KR20130114782A - Collision prevention system for vehicle - Google Patents

Abstract

PURPOSE: A collision prevention system for a vehicle is provided to enable more accurate and rapid determination of the collision possibility as an estimated collision time is calculated by using the relative distance information, the relative speed information and the relative acceleration information between a preceding vehicle and the current vehicle. CONSTITUTION: A collision prevention system for a vehicle comprises a front sensing unit (110) which obtains the relative distance information between the current vehicle and a preceding vehicle positioned in front of the current vehicle; and a control unit (130) which calculates the relative speed between the preceding vehicle and the current vehicle by using the obtained relative distance information, and calculates the relative acceleration between the preceding vehicle and the current vehicle by using the obtained relative speed information to calculate an estimated collision time by using the relative distance information, the relative speed information and the relative acceleration information between the preceding vehicle and the current vehicle. [Reference numerals] (110) Front sensing unit; (120) Speed sensing unit; (130) Control unit; (140) Alarming unit; (150) Braking unit; (160) Communication unit

Description

Vehicle Collision Avoidance System {COLLISION PREVENTION SYSTEM FOR VEHICLE}

The present invention relates to a vehicle collision avoidance system that warns a driver by predicting a collision risk situation between a preceding vehicle and a host vehicle.

In general, a driving vehicle is always at risk of collision due to inattention of a driver or violation of a driving route of another vehicle.

In order to prevent such a collision of the vehicle, the vehicle collision avoidance system uses a sensor to determine a possibility of collision between the surrounding vehicle located in front and rear and the own vehicle. When the collision possibility between the surrounding vehicle and the own vehicle is high, the vehicle collision prevention system may display a warning screen or generate a warning sound of a vehicle collision risk, and forcibly drive the braking device to force the braking device to the surrounding vehicle and the own vehicle. Prevent collisions between them or reduce the damage caused by them.

The conventional vehicle collision avoidance system uses the estimated collision time as a parameter for determining the possibility of collision between the surrounding vehicle and the own vehicle, where the estimated collision time is calculated using only the relative distance information and the relative speed information between the surrounding vehicle and the own vehicle. It became. Therefore, the conventional vehicle collision avoidance system has a problem in that it is not possible to accurately and quickly predict the possibility of collision since the estimated collision time is calculated regardless of whether the surrounding vehicle and the own vehicle are accelerated.

In addition, the conventional vehicle collision avoidance system uses an ultrasonic device as a sensor for acquiring the relative distance information between the surrounding vehicle and the own vehicle, and the surrounding vehicle is changed according to environmental factors such as a hill downhill or a curved road having a small radius. In the case of deviation from the detection radius of the ultrasound apparatus, there is a problem in that the relative distance information between the surrounding vehicle and the own vehicle cannot be obtained and the possibility of collision cannot be predicted in advance.

The present invention is to solve the above problems, using the relative acceleration information between the preceding vehicle and the own vehicle, when the relative distance information between the preceding vehicle and the own vehicle can not be obtained through the sensor, communication unit of the preceding vehicle An object of the present invention is to provide a vehicle collision avoidance system for determining a possibility of collision using vehicle information received from the vehicle.

In order to achieve the above object, the vehicle collision avoidance system according to an embodiment of the present invention, the front sensing unit for obtaining the relative distance information between the preceding vehicle and the vehicle in front of the own vehicle, and the obtained relative Calculates a relative speed between the preceding vehicle and the host vehicle using distance information, calculates a relative acceleration between the preceding vehicle and the subject vehicle using the calculated relative speed information, and calculates the relative distance between the preceding vehicle and the subject vehicle And a control unit that calculates an estimated collision time using the relative speed information and the relative acceleration information.

In addition, the control unit calculates the estimated collision time according to the following equation.

In the above equation, ΔP represents the relative distance between the preceding vehicle and the host vehicle, ΔV represents the relative speed between the preceding vehicle and the host vehicle, t represents the estimated time of collision, and Δa represents the relative acceleration between the preceding vehicle and the host vehicle.

The apparatus may further include a warning unit that warns a driver of a collision risk situation between the preceding vehicle and the own vehicle when the calculated collision estimated time is smaller than a predetermined collision threshold time.

The controller may further include a braking unit configured to generate a braking force on the wheel of the wheel of the own vehicle when the calculated collision prediction time is smaller than a predetermined collision threshold time.

Vehicle collision prevention system according to another embodiment of the present invention is a communication unit for transmitting and receiving vehicle information between the surrounding vehicle, the front sensing unit for obtaining the relative distance information between the preceding vehicle and the own vehicle located in front of the own vehicle, and the preceding When the vehicle deviates from the sensing radius of the front sensing unit, the position information, the speed information, and the acceleration information of the preceding vehicle are received through the communication unit, and the relative distance information, the relative speed information, and the relative acceleration between the preceding vehicle and the own vehicle are received. And a controller configured to calculate information and calculate an estimated collision time using the relative distance information, the relative speed information, and the relative acceleration information between the preceding vehicle and the host vehicle.

The vehicle information may include at least one of position information, speed information, acceleration information, steering angle information, and braking information.

The apparatus may further include a warning unit that warns a driver of a collision risk situation between the preceding vehicle and the own vehicle when the calculated collision estimated time is smaller than a predetermined collision threshold time.

According to the present invention, since the estimated collision time is calculated using the relative distance information, the relative speed information, and the relative acceleration information between the preceding vehicle and the own vehicle, the possibility of collision can be determined more accurately and quickly. In addition, when the preceding vehicle is out of the detection radius of the front sensing unit, the predicted collision time is calculated by receiving the position information, the speed information, and the acceleration information of the preceding vehicle through the communication unit, so that the possibility of collision can be predicted in advance regardless of environmental factors. have.

1 is a block diagram schematically showing the configuration of a vehicle collision avoidance system according to an embodiment of the present invention.
2 is a view schematically showing a vehicle equipped with a vehicle collision prevention system according to an embodiment of the present invention.
3 to 4 schematically illustrate a situation in which the vehicle collision avoidance system of FIG. 2 determines a collision risk situation using a communication unit.

Hereinafter, with reference to the accompanying drawings will be described an embodiment of the present invention;

1 is a block diagram schematically showing the configuration of a vehicle collision avoidance system according to an embodiment of the present invention.

Referring to FIG. 1, the vehicle collision prevention system according to an exemplary embodiment of the present invention includes a front detector 110, a speed detector 120, a controller 130, a warning unit 140, a brake unit 150, The communication unit 160 is included.

The front detector 110 detects an object located in front of the vehicle and acquires relative distance information between the preceding vehicle and the own vehicle. For example, the front detector 110 may be a radar sensor that transmits and receives a radar signal and obtains relative distance information between an object located in front of the vehicle and the host vehicle. However, embodiments of the present invention are not limited thereto, and the front detection unit 110 may be a device that may acquire relative distance information between an object located in front of the vehicle, such as a vision sensor or an ultrasonic sensor, and the own vehicle. The device can be used.

The speed detector 120 detects the speed of the own vehicle. For example, the speed detector 120 may be a wheel speed sensor mounted on the wheels of front, rear, left, and right wheels FL, FR, RL, and RR of the own vehicle to detect the wheel speed. The wheel speed sensor acquires longitudinal speed information of the own vehicle using the sensed wheel speed. However, embodiments of the present invention are not limited thereto, and the speed detecting unit 120 may use various known devices as long as the device can acquire longitudinal speed information of the own vehicle such as a vehicle speed sensor.

The controller 130 is a microcomputer that controls the overall operation of the vehicle collision prevention system. The control unit 130 obtains the relative distance information between the preceding vehicle and the own vehicle acquired by the front detector 110 and the type of the own vehicle obtained by the speed detector 120. Receive direction speed information.

The controller 130 calculates a relative speed between the preceding vehicle and the own vehicle by using the relative distance information between the preceding vehicle and the own vehicle. The controller 130 calculates the rate of change of the relative speed, that is, the relative acceleration, between the preceding vehicle and the host vehicle using the calculated relative speed information between the preceding vehicle and the host vehicle.

The controller 130 calculates the first collision estimated time using the relative distance information between the preceding vehicle and the host vehicle and the relative speed information between the preceding vehicle and the subject vehicle. The controller 130 calculates a first collision prediction time (TTC) according to Equation 1 below.

[Equation 1]

 In Equation 1, t1 represents the primary TTC, ΔP represents the relative distance between the preceding vehicle and the host vehicle, and ΔV represents the relative speed between the preceding vehicle and the host vehicle.

In addition, the controller 130 calculates the second TTC according to Equation 2 by using the relative distance information between the preceding vehicle and the own vehicle, the relative speed information between the preceding vehicle and the own vehicle, and the relative acceleration information between the preceding vehicle and the own vehicle. do.

&Quot; (2) "

In Equation 2, ΔP represents the relative distance between the preceding vehicle and the host vehicle, ΔV represents the relative speed between the preceding vehicle and the host vehicle, t2 represents the second TTC, and Δa represents the relative acceleration between the preceding vehicle and the host vehicle. .

Since the second TTC further uses the relative acceleration information between the preceding vehicle and the own vehicle as compared to the first TTC, the estimated collision time can be calculated more accurately.

The controller 130 compares the estimated collision time (primary TTC or secondary TTC) with a predetermined collision threshold time. The control unit 130 determines that the collision risk situation of the own vehicle 20 when the estimated collision time is smaller than the predetermined collision threshold time. If it is determined that the collision risk situation, the controller 130 drives the warning unit 140 and / or the braking unit 150 through a control command.

The brake unit 150 generates a braking force on wheels of the front, rear, left, and right wheels FL, FR, RL, and RR of the host vehicle 20 according to a control command of the controller 130. The controller 130 determines the brake assist amount according to the collision risk, and the brake unit 150 generates the braking force by adjusting the brake hydraulic pressure supplied to the wheel cylinder according to the determined brake assist amount. For example, the brake unit 150 may be an electronic stability control (ESC) control block.

The warning unit 140 warns the driver of a collision risk situation between the preceding vehicle and the own vehicle according to the control command of the controller 130. For example, the warning unit 140 may be provided as an emergency light and a buzzer. The emergency light blinks according to a control command of the controller 130 and may warn the driver of the following vehicle that the sudden stop situation of the own vehicle 20 is predicted. The buzzer may output a warning sound according to a control command of the controller 130 and may warn the driver that a collision between the preceding vehicle and the own vehicle is predicted. Meanwhile, the embodiment of the present invention is not limited thereto, and the warning unit 140 may use various known devices that may warn the driver of the own vehicle or the driver of the surrounding vehicle about the danger of collision.

The communication unit 160 transmits and receives various vehicle information between neighboring vehicles. For example, the communication unit 160 may transmit / receive position information, longitudinal speed information, acceleration information, steering angle information, braking information, and the like between the preceding and following vehicles. Here, the communication unit 160 may be various communication-based devices installed in the vehicle.

The control unit 130 uses the various vehicle information transmitted from the preceding vehicle and the various vehicle information obtained from the own vehicle, the relative distance information between the preceding vehicle and the own vehicle, the relative speed information between the preceding vehicle and the own vehicle, the preceding vehicle and the own vehicle Relative acceleration information of the liver can be calculated. Accordingly, even when the preceding vehicle is located in the blind spot and is out of the sensing radius of the front sensing unit 110, the controller 130 may use the various vehicle information received through the communication unit 160 to determine the preceding vehicle and the own vehicle. Determine the risk of collision.

2 is a view schematically showing a vehicle equipped with a vehicle collision prevention system according to an embodiment of the present invention.

2, the front sensing unit 21 is mounted in front of the host vehicle 20, and the communication unit 22 is mounted at the rear of the host vehicle 20. The front sensing unit is mounted in front of the preceding vehicle 10, and the communication unit 12 is also mounted in the rear of the preceding vehicle 10.

The vehicle collision avoidance system of the host vehicle 20 is obtained by the front sensing unit 21 when the preceding vehicle 10 is located inside the sensing radius R of the front sensing unit 21 of the own vehicle 20. The second TTC is calculated using the relative distance information between the preceding vehicle 10 and the own vehicle 20, and the collision risk situation of the own vehicle 20 is determined by comparing the calculated second TTC with a predetermined collision threshold time. do.

On the other hand, the vehicle collision prevention system of the host vehicle 20 is the communication of the host vehicle 20 when the preceding vehicle 10 is located outside the sensing radius R of the front sensing unit 21 of the host vehicle 20. The unit 22 calculates the secondary TTC using the vehicle information received from the communication unit 12 of the preceding vehicle 10, compares the calculated secondary TTC with a predetermined collision threshold time, and the host vehicle 20. To determine the risk of collision.

3 to 4 schematically illustrate a situation in which the vehicle collision avoidance system of FIG. 2 determines a collision risk situation using a communication unit.

3 to 4, when the preceding vehicle 10 stops or slows downhill, it may be difficult for the driver of the own vehicle 20 to secure a view of the preceding vehicle 10.

Similarly, even when the preceding vehicle 10 stops or slows down on a curved road having a small radius, it may be difficult for the driver of the own vehicle 20 to secure a view of the preceding vehicle 10.

Even if the front sensing unit 21 is mounted on the own vehicle 20, the preceding vehicle 10 is located outside the sensing radius R of the front sensing unit 21, so that a collision risk situation cannot be predicted.

Even in such a situation, the vehicle collision prevention system according to the exemplary embodiment of the present invention uses the various vehicle information received by the communication unit 22 of the host vehicle 20 from the communication unit 12 of the preceding vehicle 10. The collision risk situation of (20) can be determined.

110: front detection unit 120: speed detection unit
130: control unit 140: warning unit
150: braking unit 160: communication unit

Claims (7)

A front sensing unit for acquiring relative distance information between the preceding vehicle located in front of the own vehicle and the own vehicle; And
The relative speed between the preceding vehicle and the host vehicle is calculated using the obtained relative distance information, and the relative acceleration between the preceding vehicle and the subject vehicle is calculated using the calculated relative speed information, and the preceding vehicle and the host vehicle are calculated. A controller configured to calculate an estimated collision time using relative distance information, relative speed information, and relative acceleration information between the apparatus; Vehicle collision prevention system comprising a. The method of claim 1,
The control unit calculates a collision prediction time according to the following equation.

In the above equation, ΔP represents the relative distance between the preceding vehicle and the host vehicle, ΔV represents the relative speed between the preceding vehicle and the host vehicle, t represents the estimated time of collision, and Δa represents the relative acceleration between the preceding vehicle and the host vehicle. 3. The method of claim 2,
A warning unit that warns a driver of a collision risk situation between the preceding vehicle and the own vehicle when the calculated estimated collision time is smaller than a predetermined collision threshold time; Vehicle collision prevention system further comprising. 3. The method of claim 2,
A braking unit for generating a braking force on a wheel of a wheel of the own vehicle when the calculated collision prediction time is smaller than a predetermined collision threshold time; Vehicle collision prevention system further comprising. Communication unit for transmitting and receiving vehicle information between the surrounding vehicles;
A front sensing unit for acquiring relative distance information between the preceding vehicle located in front of the own vehicle and the own vehicle; And
When the preceding vehicle is out of the detection radius of the front sensing unit, receiving the position information, the speed information, the acceleration information of the preceding vehicle through the communication unit, the relative distance information between the preceding vehicle and the own vehicle, the relative speed information, and A controller configured to calculate relative acceleration information and calculate an estimated collision time using relative distance information, relative speed information, and relative acceleration information between the preceding vehicle and the own vehicle; Vehicle collision prevention system comprising a. The method of claim 5,
The vehicle information includes at least one of position information, speed information, acceleration information, steering angle information, braking information. The method according to claim 6,
A warning unit that warns a driver of a collision risk situation between the preceding vehicle and the own vehicle when the calculated estimated collision time is smaller than a predetermined collision threshold time; Vehicle collision prevention system further comprising.

Images