KR20130067648A - System for sensing crush of a vehicle and method thereof - Google Patents

Abstract

PURPOSE: A vehicle collision sensing system and a method thereof can sense a collision with a vehicle by using measured values by radars and all the measured values by ultrasonic sensors by distances, or by sub-ultrasonic sensor when radars are broken. CONSTITUTION: A vehicle collision detection method includes: a step wherein a driver's vehicle calculates a first relative speed against a surrounding vehicle using a radar at a first distance position from a surrounding vehicle; a step wherein the driver's vehicle calculates with ultrasonic a second relative speed against the surrounding vehicle in a case that the driver's vehicle is in proximity to the surrounding vehicle with a second distance shorter than the first distance; a step of generating collision prediction information including the distance to the surrounding vehicle, collision prediction time information, and collision speed information based on the above distance information and the above prediction time information, using the first and second relative speed; and a step converting the collision prediction information generated into visible or audible information and outputting it. [Reference numerals] (112) Radar; (114) Ultrasonic sensor; (132) Relative speed calculation unit; (134A) First comparison unit; (134B) Second comparison unit; (134C) Third comparison unit; (136A) First collision prediction calculation unit; (136B) Second collision prediction calculation unit; (150) Output unit; (AA) Reference value 1; (BB) Reference value 2; (CC) Reference value 3

Description

Vehicle collision detection system and its method {SYSTEM FOR SENSING CRUSH OF A VEHICLE AND METHOD THEREOF}

The present invention relates to a vehicle collision detection system and method, and more particularly, to a vehicle collision detection system and method for detecting a collision between the vehicle and the obstacle using a sensor for detecting an obstacle around the vehicle installed in the vehicle. It is about.

Recently, various vehicle driver convenience systems have been developed for safe driving of drivers. One such driver convenience system is the Smart Cruise Control.

Smart Cruise Control is a driver convenience system that uses radar to detect forward or backward vehicles and automatically provides acceleration or deceleration. If the vehicle is maintained automatically, and another vehicle with a low speed is displayed, the vehicle is automatically decelerated to maintain an appropriate distance, thereby predicting collision with the surrounding vehicle and maintaining an appropriate distance from the surrounding vehicle.

As described above, the smart cruise system uses a radar to control the distance to the surrounding vehicle. The radar launches microwaves of an electromagnetic wave having a wavelength of 10 cm to 100 cm to the object, thereby Receive the reflected electromagnetic waves and measure the distance, direction, and altitude to the object. This radar uses a 24GHz Ultra Wide Band (UWB) Pulse Doppler radar for accurate measurements over short distances. Despite its high price compared to ultrasonic sensors, it is widely used due to its excellent measurement performance over long distances. have.

However, since such a conventional smart cruise system predicts a collision using only data obtained from the radar device, if a radar failure occurs, collision prediction cannot be performed normally. It is urgent to develop a device or algorithm that can compensate for the failure of a radar device.

Accordingly, an object of the present invention is to provide a collision detection method for a vehicle that can detect a collision of an obstacle even when a specific sensor that detects a collision of an obstacle is broken.

Another object of the present invention is to provide a vehicle collision detection system using the above method.

According to an aspect of the present invention, there is provided a collision detection method for a vehicle, wherein the driver vehicle uses a radar to determine a first relative speed value with respect to the surrounding vehicle at a position of a first distance from the surrounding vehicle. Calculating, and when the driver vehicle is close to the surrounding vehicle at a second distance shorter than the first distance, calculating the second relative speed value for the surrounding vehicle by using ultrasonic waves; Generating collision prediction information including distance information with the surrounding vehicle, estimated time information until a collision, and collision speed information based on the distance information and the estimated time information using the first and second relative speed values; And converting and generating the generated collision prediction information into visual or audio information.

The collision detection system for a vehicle of the present invention is installed in a driver vehicle and transmits a transmission wave of a first wavelength at a position of a first distance from the driver vehicle to a surrounding vehicle, thereby detecting the surrounding vehicle. A first sensor unit generating a first transmission unit and a second sensor installed in the driver vehicle and transmitting a transmission wave having a second wavelength longer than the first wavelength at a second distance shorter than the first distance, and detecting the peripheral vehicle; A second sensor unit generating a second sensing signal, and calculating first and second relative speed values of the surrounding vehicles based on the first and second sensing signals, and calculating the first and second relative speed values. An electronic control unit for generating collision prediction information including distance information with the surrounding vehicle, estimated time information until a collision, and collision speed information based on the distance information and the estimated time information; Information to the driver comprises an output unit for providing conversion to a visual or acoustic information.

According to the present invention, when the distance between the vehicle and the obstacle (for example, the rear vehicle) is located at the first distance, the collision prediction with the obstacle is predicted by using a radar suitable for a long distance and relatively shorter than the first distance. In case of being located at the second distance, by predicting collision with the obstacle using an ultrasonic sensor suitable for short-range detection, the ultrasonic sensor as a front and rear sensing sensor mainly used in the rear parking is extended to the smart cruise system. In addition, the function of the ultrasonic sensor can be expanded in various ways, and since the ultrasonic sensor used in the existing front or rear sensor is used as it is, no additional installation cost is required.

In addition, by using both the measured value by the radar and the measured value by the ultrasonic sensor by distance, it is possible to detect a collision with the vehicle by using the ultrasonic sensor in the event of a radar failure.

1 is a block diagram showing the overall configuration of a collision detection system according to an embodiment of the present invention.
2 is a flowchart illustrating a collision detection method according to an embodiment of the present invention.

The present invention predicts a first collision by integrating two sensor data using a radar for a vehicle and a radar for a long distance and an ultrasonic sensor for a short distance. In addition, in the present invention, when a collision occurs after predicting the first collision, the second collision is predicted by using the ultrasonic sensor.

To this end, when the distance between the vehicle and the surrounding vehicle is located at the first distance, the present invention predicts collision with the obstacle using a radar, and is located at a second distance that is relatively shorter than the first distance. In this case, a collision with the surrounding vehicles is primarily predicted and detected using an ultrasonic sensor.

In the present invention, after the first prediction, when the collision occurs, the collision with the surrounding vehicles is secondarily predicted by using the ultrasonic sensor.

That is, the first collision is predicted by integrating the sensor data measured by the radar and the ultrasonic sensor, and when the collision occurs after the first prediction, the second collision is predicted by using the ultrasonic sensor.

In this way, the function of the ultrasonic sensor for the rear sensor used for parking the existing vehicle can be expanded and applied to the smart cruise system, and since the ultrasonic sensor installed in the existing vehicle is used as it is, no additional installation cost of the ultrasonic sensor is required. Do not. In addition, by using both the measured value by the radar and the measured value by the ultrasonic sensor by distance, it is possible to detect a collision with the vehicle by using the ultrasonic sensor in the event of a radar failure.

Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings. In the following embodiments, the present invention is limited to predicting the rear collision of the vehicle. However, the present invention is not limited to the rear collision, and the omnidirectional collision of the vehicle according to the installation position of the ultrasonic sensor and the radar described in the following embodiment is performed. Predictability can be fully understood by those skilled in the art through the following description.

In addition, in adding reference numerals to the components of each drawing, it should be noted that the same reference numerals are used as much as possible even if displayed on 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 subject matter of the present invention rather unclear.

1 is a block diagram showing the overall configuration of a collision detection system according to an embodiment of the present invention.

Referring to FIG. 1, the collision detection system 100 according to an embodiment of the present invention predicts a first rear collision using the first and second rear detection sensors. After the first collision detection, if a collision situation occurs, the second collision is predicted using the second rearward sensor.

Specifically, the collision detection system 100 largely includes a sensor unit 110, an electronic controller 130, and an output unit 150.

The sensor unit 110 includes a first sensor unit 112 (hereinafter, a vehicle radar) and a second sensor unit 114 (hereinafter, an ultrasonic sensor). The vehicle radar 112 is installed in a driver vehicle and senses a surrounding vehicle at a position of a first distance from the driver vehicle to a surrounding vehicle. The vehicle radar 112 transmits a transmission wave of a first wavelength to detect the surrounding vehicle. Generate a first sense signal. The ultrasonic sensor 114 is installed in the driver's vehicle, and transmits a transmission wave of a second wavelength longer than the first wavelength at a second distance shorter than the first distance, thereby detecting the surrounding vehicle. Create That is, the surrounding vehicle senses the surrounding vehicle by the vehicle radar 112 at a first distance, for example, 5 m or more from the driver's vehicle, and relatively, when the surrounding vehicle is shorter than the second distance, for example, less than 5 m, the first vehicle. The ultrasonic sensor 114 detects the surrounding vehicle. Accordingly, the vehicle radar 12 may use a radar device suitable for sensing a nearby vehicle at a long distance, and the second sensor unit 114 may use an ultrasonic sensor suitable for detecting a nearby vehicle at a relatively short distance. In this case, the ultrasonic sensor may not use a separate sensor, and an ultrasonic sensor of a parking assistance system mounted on an existing vehicle may be used. Therefore, the installation cost according to the installation of the additional ultrasonic sensor is not required.

The electronic controller 130 calculates first and second relative speed values for the surrounding vehicles based on the first and second detection signals, and uses the first and second relative speed values to calculate the first and second relative speed values. And collision prediction information including distance information, estimated time information until a collision, and collision speed information based on the distance information and the estimated time information. The electronic controller 130 predicts the first collision according to the generated collision prediction information. In addition, when the collision between the driver vehicle and the surrounding vehicle occurs after the first collision prediction, the electronic control unit 130 moves the ultrasonic sensor 114 to another neighboring vehicle closer to the third distance shorter than the second distance. A third relative speed value is calculated, and the second collision speed with respect to the other surrounding vehicles is predicted using the third relative speed value.

In order to predict two collisions, the electronic controller 130 includes a relative speed calculator 132, a comparator 134, and a collision prediction calculator 136.

The relative speed calculator 132 calculates a relative speed value, and calculates a first relative speed value by using a first detection signal obtained by the vehicle radar in predicting the first collision. That is, the relative speed calculator 132 calculates the first relative speed value by using the first detection signal of the surrounding vehicle sensed by the radar installed in the driver's vehicle at a first distance, for example, 5 m. In addition, the relative speed calculator 132 calculates a second relative speed value by using the second detection signal of the surrounding vehicle acquired by the ultrasonic sensor when the surrounding vehicle approaches the driver vehicle within a second distance. As such, after the relative speed calculation process for predicting the first collision is completed through the calculation process of the first and second relative speed values, when the actual collision occurs, in order to predict the secondary collision, the relative speed calculation unit ( 132 is a third relative speed using a third sensing signal acquired using the ultrasonic sensor 114 when another nearby vehicle approaches the driver's vehicle within a third distance shorter than the second distance, for example, within 1 m. Calculate the value. As such, the relative speed calculation unit 132 calculates the first and second relative speed values to predict the first collision, predicts the first collision, and after the prediction of the first collision, The third relative velocity value is calculated to predict the second collision.

The comparison unit 134 includes first to third comparison units 134A, 134B, and 134C. The first comparator 134A receives a first detection signal of the vehicle radar 112 that detects a neighboring vehicle located outside the first distance from the driver vehicle, and compares it with a first reference value (reference value 1). The second comparator 134B receives a second detection signal of the ultrasonic sensor 114 that detects the surrounding vehicle located within a second distance shorter than the first distance from the driver vehicle, and compares it with a second reference value (reference value 2). Compare. The results compared by the first and second comparison units 134A and 134B are transmitted to the collision prediction calculation unit 136, so that the collision prediction calculation unit 136 performs the first collision prediction according to a predetermined rear collision prediction algorithm. Generate first collision prediction information for the target. After the third comparison unit 134C predicts the first collision, when the collision occurs, the third comparison unit 134C detects the third vehicle of the ultrasonic sensor 114 that detects the surrounding vehicle located within a third distance shorter than the second distance after the collision. The signal is input and compared with the third reference value (reference value 2). The comparison result is transmitted to the collision prediction calculation unit 136 and used by the collision prediction calculation unit 136 as a means for generating the first collision prediction information for the secondary collision prediction.

The collision prediction calculation unit 136 is configured to predict the secondary collision after the primary collision and the collision occurs, and calculates information about the primary collision and the secondary collision according to a predetermined backward collision prediction algorithm calculation. To this end, the first collision prediction calculator 136A and the second collision prediction calculator 136B are included. The first collision prediction calculation unit 136A combines the comparison results by the first and second comparison units 134A and 134B to generate first rear collision prediction information in which the first collision is informationalized. That is, the first collision prediction calculation unit 136A compares the distance information with the surrounding vehicles based on a comparison result between the first relative speed value and the first reference value and a comparison result between the second relative speed value and the second reference value. And generating collision prediction information including the estimated time information until the collision and the collision speed information based on the distance information and the estimated time information. The second collision prediction calculator 136B predicts the first collision using the comparison result by the third comparison unit 134C, and then generates second rear collision prediction information predicting the second collision when a collision occurs. do.

The output unit 150 converts the first and second rear collision prediction information calculated by the collision prediction calculator of the electronic controller 130 into visual or audio information and provides the driver with the speaker and the LCD monitor. For example, such a speaker, an LCD monitor, and the like to predict and alert the driver to the first rear collision or the second rear collision.

FIG. 2 is a flowchart illustrating a collision detection method according to an embodiment of the present invention, which is referred to by the collision detection system shown in FIG. 1 for better understanding of the description.

Referring to FIG. 2, first, it is determined whether the rear vehicle is outside the first distance from the driver's vehicle (S211).

Subsequently, when the rear vehicle is separated from the driver's vehicle by a first distance, for example, 5 m or more, the vehicle radar detects the rear vehicle (S213). If the rear vehicle is within a second distance shorter than the first distance from the driver's vehicle, for example within 2 meters, the ultrasonic sensor detects the rear vehicle. At this time, the vehicle radar may detect a rear vehicle approaching within 5m. The result detected by the radar (relative speed value) is compared with a specific first reference value so as to reliably detect a detection result for a rear vehicle at a long distance, and is regarded as reliable data only for a detection result that is higher than this specific first reference value. do. Similarly, since the ultrasonic sensor can detect an approaching rear vehicle that is 2 m away, it is compared with a specific second reference value, and only the detection result when the ultrasonic sensor is equal to or greater than the specific second reference value is used as the detection result of the ultrasonic sensor.

Subsequently, the first collision is predicted and calculated through a predetermined backward prediction collision algorithm using the results detected by the distance in the previous step (S213) (S217).

After predicting the primary collision, if the actual collision does not occur within a predetermined short time (S219), the result of predicting the primary collision is visually provided to the driver as an impact alert through an output such as a monitor (S225). ).

If the actual collision occurs within a predetermined short time after predicting the first collision (S219), other nearby vehicles approaching within a third distance shorter than the second distance (eg, 1m) are detected by the ultrasonic sensor. do.

Subsequently, a second collision is predicted and calculated through the predetermined backward predictive collision algorithm based on the result detected by the ultrasonic sensor (S217), and the calculated result is provided to the driver as a collision alert through an output unit such as a monitor (S225). ).

As described above, in the present invention, since the collision with the surrounding vehicle is predicted using both the radar measurement value and the measurement value of the ultrasonic sensor, the collision prediction can be performed even when a radar failure occurs.

The above description is merely illustrative of the technical idea of the present invention, and those skilled in the art to which the present invention pertains may make various modifications and variations 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 scope of protection of the present invention should be construed according to the following claims, and all technical ideas falling within the scope of the same shall be construed as falling within the scope of the present invention.

Claims (7)

Calculating, by the driver vehicle, a first relative speed value for the surrounding vehicle at a location of the first distance from the surrounding vehicle by the driver vehicle;
Calculating, by the driver vehicle, a second relative speed value for the surrounding vehicle when the driver vehicle approaches the surrounding vehicle at a second distance shorter than the first distance;
Generating collision prediction information including distance information with the surrounding vehicle, estimated time information until a collision, and collision speed information based on the distance information and the estimated time information using the first and second relative speed values; ; And
Converting the generated collision prediction information into visual or audio information and outputting the converted information;
Vehicle collision detection method comprising a.
The method of claim 1, wherein after calculating the second relative speed value,
A first step of the driver vehicle comparing the first relative speed value with a first specific value; And
The second step of the driver vehicle comparing the second relative speed value with a second specific value,
Generating the collision prediction information,
And generating the collision prediction information by using the comparison result in the first and second steps.
The method of claim 2, wherein after generating the collision prediction information, when the driver vehicle and the surrounding vehicle collide with each other,
Calculating, by the driver vehicle, a third relative speed value for another neighboring vehicle closer to a third distance shorter than the second distance using the ultrasonic waves; And
The driver vehicle further comparing the third relative speed value with a third specific value;
Generating the collision prediction information,
And generating the collision prediction information secondly based on a result of comparing the third relative speed value with a third specific value.
A first sensor unit installed in the driver vehicle and transmitting a transmission wave of a first wavelength at a position of a first distance from the driver vehicle to a surrounding vehicle to generate a first sensing signal for detecting the surrounding vehicle;
A second sensor installed in the driver vehicle and transmitting a transmission wave having a second wavelength longer than the first wavelength at a second distance shorter than the first distance to generate a second detection signal for sensing the surrounding vehicle; part;
The first and second relative speed values for the surrounding vehicles are calculated based on the first and second sensing signals, and the distance information and the collision with the surrounding vehicles are calculated using the first and second relative speed values. An electronic controller configured to generate collision prediction information, wherein the collision prediction information comprises an estimated time information and collision speed information based on the distance information and the estimated time information; And
An output unit configured to convert the collision prediction information into visual or audio information to the driver;
Vehicle collision detection system comprising a.
The method of claim 4, wherein the first sensor unit,
And a radar device of a smart cruise control installed in the driver's vehicle.
The method of claim 4, wherein the second sensor unit,
And an ultrasonic sensor device of the parking assistance system installed in the driver's vehicle.
The electronic control unit of claim 4 or 6,
After the collision prediction information is generated, when a collision occurs between the driver vehicle and the neighboring vehicle, the driver vehicle may be configured to search for another neighboring vehicle closer to a third distance shorter than the second distance by using the second sensor unit. 3 calculating the relative speed value, and secondly generating the collision prediction information for the other surrounding vehicle using the third relative speed value.

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