KR20170071272A - Rear collision warning control method and apparatus - Google Patents

Abstract

The present invention relates to a rear impact warning control method and apparatus. The driving control method according to an embodiment of the present invention is characterized in that the driving control device generates the first path trajectory of the vehicle using the steering angle information when the vehicle is running backward and uses at least one of the ultrasonic sensor information and the radar information Creating a second path trajectory of the flow obstruction; Calculating an intersection of the first path trajectory and the second path trajectory; Calculating an expected collision time from the vehicle to the intersection; And controlling the travel of the vehicle so that the travel control device avoids collision of the vehicle with the flow obstacle before a preset time from the predicted collision time; . ≪ / RTI >

Description

[0001] Rear collision warning control method and apparatus [0002]

BACKGROUND OF THE INVENTION 1. Field of the Invention [0002] The present invention relates to a method and apparatus for backward control of a vehicle, and more particularly, to a control method and apparatus for avoiding a rearward collision of a vehicle at the time of backward parking or departure of the vehicle.

Recently, vehicles are being developed as intelligent vehicles for securing the safety of drivers and vehicles by using ultrasonic sensors and camera sensors.

For example, a rear-mounted sensor installed in a vehicle detects an object behind the vehicle in which the driver's visibility is not secured by using ultrasonic waves in a backward running of the vehicle, and illuminates an alarm lamp Provide an alarm.

On the other hand, the collision avoidance system detects the presence of an obstacle by using a distance measuring sensor such as an ultrasonic sensor when the vehicle is traveling, and alerts the driver by sensing the distance between the obstacle and the vehicle.

Recently, the anti-collision system senses the distance between the front and rear obstacles when driving through the front and rear cameras, and displays the images captured by the camera through the monitor.

These systems provide an advantage that the driver can see the front and rear situations more clearly by showing the front and rear images.

Referring to FIG. 1, it is more useful to use such a crash alarm device, especially since it is not easy for the driver to grasp the rear situation when the vehicle is backward.

However, since the collision avoidance system as described above calculates the distance and the speed with respect to the obstacle and generates only an alarm when it is judged that there is a possibility of collision, if the driver does not recognize the alarm by mistake or if the driver does not break the brake, There is a limit that can not prevent an accident.

SUMMARY OF THE INVENTION It is an object of the present invention to provide a rear crash alarm control method and apparatus.

In detail, the present invention provides a method and an apparatus for enhancing safety of backward departure by applying a braking function through determination of collision risk to support collision avoidance by rear access obstacle during backward departure or parking while using radar and ultrasonic waves will be.

It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory and are not restrictive of the invention, unless further departing from the spirit and scope of the invention as defined by the appended claims. It will be possible.

According to an aspect of the present invention, there is provided a method of controlling a vehicle running according to an embodiment of the present invention. The method includes generating a first path trace of the vehicle using steering angle information when the vehicle travels backward, Generating a second path trajectory of the flow obstacle using at least one of sensor information and radar information; Calculating an intersection of the first path trajectory and the second path trajectory; Calculating an expected collision time from the vehicle to the intersection; And controlling the travel of the vehicle so that the travel control device avoids collision of the vehicle with the flow obstacle before a preset time from the predicted collision time.

According to an embodiment, the predetermined time may vary depending on the relative speed between the vehicle and the flow obstruction.

According to an embodiment, the preset time may have a larger value as the relative speed is smaller.

According to the embodiment, the step of controlling the running of the vehicle includes the steps of the running control device performing deceleration control of the vehicle through at least one of the braking device and the driving device of the vehicle; And the driving control device providing an alarm notification via an output device of the vehicle; , And the like.

According to the embodiment, the step of controlling the running of the vehicle may include: controlling the running of the vehicle when the first path trajectory and the subtended angle of the second path trajectory are greater than a predetermined angle; . ≪ / RTI >

According to the embodiment, when the speed of the vehicle is less than the preset speed, the driving control of the vehicle controls the running of the vehicle so as to avoid collision of the vehicle with the flowing obstacle step; . ≪ / RTI >

According to the embodiment, the traveling control device calculates the distance to the stationary obstacle, and when the distance is less than the critical distance, controlling the traveling of the vehicle; . ≪ / RTI >

According to an embodiment of the present invention, the step of generating the trajectory of the second path by the travel control apparatus may further comprise the steps of: using at least one of the moving direction information and the speed information of the flow obstacle using at least one of the ultrasonic wave information and the radar information, Generating a second path trajectory; As shown in FIG.

Further, the travel control device according to an embodiment of the present invention includes: a communication unit for receiving ultrasonic sensor information and radar information; Generating a second path trajectory of the flow obstacle by using at least one of the ultrasonic sensor information and the radar information when the vehicle is moving backward and generating a first path trajectory of the vehicle using the steering angle information, A controller for calculating an expected collision time from a trajectory and an intersection of the second path trajectory and the intersection of the vehicle and the intersection; And the control unit may control the running of the vehicle so as to avoid collision of the vehicle with the flow obstacle before the preset time from the predicted crash time.

According to an embodiment, the predetermined time may vary depending on the relative speed between the vehicle and the flow obstruction.

According to an embodiment, the preset time may have a larger value as the relative speed is smaller.

According to the embodiment, the control unit may perform deceleration control of the vehicle through at least one of the braking device and the driving device of the vehicle, and may provide an alarm notification through the output device of the vehicle.

According to the embodiment, when the first path trajectory and the subtended angle of the second path trajectory are larger than the predefined angle, the control unit controls the traveling of the vehicle so as to avoid collision between the flow obstacle and the vehicle Can be controlled.

According to the embodiment, when the speed of the vehicle is smaller than a predetermined speed, the control unit can control the running of the vehicle.

According to the embodiment, the control unit may calculate the distance to the stopping obstacle and, if the distance is smaller than the critical distance, control the running of the vehicle.

According to the embodiment, the controller may generate the second path trajectory by using at least one of the moving direction information and the speed information of the flow obstacle using at least one of the ultrasonic wave information and the radar information.

According to an embodiment, the present invention provides a computer-readable recording medium on which a program for executing the above-described method is recorded.

Effects of the vehicle door control method and apparatus according to the present invention will be described below.

First, according to the present invention, it is possible to provide a more accurate alarm about a collision than a technique of providing a warning to a driver by measuring only the distance between a vehicle and an obstacle by calculating the intersection of the path trajectory of the vehicle and the path trajectory of the obstacle .

Second, the present invention not only provides a passive alarm for a collision between a vehicle and an obstacle, but also can prevent a collision even in a situation where the driver can not cope with by automatically controlling the braking of the vehicle, so that the safety is higher than the prior art.

Third, the present invention uses an existing ultrasonic sensor and a radar sensor mounted on a vehicle, so that no additional parts cost and installation cost are required, which is economical.

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

BRIEF DESCRIPTION OF THE DRAWINGS The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and, together with the description, serve to explain the principles of the invention. It is to be understood, however, that the technical features of the present invention are not limited to the specific drawings, and the features disclosed in the drawings may be combined with each other to constitute a new embodiment.
FIG. 1 is a view for explaining a collision situation with an obstacle that may occur when a parked vehicle is moving backward.
2 is a flowchart illustrating a method of controlling a rear-end collision alarm according to an embodiment of the present invention.
3 is a view for explaining an intersection point and a preset angle of a rear impact crash alarm control method and apparatus according to an embodiment of the present invention.
4 is a view for explaining a preset time for an alarm according to a relative speed in a rear impact crash alarm control method and apparatus according to an embodiment of the present invention.
5 is a block diagram for explaining a rear impact warning control system according to an embodiment of the present invention.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, an apparatus and various methods to which embodiments of the present invention are applied will be described in detail with reference to the drawings. The suffix "module" and " part "for the components used in the following description are given or mixed in consideration of ease of specification, and do not have their own meaning or role.

In the following description, well-known functions or constructions are not described in detail since they would obscure the invention in unnecessary detail.

The present invention is largely divided into three steps. The first step is collecting the surrounding information through the ultrasonic sensor and the radar sensor. The second step is calculating the expected path trajectory and the intersection point of the vehicle and the obstacle using the surrounding information, The third step is to control the collision with the obstacle by braking the vehicle before the preset time from the predicted collision time.

In FIG. 2, the overall characteristics of the rear crash alarm control method will be described. In FIG. 3, the path trajectory, the intersection point calculation method, and the preset angle of the vehicle and the obstacle are specifically described. In FIG. 4, the characteristic that the rear collision control time varies according to the relative speed will be described. 5, the rear collision alarm control system will be described.

2 is a flowchart illustrating a method of controlling a rear-end collision alarm according to an embodiment of the present invention.

Referring to FIG. 2, the travel control apparatus collects information on the surrounding obstacles of the vehicle from the radar sensor and the ultrasonic sensor (S10).

The vehicle may be equipped with a plurality of ultrasonic sensors. In one embodiment, the vehicle may be equipped with a parking assistance system (PAS) that informs the driver of the distance to the obstacle when parking or backing up, Sensors can be used.

Ultrasonic sensors do not detect obstacles moving at high speed. For example, if the obstacle moves at a speed of more than 1.5 Kph, the ultrasonic sensor does not detect a flow obstacle.

On the other hand, radar sensors can detect obstacles moving at high speeds, but not obstacles moving at low speeds. Accordingly, in one embodiment of the present invention, information of the obstacle surrounding the vehicle is collected by fusion of information sensed by the ultrasonic sensor and information sensed by the radar sensor.

In one embodiment, the travel control device passes filler in preparation for an error between information sensed by the ultrasonic sensor and information sensed by the radar sensor, and the Kalman filter can be used to prepare for the occurrence of an error.

The driving control apparatus generates the first path trajectory of the vehicle and the second path trajectory of the obstacle using the surrounding information (S20).

The driving control apparatus generates a first path trajectory of the vehicle using a steering angle of the vehicle, calculates a moving direction of the obstacle through the information collected by the radar sensor, and generates a second path trajectory of the obstacle.

The driving control apparatus calculates the intersection of the first path trajectory of the vehicle and the second path trajectory of the obstacle (S30).

A method of calculating the intersection of the first path trajectory of the vehicle and the second path trajectory of the obstacle uses a method of calculating the intersection point of two straight lines having one intersection point and is described in detail in FIG.

The driving control apparatus calculates the estimated collision time between the intersections from the current position of the vehicle (S40).

Time to collision (TTC) refers to the time it takes to hit an obstacle when the vehicle speed is constant. The travel control device can calculate the expected collision time using the traveling speed information of the vehicle and the distance information to the intersection.

The driving control device determines whether the speed of the vehicle is slower than the predetermined speed (S50).

When the vehicle speed is lower than the preset speed (YES in S50), the travel control device controls the travel of the vehicle before the preset time from the expected collision time (S60).

When the speed of the vehicle is lower than the predetermined speed, the driving control unit determines that the driver has no intention of avoiding and controls the running of the vehicle to avoid collision with the obstacle.

The travel control device can control the travel through Electronic Stability Control (ESC). ESC is a device for stabilizing the movement of the vehicle by comparing the steering wheel operation of the driver with the rotation state of the vehicle and individually controlling the brakes of the wheels. ESC mainly uses brakes to control the rotation of the wheels. Depending on the system, the engine output is controlled by controlling the drive torque of the engine. ECS generally includes the functions of an anti-lock brake system (ABS) and a traction control system (TCS). When the vehicle brakes, the ABS controls the brakes when accelerating, helping the driver to move the vehicle in the desired direction.

In one embodiment, the travel control device controls braking and driving to avoid collision with the flow obstacle through the ESC.

Further, the running control device not only performs the deceleration control of the vehicle through at least one of the braking device and the driving device of the vehicle, but also provides an alarm notification through the output device of the vehicle.

The driving control device can alert the driver through an output device to warn the driver of an obstacle approaching the driver.

When the speed of the vehicle is higher than the predetermined speed ("NO" in S50), the driving control device determines that the driver has the intention of avoiding the flow obstacle and does not perform the braking control.

For example, when the vehicle speed is 10 Kph or more, the travel control device may determine that the driver intends to avoid the flow obstacle, and in such a situation, the braking control of the vehicle is unnecessary.

3 is a view for explaining an intersection point and a preset angle of a rear impact crash alarm control method and apparatus according to an embodiment of the present invention.

3, there is a situation where a parked vehicle collides with a flow obstacle in a situation of backward departure.

As described above, the travel control apparatus generates the first path trajectory of the vehicle through the steering angle information, and generates the second path trajectory of the flow obstacle through the fusion information by the radar sensor and the ultrasonic sensor.

At this time, it is assumed that the first path trajectory and the second path trajectory are straight lines. Even if the vehicle and the obstacle make a turning movement (cornering), it can be seen that they perform a linear motion at a close distance that can collide with each other.

The intersection of the vehicle and the obstacle is calculated by the method of finding the intersection of two straight lines which meet at a point.

More specifically, when the vehicle position is set to (X1, Y1) and the position of the obstacle is set to (X2, Y2), (Y-Y1) / (X-X1) = (Y2- X1). ≪ / RTI >

The driving control device may calculate an intersection point, and then calculate an expected collision time between the intersection points from the current position of the vehicle.

On the other hand, when the first path trajectory and the included angle of the second path trajectory are larger than the preset angle, the running control device controls the running of the vehicle so as to avoid collision with the vehicle.

If the running control device performs the running control to avoid the collision against all obstacles in the vicinity of the vehicle, it may interfere with the running of the driver, and the braking control may be performed on the avoidable obstacle, have.

Therefore, in order to prevent such a situation, if the first path trajectory and the second path trajectory are larger than the predetermined angle, the probability of collision is small, so that control such as braking for avoiding is not performed.

Further, if the direction of the steering wheel of the vehicle is opposite to the moving direction of the obstacle approaching the vehicle, the travel control device does not perform control such as braking even when approaching the rear of the vehicle.

4 is a view for explaining a preset time for an alarm according to a relative speed in a rear impact crash alarm control method and apparatus according to an embodiment of the present invention.

The running control device controls the running of the vehicle so as to avoid collision of the vehicle with the flowing obstacle before the predetermined time from the expected collision time.

Referring to FIG. 4, the running control device may set a preset time in advance, which may be set differently according to the relative speed between the vehicle and the obstacle.

The preset time according to the relative speed can be set to have a larger value as the relative speed is smaller.

In one embodiment, the relative speed between the vehicle and the flow obstacle can be set to 3 seconds at 15 Kph or less, and 1.7 seconds at a relative speed of 40 Kph or more. In other words, as the relative speed is higher, the vehicle performs braking control for later warning and avoidance, and as the relative speed is lower, the distance between the obstacle and the vehicle may be closer, so that the braking control for warning and avoidance is performed faster do.

The running control device can set a preset time to provide sufficient warning and braking control for an obstacle approaching at a relatively low speed by not generating unnecessary warning and braking control by varying the preset time according to the relative speed .

5 is a block diagram for explaining a rear impact warning control system according to an embodiment of the present invention.

5, a rear crash alarm control system according to an embodiment of the present invention includes a radar sensor 100, an ultrasonic sensor 200, a travel control device 300, a braking device 400, a driving device 500, And an output device 600. The output device 600 shown in FIG.

The components shown in Fig. 5 are not essential, so that a rear crash alarm control system with more or fewer components can be implemented.

The radar sensor 100, the ultrasonic sensor 200, the travel control device 300, the braking device 400, the drive device 500 and the output device 600 described in Fig. 5 are used for vehicle communication (for example, CAN communication, LIN communication, Hard Wire communication), but is not limited thereto.

Hereinafter, the components will be described in detail.

The radar sensor 100 can measure the distance to the obstacle, the speed, and the moving direction by individually measuring and sensing the waveform of the reflected waves after transmitting a specific radio wave to the sensing range.

In one embodiment, the radar sensor 100 may be a rear sensing radar of a Rear Cross Traffic Alert (RCTA) that senses an obstacle approaching laterally when the vehicle is reversing.

The ultrasonic sensor 200 operates in accordance with the principle of echo sounding. The ultrasonic sensor 200 may include a transmitting / receiving unit that emits ultrasonic waves and receives the reflected waves again, and is used to monitor distances and spaces with obstacles.

The ultrasonic sensor 200 periodically transmits an ultrasonic signal (for example, 30 kHz), and then the ultrasonic sensor 200 is switched to the receiving mode to receive the sound wave reflected from the obstacle, The distance from the obstacle can be calculated.

In one embodiment, the rear impact alarm control system may utilize the ultrasonic sensor 200 included in the parking assistance system (PAS).

The travel control device 300 performs data processing and calculation to control the overall operation of the rear crash alarm control method.

In one embodiment, the travel control device 300 generates a second path trajectory of the flow obstacle by using at least one of the ultrasonic sensor information and the radar information at the time of the backward travel of the vehicle, Generates an expected collision time from the intersection of the first path trajectory and the second path trajectory to the intersection of the vehicle and the path trajectory.

Further, the travel control device 300 controls the running of the vehicle so as to avoid collision between the obstacle and the vehicle before the predetermined time from the predicted collision time, and controls the deceleration control of the vehicle through at least one of the braking device and the drive device of the vehicle .

The braking device 400 refers to a brake or the like, and in one embodiment of the present invention, the ESC uses ABS to stop the vehicle to avoid collision with an obstacle.

The driving device 500 refers to an engine or the like, and in one embodiment of the present invention, the ESC controls the engine driving torque according to the system to lower the engine output.

Output device 600 may be configured to receive audible information (e.g., a buzzer), visual information (e.g., a display device of the AVN system), and tactile information (e.g., For example, the vibration of the steering wheel).

In one embodiment, a buzzer sound may be output from the output device 600, and the output device 600 may output a buzzer sound having a higher frequency or a shorter buzzer sound with an output cycle as the expected collision time approaches.

The method according to the above-described embodiments may be implemented as a program to be executed by a computer and stored in a computer-readable recording medium. Examples of the computer-readable recording medium include a ROM, a RAM, a CD- , A floppy disk, an optical data storage device, and the like, and may also be implemented in the form of a carrier wave (for example, transmission over the Internet).

The computer readable recording medium may be distributed over a networked computer system so that computer readable code can be stored and executed in a distributed manner. And, functional program, code, and code segments for implementing the above-described method can be easily inferred by programmers in the technical field to which the embodiment belongs.

It will be apparent to those skilled in the art that the present invention may be embodied in other specific forms without departing from the spirit or essential characteristics thereof.

Accordingly, the above description should not be construed in a limiting sense in all respects and should be considered illustrative. The scope of the present invention should be determined by rational interpretation of the appended claims, and all changes within the scope of equivalents of the present invention are included in the scope of the present invention.

100: Radar sensor
200: Ultrasonic sensor
300: Driving control device
400: Braking device
500: Driving device
600: Output device

Claims (17)

Generating a first path trajectory of the vehicle using the steering angle information when the vehicle travels backward, generating a second path trajectory of the obstacle by using at least one of the ultrasonic sensor information and the radar information;
Calculating an intersection of the first path trajectory and the second path trajectory;
Calculating an expected collision time from the vehicle to the intersection; And
Controlling the running of the vehicle so that the running control device avoids collision of the vehicle with the flowing obstacle before a predetermined time from the expected crash time;
/ RTI >
(1). The method according to claim 1,
Wherein the predetermined time varies with a relative speed between the vehicle and the flow obstacle,
(1). 3. The method of claim 2,
Wherein the predetermined time has a larger value as the relative speed is lower,
(1). 3. The method of claim 2,
Wherein the step of controlling the running of the vehicle includes:
The running control device performing deceleration control of the vehicle through at least one of the braking device and the driving device of the vehicle; And
The driving control device providing an alarm notification via an output device of the vehicle;
The method comprising the steps < RTI ID = 0.0 > of:
(1). 5. The method of claim 4,
Wherein the step of controlling the running of the vehicle includes:
Controlling the driving of the vehicle by the driving control device when the first path trajectory and the subtended angle of the second path trajectory are greater than a predetermined angle;
/ RTI >
(1). 5. The method of claim 4,
Wherein the step of controlling the running of the vehicle includes:
Controlling the running of the vehicle so as to avoid a collision of the vehicle with the flowing obstacle when the speed of the vehicle is less than a predetermined speed;
/ RTI >
(1). 5. The method of claim 4,
Controlling the travel of the vehicle when the travel control device calculates the distance to the stopping obstacle and the distance is less than the critical distance;
/ RTI >
(1). The method according to claim 1,
Wherein the driving control device generates the trajectory of the second path,
Generating the second path trajectory by at least one of moving direction information and speed information of the flow obstacle using at least one of the ultrasonic wave information and the radar information;
≪ / RTI >
(1). A communication unit for receiving ultrasonic sensor information and radar information;
Generating a second path trajectory of the flow obstacle by using at least one of the ultrasonic sensor information and the radar information when the vehicle is moving backward and generating a first path trajectory of the vehicle using the steering angle information, A controller for calculating an expected collision time from a trajectory and an intersection of the second path trajectory and the intersection of the vehicle and the intersection;
/ RTI >
Wherein the control unit controls the running of the vehicle so as to avoid a collision between the flow obstacle and the vehicle before the predetermined time from the predicted collision time,
A drive control device; 10. The method of claim 9,
Wherein the predetermined time varies with a relative speed between the vehicle and the flow obstacle,
A drive control device; 11. The method of claim 10,
Wherein the predetermined time has a larger value as the relative speed is lower,
A drive control device; 11. The method of claim 10,
Wherein,
Performing deceleration control of the vehicle through at least one of the braking device and the driving device of the vehicle,
A warning notification is provided via an output device of the vehicle,
A drive control device; 13. The method of claim 12,
Wherein,
And controls the running of the vehicle so that the running control device avoids a collision of the vehicle with the flowing obstacle when the subtended angle of the first path trajectory and the second path trajectory is greater than a predetermined angle,
A drive control device; 13. The method of claim 12,
Wherein,
When the speed of the vehicle is smaller than a preset speed, the travel control device controls the running of the vehicle,
A drive control device; 13. The method of claim 12,
Wherein,
Calculating a distance to the stopping obstacle and controlling the running of the vehicle when the distance is smaller than a critical distance,
A drive control device; 10. The method of claim 9,
Wherein,
And generating the second path trajectory by at least one of moving direction information and speed information of the flow obstacle using at least one of the ultrasonic wave information and the radar information,
A drive control device; 9. A computer-readable recording medium on which a program for executing the method according to any one of claims 1 to 8 is recorded.

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