는 가속도센서(110), 휠스피드센서(120), 타이어 공기압 센서(130), G센서(140)만을 개시하고 있으나, 도로의 지형을 파악하기 위한 GPS 수신부(미도시), 타이어 마모정도 감지센서(미도시), 브레이크 패드 감지센서(미도시), 브레이크 유압변화 감지센서(미도시) 등을 더 구비할 수 있고, 차량의 제동력 및 주변환경을 감지하기 위한 센서 또는 장치를 추가로 더 구비할 수 있다.Here, the detection unit 100 discloses only the acceleration sensor 110, the wheel speed sensor 120, the tire air pressure sensor 130, and the G sensor 140, but a GPS receiver (not shown) to grasp the terrain of the road. ), A tire wear detection sensor (not shown), a brake pad detection sensor (not shown), a brake hydraulic pressure change sensor (not shown), etc., may further include a sensor for detecting the braking force and the surrounding environment of the vehicle or The apparatus may further be provided.

제어부(200)는 휠스피드(120)의 출력값, G센서(130)의 출력값을 이용하여 요구 제동력 대비 휠 스피드 감소율을 연산하고, 휠 슬립 상태여부를 판단하고 타이어 공기압 센서(140)의 출력값을 이용하여 타이어 공기압 상태를 판단한다. 즉, 제어부(200)는 운전자가 3단계 세기의 브레이크를 밟은 경우, 휠스피드(120)의 감소율이 3단계 세기의 브레이크 동작레벨에 맞게 감소하였는지를 판단하고, 휠스피드(120)가 '0'인데 감속도가 일정값을 유지하는 경우 휠슬립(미끄러짐) 상태인 것으로 판단한다. 또한, 제어부(200)는 타이어의 공기압이 정상인지 과다인지 부족상태인지여부를 판단한다. 예를 들어, 제어부(200)는 3단계의 브레이크보다 낮은 단계의 브레이크 정도의 휠스피드값이 감지되거나 휠슬립이 판단되는 경우 및 타이어 공기압이 과다인 경우 현재 차량의 제동력이 낮은 것으로 판단한다.The control unit 200 calculates the wheel speed reduction ratio compared to the required braking force by using the output value of the wheel speed 120 and the output value of the G sensor 130, determines whether the wheel slip state is used, and uses the output value of the tire pressure sensor 140. To determine the tire pressure. That is, the controller 200 determines whether the reduction rate of the wheel speed 120 is reduced according to the brake operation level of the three-stage strength when the driver presses the brake of the three-stage strength, and the wheel speed 120 is '0'. If the deceleration maintains a constant value, it is determined that the wheel slip (slip) state. In addition, the controller 200 determines whether the tire air pressure is normal or excessive or insufficient. For example, the controller 200 determines that the brake speed of the current vehicle is low when the wheel speed value of the brake level lower than the brake of the third stage is sensed or when the wheel slip is determined and the tire air pressure is excessive.

또한, 제어부(200)는 산출한 차량의 제동상태, 차량자세정보(다운힐 여부 및 경사각도), 현재 주행 속도 정보를 이용하여 제동 예상 거리를 산출한다. 이때, 제어부(200)는 휠스피드센서(120)의 바퀴회전속도정보 및 가속도센서(110)의 가속도 정보 등을 이용하여 차량의 현재 주행속도 등을 파악할 수 있다. 또한, 제어부(200)는 산출된 제동 예상 거리를 기준 제동 거리와 비교하여 제동 예상 거리가 기준 제동 거리보다 길면 엔진(400)을 제어하여 차량의 속도를 감소시켜 전방차량과의 차간 거리를 증대시키도록 한다. 이때, 제어부(200)는 차량이 다운 힐(down hill)을 주행하는 경우, 제동능력 증대를 위해 변속부(500)를 제어하여 평지 대비 낮은 변속단으로 주행하도록 제어하도록 한다.In addition, the controller 200 calculates an estimated braking distance by using the calculated braking state of the vehicle, vehicle attitude information (whether the downhill is inclined and the inclination angle), and the current traveling speed information. In this case, the controller 200 may determine the current driving speed of the vehicle using the wheel rotation speed information of the wheel speed sensor 120 and the acceleration information of the acceleration sensor 110. In addition, the controller 200 compares the calculated braking estimated distance with the reference braking distance and controls the engine 400 when the braking estimated distance is longer than the reference braking distance to increase the inter-vehicle distance from the front vehicle by reducing the speed of the vehicle. To do that. In this case, when the vehicle is driving downhill, the control unit 200 controls the shifting unit 500 to increase the braking ability so that the vehicle travels at a lower speed than the flat ground.

클러스터(300)는 전방 차량과의 간격을 화면에 표시하여 운전자가 확인할 수 있도록 한다.
The cluster 300 displays a distance from the front vehicle on the screen so that the driver can check.

이하, 도 2를 참조하여, 본 발명의 실시예에 따른 차간거리 제어방법을 설명하기로 한다.Hereinafter, referring to FIG. 2, a method for controlling a distance between vehicles according to an exemplary embodiment of the present invention will be described.

먼저, 레이더(150)를 통해 전방의 선행 차량의 존재 및 차간거리와 상대속도를 감지하고, 충돌까지의 시간을 연산한다.(S101).First, the presence of the preceding vehicle, the inter-vehicle distance, and the relative speed are detected through the radar 150, and the time until the collision is calculated (S101).

선행차량이 감지되면, 제어부(120)는 휠스피드센서(120)의 휠스피드값을 이용하여 요구 제동력 대비 휠 스피드 감소율 및 감속도를 연산하고, 휠슬립여부를 판단하며 타이어 공기압센서(140)의 타이어 공기압 과다/부족 여부 정보에 따라 요구 제동력 대비 실제 제동상태정보를 산출한다(S102). 이때, 휠스피드 감소율이 브레이크단계에 맞지 않거나 타이어 공기압이 과다 또는 부족상태이거나 휠슬립상태인 경우 실제 제동력(실제 제동상태정보)은 낮아진다.When the preceding vehicle is detected, the controller 120 calculates a wheel speed reduction rate and a deceleration rate based on the required braking force using the wheel speed value of the wheel speed sensor 120, determines whether the wheel slips, and determines whether the tire pressure sensor 140 The actual braking state information compared to the required braking force is calculated according to the tire pressure / excess information (S102). At this time, the actual braking force (actual braking state information) is lowered if the wheel speed reduction rate does not correspond to the brake stage, the tire air pressure is excessive or insufficient, or the wheel slip state.

이후, 제어부(120)는 산출된 실제 제동상태정보, G센서(130)로부터 수신한 차량자세정보(경사로여부, 경사각도정보), 현재 주행속도정보를 이용하여 제동예상거리를 산출한다(S103). 이때, 제어부(120)는 제동상태정보, 차량자세정보, 주행속도정보별로 가중치를 부여하여 제동예상거리를 산출하도록 한다. 예를 들어, 요구제동력이 3단계였는데 실제 제동력이 2단계이고, 차량이 경사각도 30도인 다운힐을 하강하며 주행속도가 80km/s인 경우, 각 조건별 가중치를 부여하여 제동예상거리가 산출된다. 이때, 실제 제동력이 요구제동력보다 낮을수록, 평지가 아닌 경사로를 하강주행하며 경사로의 각도가 클수록, 주행속도가 빠를수록 제동예상거리가 증가하게 된다.Thereafter, the control unit 120 calculates the braking expected distance by using the calculated actual braking state information, vehicle attitude information received from the G-sensor 130 (whether it is a slope, inclination angle information), and current driving speed information (S103). . At this time, the controller 120 calculates a braking expected distance by assigning weights to the braking state information, the vehicle attitude information, and the driving speed information. For example, if the required braking force was 3 stages and the actual braking force was 2 stages, and the vehicle descends the downhill with an inclination angle of 30 degrees and the driving speed is 80 km / s, the braking expected distance is calculated by assigning a weight to each condition. . At this time, as the actual braking force is lower than the required braking force, the driving downhill is not flat, and as the angle of the ramp is larger, the faster the driving speed, the greater the braking expected distance.

이에, 제어부(120)는 산출된 제동예상거리가 기준 제동 거리보다 큰 지를 판단하여(S104), 산출된 제동예상거리가 기준 제동 거리보다 크지 않으면 기준 제동 거리에 따라 차간 거리를 유지하고(S105), 산출된 제동예상거리가 기준 제동 거리보다 크면 산출된 제동예상거리에 따라 차간 거리가 증대되도록 제어한다(S106).Accordingly, the controller 120 determines whether the calculated braking predicted distance is greater than the reference braking distance (S104), and if the calculated braking predicted distance is not greater than the reference braking distance, maintains the inter-vehicle distance according to the reference braking distance (S105). If the calculated braking expected distance is larger than the reference braking distance, the distance between the vehicles is increased according to the calculated braking expected distance (S106).

예를 들어, 요구 제동력이 3단계인 경우, 휠 스피드값과 감속도를 통해 실제 제동력이 3단계인지 여부를 판단하고, 요구 제동력이 3단계였는데도 불구하고 타이어 마모정도, 브레이크 패드상태, 브레이크 유압변화 등으로 인해 실제 제동력이 낮아져 2단계로 판단되면, 현재 차량의 주행속도 및 차량자세정보(경사로여부, 경사각도정보)를 함께 고려하여 제동예상거리를 결정한다. For example, if the required braking force is three stages, it is determined whether the actual braking force is three stages based on the wheel speed value and deceleration, and the tire wear degree, brake pad state, brake hydraulic pressure, even though the required braking force was three stages. If the actual braking force is lowered due to the change and is determined as the second stage, the braking anticipated distance is determined in consideration of the current vehicle's driving speed and vehicle posture information (whether the slope is inclined and the inclination angle information).

이와같이, 본 발명의 차량의 제동 상태(타이어 압력상태, 타이어 마모정도, 브레이크 패드상태, 브레이크 유압변화 등) 및 주변 환경(러프로드, 도로 수막현상, 결빙, 지면온도, 급경사로 등)을 고려하여 차간거리를 조절함으로써, 추돌사고위험을 최소화할 수 있다.In this way, considering the braking state (tire pressure state, tire wear degree, brake pad state, brake hydraulic pressure change, etc.) of the vehicle of the present invention and the surrounding environment (rough road, road water film phenomenon, freezing, ground temperature, steep slope, etc.) By adjusting the distance, the risk of collision accidents can be minimized.

이상의 설명은 본 발명의 기술 사상을 예시적으로 설명한 것에 불과한 것으로서, 본 발명이 속하는 기술 분야에서 통상의 지식을 가진 자라면 본 발명의 본질적인 특성에서 벗어나지 않는 범위에서 다양한 수정 및 변형이 가능할 것이다. 따라서, 본 발명에 개시된 실시예들은 본 발명의 기술 사상을 한정하기 위한 것이 아니라 설명하기 위한 것이고, 이러한 실시예에 의하여 본 발명의 기술 사상의 범위가 한정되는 것은 아니다. 본 발명의 보호 범위는 아래의 청구범위에 의하여 해석되어야 하며, 그와 동등한 범위 내에 있는 모든 기술 사상은 본 발명의 권리범위에 포함되는 것으로 해석되어야 할 것이다. The foregoing description is merely illustrative of the technical idea of the present invention, and various changes and modifications may be made by those skilled in the art without departing from the essential characteristics of the present invention. Therefore, the embodiments disclosed in the present invention are intended to illustrate rather than limit the scope of the present invention, and the scope of the technical idea of the present invention is not limited by these embodiments. The protection scope of the present invention should be interpreted by the following claims, and all technical ideas within the equivalent scope should be interpreted as being included in the scope of the present invention.

110 : 가속도센서
120 : 휠스피드센서
130 : G센서
140 : 타이어 공기압 센서
150 : 레이더
200 : 제어부
300 : 클러스터
400 : 엔진
500 : 변속부110: acceleration sensor
120: wheel speed sensor
130: G sensor
140: tire pressure sensor
150: radar
200:
300: cluster
400: engine
500 transmission

Claims (6)

전방의 선행 차량을 감지하는 과정;
요구 제동력 대비 차량의 실제 제동상태정보를 산출하는 과정; 및
상기 요구 제동력 대비 차량의 실제 제동상태정보 및 주변환경정보에 따라 제동예상거리를 산출하는 과정
을 포함하는 차간거리 제어방법.Detecting a preceding vehicle ahead;
Calculating actual braking state information of the vehicle relative to the required braking force; And
Calculating the braking expected distance according to the actual braking state information and the surrounding environment information of the vehicle compared to the requested braking force
Inter-vehicle distance control method comprising a. 제 1항에 있어서,
상기 제동예상거리에 따라 상기 선행차량과의 차간거리를 제어하는 과정을 더 포함하는 것을 특징으로 하는 차간거리 제어방법.The method of claim 1,
And controlling the distance between the vehicle and the preceding vehicle according to the anticipated braking distance. 제 2항에 있어서,
상기 선행차량과의 차간거리를 제어하는 과정은,
상기 급경사로 주행 시 평지 대비 낮은 변속단으로 주행하도록 제어하는 것을 특징으로 하는 차간거리 제어방법.The method of claim 2,
The process of controlling the distance between the vehicle and the preceding vehicle,
The inter-vehicle distance control method characterized in that the control to drive at a lower gear stage than the flat when driving at a steep slope. 제 1 또는 제 2항에 있어서,
상기 요구 제동력 대비 차량의 실제 제동상태정보를 산출하는 과정은,
휠스피드값을 이용하여 요구 제동력 대비 휠 스피드 감소율 및 감속도를 연산하고, 휠슬립여부를 판단하며, 타이어 공기압 상태를 판단하여 실제 제동상태정보를 산출하는 것을 특징으로 하는 차간거리 제어방법.The method according to claim 1 or 2,
The process of calculating the actual braking state information of the vehicle compared to the requested braking force,
Computing the wheel speed reduction rate and deceleration relative to the required braking force using the wheel speed value, determines whether the wheel slips, and determines the tire pressure state to calculate the actual braking state information. 제 1항 또는 제 2항에 있어서,
상기 제동예상거리를 산출하는 과정은,
상기 차량의 실제 제동상태정보, 차량자세정보 및 현재 주행속도정보에 따라 상기 제동예상거리를 산출하는 것을 특징으로 하는 차간거리 제어방법.3. The method according to claim 1 or 2,
The process of calculating the expected braking distance,
And calculating the braking predicted distance according to the actual braking state information of the vehicle, the vehicle attitude information, and the current traveling speed information. 제 1항 또는 제 2항에 있어서,
상기 제동예상거리를 산출하는 과정은,
상기 요구 제동력 대비 차량의 실제 제동력이 낮을수록, 차량이 경사로를 하강주행하는 경우 상기 경사로의 경사각이 클수록, 현재 주행속도가 높을수록 상기 제동예상거리를 증대시키는 것을 특징으로 하는 차간거리 제어방법.3. The method according to claim 1 or 2,
The process of calculating the expected braking distance,
And the braking expected distance is increased when the actual braking force of the vehicle is lower than the required braking force, and when the vehicle descends the slope, the larger the inclination angle of the slope and the higher the current traveling speed are.
KR1020110066492A 2011-07-05 2011-07-05 Method for controlling vehicle interval KR20130005110A (en)

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Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN114789629A (en) * 2022-04-08 2022-07-26 摩登汽车有限公司 Tire wear monitoring method and system
KR20220169508A (en) * 2021-06-18 2022-12-28 한국타이어앤테크놀로지 주식회사 Vehicle control system using smart tire and control method thereof
CN116279792A (en) * 2023-05-22 2023-06-23 深圳市聚力得电子股份有限公司 Vehicle-mounted intelligent steering control system

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR20220169508A (en) * 2021-06-18 2022-12-28 한국타이어앤테크놀로지 주식회사 Vehicle control system using smart tire and control method thereof
CN114789629A (en) * 2022-04-08 2022-07-26 摩登汽车有限公司 Tire wear monitoring method and system
CN116279792A (en) * 2023-05-22 2023-06-23 深圳市聚力得电子股份有限公司 Vehicle-mounted intelligent steering control system
CN116279792B (en) * 2023-05-22 2023-07-18 深圳市聚力得电子股份有限公司 Vehicle-mounted intelligent steering control system

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