KR20220037022A - Vehicle and control method thereof - Google Patents

Abstract

A vehicle according to one embodiment comprises: a sensor unit which is installed on a vehicle to have a front view of the vehicle and which detects an object in the front view; a bumper protrusion device which is installed on a front bumper of the vehicle and which protrudes to come into contact with the object in the front view; and a control unit which generates one of an acceleration control signal, braking control signal, and steering signal based on the data obtained by the sensor unit and the bumper protrusion device. The vehicle accurately recognizes the properties of an obstacle in front of the vehicle to provide efficient autonomous driving.

Description

Vehicle and its control method {VEHICLE AND CONTROL METHOD THEREOF}

The disclosed invention relates to a vehicle and a control method thereof, and more particularly, to a vehicle and a control method capable of recognizing the type of obstacle in front.

An autonomous vehicle may detect an obstacle in front through a sensor mounted on the vehicle, and may prevent a collision with an obstacle through braking control or avoidance control.

At this time, the used sensor may be a camera, radar, and lidar, for example, each of which has a disadvantage in that the weight or specific gravity of the object cannot be considered. For example, if there is a paper box or an airtight bag in front, it is more efficient to ignore the braking control or avoidance control, and drive while ignoring it.

Of course, it is possible to predict the weight or specific gravity of an object through detailed image processing, but it is difficult to perform calculations within a short period of time considering the driving characteristics.

One aspect of the disclosed invention is to provide a vehicle and a vehicle control method capable of providing efficient autonomous driving by accurately identifying the properties of obstacles in front of the vehicle.

A vehicle according to an embodiment of the disclosed invention includes: a sensor unit installed in the vehicle to have a front view of the vehicle and detecting an object in the front view; a bumper protruding device installed on the front bumper of the vehicle and protruding to contact the object in the front view; and a control unit configured to generate one of an acceleration control signal, a braking control signal, and a steering control signal based on data obtained by the sensor unit and the bumper protruding device, wherein the control unit includes the sensor unit during driving of the vehicle. When an object is detected, the vehicle is controlled so that the speed of the vehicle is decelerated, and when the bumper protruding device comes into contact with the object, the specific gravity of the object is measured, and based on a result of comparing the specific gravity of the object with a predetermined value Generates one of an acceleration control signal, a brake control signal, or a steering control signal.

The controller may generate the acceleration control signal when the specific gravity of the object is lower than the predetermined value.

The controller may generate either the braking control signal or the steering control signal when the specific gravity of the object is greater than the predetermined value.

The controller may generate the acceleration control signal when the sensor unit detects the object and a contact between the bumper protruding device and the object does not occur.

The sensor unit may include at least one of a camera, a radar, and a lidar.

The bumper protruding device may include a contact portion contacting the object and a connection portion connecting the contact portion and the front bumper.

The bumper protruding device may include a first connection part installed on the left side of the connection part and a second connection part installed on the right side.

The controller may control the bumper protruding device to contract either the first connection part or the second connection part when the contact part and the object come into contact with each other.

A method of controlling a vehicle according to an embodiment of the disclosed invention includes: detecting an object in a front view of the vehicle through a sensor unit; detecting contact with an object through a bumper protruding device installed on a front bumper of the vehicle; and generating a control signal based on the data obtained by the sensor unit and the bumper protruding device, and controls the vehicle so that the speed of the vehicle is reduced when the sensor unit detects the object while the vehicle is driving, and the bumper When the protrusion device comes into contact with the object, measuring the specific gravity of the object, and generating one of an acceleration control signal, a braking control signal, or a steering control signal based on a result of comparing the specific gravity of the object with a predetermined value can do.

The generating of the control signal may include generating the acceleration control signal when the specific gravity of the object is lower than the predetermined value.

The generating of the control signal may include generating either the braking control signal or the steering control signal when the specific gravity of the object is greater than the predetermined value.

The generating of the control signal may include generating the acceleration control signal when the sensor unit detects the object and a contact between the bumper protruding device and the object does not occur.

The sensor unit may include at least one of a camera, a radar, and a lidar.

The bumper protruding device may include a contact portion contacting the object and a connection portion connecting the contact portion and the front bumper.

The bumper protruding device may include a first connection part installed on the left side of the connection part and a second connection part installed on the right side.

The generating of the control signal may include controlling the bumper protruding device so that either one of the first connection part and the second connection part is contracted when the contact part and the object come into contact.

A computer program according to an embodiment of the disclosed invention may include: detecting an object in a front view of a vehicle through a sensor unit; detecting contact with an object through a bumper protruding device installed on a front bumper of the vehicle; and generating a control signal based on the data obtained by the sensor unit and the bumper protruding device, and controls the vehicle so that the speed of the vehicle is reduced when the sensor unit detects the object while the vehicle is driving, and the bumper When the protruding device comes into contact with the object, the specific gravity of the object is measured, and based on a result of comparing the specific gravity of the object with a predetermined value, generating one of an acceleration control signal, a braking control signal, or a steering control signal is performed. is stored on a recording medium to

According to an aspect of the disclosed invention, unnecessary braking control and avoidance control can be prevented when a negligible obstacle is detected.

1 shows a control block diagram of a vehicle according to an embodiment.
2 illustrates a detection area of a camera and a radar included in a vehicle according to an exemplary embodiment.
3 and 4 show a vehicle exterior according to an exemplary embodiment.
5 is a flowchart of a method for controlling a vehicle according to an exemplary embodiment.
6 shows an embodiment of the bumper protrusion device control.

Like reference numerals refer to like elements throughout. This specification does not describe all elements of the embodiments, and general content in the technical field to which the disclosed invention pertains or content overlapping between the embodiments is omitted. The term 'part, module, member, block' used in this specification may be implemented in software or hardware, and according to embodiments, a plurality of 'part, module, member, block' may be implemented as one component, It is also possible for one 'part, module, member, block' to include a plurality of components.

Throughout the specification, when a part is "connected" to another part, it includes not only direct connection but also indirect connection, and indirect connection includes connection through a wireless communication network. do.

Also, when a part "includes" a certain component, it means that other components may be further included, rather than excluding other components, unless otherwise stated.

Throughout the specification, when a member is said to be located "on" another member, this includes not only a case in which a member is in contact with another member but also a case in which another member exists between the two members.

Terms such as first, second, etc. are used to distinguish one component from another, and the component is not limited by the above-mentioned terms.

The singular expression includes the plural expression unless the context clearly dictates otherwise.

In each step, the identification code is used for convenience of description, and the identification code does not describe the order of each step, and each step may be performed differently from the specified order unless the specific order is clearly stated in the context. there is.

Hereinafter, the working principle and embodiments of the disclosed invention will be described with reference to the accompanying drawings.

1 illustrates a control block diagram of a vehicle according to an exemplary embodiment, FIG. 2 illustrates detection areas of a camera and radar included in a vehicle according to an exemplary embodiment, and FIGS. 3 and 4 according to an exemplary embodiment Shows the exterior of the vehicle.

The vehicle 1 includes a collision avoidance device 100 and a bumper protrusion device 160 . Here, the collision avoidance apparatus 100 may be an example of a driver assistance apparatus.

The collision avoidance apparatus 100 includes a sensor unit (not shown) including at least one of a camera 110 , a front radar 120 , a plurality of corner radars 130 : 131 , 132 , 133 , 134 , and a lidar 140 . ) may be included.

The camera 110 is a front camera for securing a field of view (110a, see FIG. 2) facing the front of the vehicle 1 and a field of view facing to the side of the vehicle 1 (not shown) for securing It may include a side camera. In this case, the front camera may detect a moving object in the front view or detect a plurality of stopped parking vehicles in the front view.

The front camera may be installed on the front windshield of the vehicle 1 . The front camera may photograph the front of the vehicle 1 and acquire image data of the front of the vehicle 1 . The image data in front of the vehicle 1 may include location information about at least one of other vehicles, pedestrians, cyclists, lanes, curbs, guard rails, street trees, and street lights positioned in front of the vehicle 1 .

The side camera may be installed on the B-pillar side of the vehicle 1 . The side camera may photograph the side of the vehicle 1 to obtain image data of the side of the vehicle 1 . The side image data of the vehicle 1 may detect a plurality of stopped parking vehicles located on the side of the vehicle 1 , and distance information between the plurality of parked vehicles may be obtained through an image processing process.

The camera 110 may include a plurality of lenses and an image sensor. The camera 110 may transmit external view image data of the vehicle 1 to the controller 150 .

The forward radar 120 may have a field of sensing 120a facing the front of the vehicle 1 . The front radar 120 may be installed, for example, on a grille or a bumper of the vehicle 1 .

The front radar 120 may include a transmit antenna (or transmit antenna array) that radiates a transmit radio wave toward the front of the vehicle 1, and a receive antenna (or receive antenna array) receives the reflected radio wave reflected by an obstacle. there is.

The front radar 120 may acquire front radar data from the transmitted radio wave transmitted by the transmitting antenna and the reflected wave received by the receiving antenna.

The forward radar data may include position information and speed degree about other vehicles or pedestrians or cyclists located in front of the vehicle 1 .

The forward radar 120 calculates the relative distance to the obstacle based on the phase difference (or time difference) between the transmitted radio wave and the reflected wave, and calculates the relative speed of the obstacle based on the frequency difference between the transmitted radio wave and the reflected wave can do. The forward radar 120 may transmit forward radar data to the first controller 150 .

The plurality of corner radars 130 include a first corner radar 131 installed on the front right side of the vehicle 1 , a second corner radar 132 installed on the front left side of the vehicle 1 , and the vehicle 1 . and a third corner radar 133 installed on the rear right side of the , and a fourth corner radar 134 installed on the rear left side of the vehicle 1 .

The first corner radar 131 may have a detection field of view 131a toward the front right side of the vehicle 1 . The first corner radar 131 may be installed on the right side of the front bumper of the vehicle 1 .

The second corner radar 132 may have a detection field of view 132a facing the front left side of the vehicle 1 , and may be installed on the left side of the front bumper of the vehicle 1 .

The third corner radar 133 may have a detection field of view 133a facing the rear right of the vehicle 1 , and may be installed on the right side of the rear bumper of the vehicle 1 .

The fourth corner radar 134 may have a detection field of view 134a facing the rear left of the vehicle 1 , and may be installed on the left side of the rear bumper of the vehicle 1 .

Each of the first, second, third, and fourth corner radars 131 , 132 , 133 , and 134 may include a transmit antenna and a receive antenna.

The first, second, third and fourth corner radars 131 , 132 , 133 and 134 acquire first corner radar data, second corner radar data, third corner radar data, and fourth corner radar data, respectively. can do.

The first corner radar data may include distance information and speed degree about another vehicle, a pedestrian or a cyclist located on the right front side of the vehicle 1 .

The second corner radar data may include distance information and speed degree of an obstacle located on the left front side of the vehicle 1 .

The third and fourth corner radar data may include distance information and speed information of obstacles positioned on the rear right side of the vehicle 1 and the rear left side of the vehicle 1 .

The first, second, third, and fourth corner radars 131 , 132 , 133 , and 134 may transmit first, second, third, and fourth corner radar data to the first controller 150 , respectively. .

That is, the front radar and the corner radar are obstacle detection units, detect obstacles in front and left and right sides of the own vehicle, and transmit obstacle information on the detected obstacles to the controller 150 . Here, the obstacle information may include location information of the obstacle, and the location information of the obstacle may include distance information from the obstacle and direction information of the obstacle.

The lidar 140 may be installed in the vehicle 1 to have an external view of the vehicle 1 . For example, the lidar 140 may be mounted on a front bumper, a radiator grille, a hood, a roof, a door, a side mirror, a tailgate, a trunk lid, or a fender.

The controller 150 processes the image data of the camera 110 , the front radar data of the front radar 120 , the corner radar data of the plurality of corner radars 130 , and the lidar data of the lidar 140 , and the vehicle An acceleration control signal, a braking control signal, or a steering control signal for controlling the driving of (1) may be generated. Also, the controller 150 may control the bumper protruding device 160 to adjust the position of the bumper protruding device 160 .

The control unit 150 is an image signal processor that is a processor 151 that processes image data of the camera 110 and/or a digital signal processor that processes radar data of the radars 120 and 130 and/or generates a braking signal. It may include a micro control unit (MCU).

When the image information (ie, image data) is received from the camera 110 when the autonomous driving mode is performed, the controller 150 performs image processing to recognize a lane of the road, and based on the recognized position information of the lane, the own vehicle When it is determined that both lanes of the own lane are recognized while recognizing the driving lane, autonomous driving may be controlled based on both recognized lanes.

The controller 150 identifies objects in the image based on image information obtained by the camera 110 when the collision avoidance mode is performed, and compares the identified object information with the object information stored in the memory 152 in the image. It is also possible to determine whether the objects are obstacles in a fixed state or obstacles in a moving state.

The control unit 150 controls obstacles in front of the vehicle 1 (eg, other vehicles, pedestrians, cyclists, curbs, guard rails, street trees, street lights, etc.) can be detected.

Specifically, the controller 150 may acquire location information (distance and direction) and speed information (relative speed) of obstacles in front of the vehicle 1 based on the front radar data of the front radar 120 .

The control unit 150 determines the location information (direction) and type information (eg, whether the obstacle is another vehicle, a pedestrian, or a cyclist) of the obstacles in front of the vehicle 1 based on the image data of the camera 110; Or whether it is a curb, or a guardrail, or a street tree, or a street lamp, etc.).

The control unit 150 matches the obstacles detected by the image data to the obstacles detected by the forward radar data, and based on the matching result, type information, location information, and speed information of the obstacles in front of the vehicle 1 can be obtained. there is.

The controller 150 may generate a braking signal and a warning signal based on the type information, location information, and speed information of the front obstacles. For example, the controller 150 calculates a time to collision (TTC) between the vehicle 1 and the front obstacle based on the location information (relative distance) and speed information (relative speed) of the front obstacles. and warns the driver of a collision or transmits a braking signal to a braking unit (not shown) or transmits a warning signal to a warning unit (not shown) based on a comparison result between the time until collision and a predetermined reference time. .

The control unit 150 determines location information (distance and direction) and speed of obstacles on the side (front right, front left, rear right, rear left) of the vehicle 1 based on the corner radar data of the plurality of corner radars 130 . Information (relative speed) can be obtained.

The controller 150 may generate a braking signal and a warning signal based on type information, location information, and speed information of corner obstacles.

For example, the control unit 150 calculates a Distance to Collision (DTC) based on velocity information (ie, relative velocity) of obstacles acquired by the plurality of corner radars 130 , and until the collision A control signal may be transmitted to at least one of a warning unit and a braking unit based on a result of comparison between the distance to the corner obstacles.

For example, the controller 150 calculates a time to collision (TTC) between the vehicle 1 and the corner obstacle based on location information (relative distance) and speed information (relative speed) of the corner obstacles. Then, based on the result of comparison between the time until collision and a predetermined reference time, an output control signal of warning information to the driver may be transmitted to the warning unit 160 or a braking signal may be transmitted to the brake unit.

The memory 152 includes a program and/or data for processing image data, a program and/or data for processing radar data, and a program and/or data for the processor 151 to generate a braking signal and/or warning signal. Or you can store data.

The memory 152 temporarily stores the image data received from the front camera 110 and/or the radar data received from the radars 120 and 130 , and the image data and/or the radar data of the memory 152 are processed The results can be temporarily remembered.

The memory 152 is a non-volatile memory device such as a cache, read only memory (ROM), programmable ROM (PROM), erasable programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM), and flash memory or RAM (RAM). It may be implemented as at least one of a volatile memory device such as a random access memory, a hard disk drive (HDD), or a storage medium such as a CD-ROM, but is not limited thereto.

3 and 4 , the bumper protruding device 160 is installed on the front bumper of the vehicle 1 so as to be in contact with the object O in front. The bumper protruding device 160 may be installed on the front bumper at all times, and may be installed inside the front bumper to protrude to the outside only when an object is detected.

The bumper protruding device 160 includes a contact portion 161 that directly contacts the object, and connection portions 162 ( 162-1 and 162-2 ) connecting the contact portion 161 and the front bumper. The connection part 162 refers to a device capable of contracting, such as a spring.

The bumper protruding device 160 transmits the degree of contraction to the control unit 150 when the connection part is contracted due to a temporary collision with the object. In this case, the control unit 150 may calculate the weight and specific gravity of the object based on the elastic modulus of the connection part 162 and the contractile length L1 of the connection part 162 (refer to FIG. 4 ).

The bumper protruding device 160 may be installed at a predetermined height L2 from the ground, so that an object lower than the front bumper may not collide with the contact portion 161 .

In the above, the configuration of the vehicle 1 and the operation of each configuration have been described with reference to FIGS. 1 to 4 . Hereinafter, a method of controlling the vehicle 1 using the bumper protruding device 160 will be described in detail with reference to FIG. 5 .

5 is a flowchart of a control method of the vehicle 1 according to an exemplary embodiment.

The vehicle 1 detects an object in the front view of the vehicle 1 through the sensor unit ( 501 ). In this case, the sensor unit includes at least one of the camera 110 , the front radar 120 , and the lidar 140 .

If the sensor unit detects the object, the vehicle 1 is controlled to reduce the speed of the vehicle 1 ( 502 ). At this time, when the bumper protruding device 160 is of a retractable type, the vehicle 1 may control the bumper protruding device 160 to come out.

The vehicle 1 detects a contact between the bumper protruding device 160 and the object ( S503 ), and calculates the specific gravity of the object ( S504 ). The disclosed invention is for directly contacting an object through the bumper protrusion device 160 and checking whether the object is an object that the vehicle 1 can step on and pass. For example, when the object is a plastic bag or a paper box, the vehicle 1 may drive as it is without avoiding the object.

The bumper protruding device 160 transmits the degree of contraction to the control unit 150 when the connection part is contracted due to a temporary collision with the object. In this case, the control unit 150 may calculate the weight and specific gravity of the object based on the elastic modulus of the connection part 162 and the contractile length L1 of the connection part 162 (refer to FIG. 4 ). Also, the vehicle 1 may determine the position and volume of the object through the sensor unit. Accordingly, the vehicle 1 may calculate the specific gravity of the object through the data obtained through the bumper protrusion device and the sensor unit, and may determine whether the object has a property that can be stepped on and passed.

As a result of comparing the specific gravity of the object with the predetermined value (505), the vehicle 1 generates an acceleration control signal when the weight of the object is lower than the predetermined value so that the vehicle 1 ignores the object and passes. .

Also, the vehicle 1 may generate an acceleration control signal when the contact between the bumper protruding device 160 and the object does not occur. In this case, since the object is under the front bumper of the vehicle 1, it is okay to pass by.

Conversely, when the specific gravity of the object is higher than the predetermined value as a result of comparing the predetermined value 505 of the object, the vehicle 1 generates a braking control signal or a steering control signal to avoid the object or the driver directly can be avoided. This refers to a case in which the object is an object with a high specific gravity, such as a stone or a structure.

In the vehicle 1 according to an embodiment, when the sensor unit detects an object while the vehicle 1 is driving, the vehicle 1 is controlled so that the speed of the vehicle 1 is decelerated, and the bumper protruding device 160 comes into contact with the object. When the specific gravity of the object is measured, one of an acceleration control signal, a braking control signal, or a steering control signal may be generated based on a result of comparing the specific gravity of the object with a predetermined value.

Meanwhile, referring to FIG. 6 , when an object is sensed through the sensor unit, one of the first connection part 162-1 and the second connection part 162-2 may be contracted to push the object to the left or right.

Meanwhile, the disclosed embodiments may be implemented in the form of a recording medium storing instructions executable by a computer. Instructions may be stored in the form of program code, and when executed by a processor, may create a program module to perform the operations of the disclosed embodiments. The recording medium may be implemented as a computer-readable recording medium.

The computer-readable recording medium includes any type of recording medium in which instructions readable by the computer are stored. For example, there may be a read only memory (ROM), a random access memory (RAM), a magnetic tape, a magnetic disk, a flash memory, an optical data storage device, and the like.

The disclosed embodiments have been described with reference to the accompanying drawings as described above. Those of ordinary skill in the art to which the present invention pertains will understand that the present invention may be practiced in other forms than the disclosed embodiments without changing the technical spirit or essential features of the present invention. The disclosed embodiments are illustrative and should not be construed as limiting.

Claims (17)

a sensor unit installed in the vehicle to have a front view of the vehicle and sensing an object in the front view;
a bumper protruding device installed on the front bumper of the vehicle and protruding to contact the object in the front view; and
A control unit for generating one of an acceleration control signal, a braking control signal, or a steering control signal based on the data obtained by the sensor unit and the bumper protruding device,
The control unit is
When the sensor unit detects the object while the vehicle is running, the vehicle is controlled so that the speed of the vehicle is reduced, and when the bumper protruding device comes into contact with the object, the specific gravity of the object is measured, and the specific gravity of the object and the specific gravity of the object are measured in advance. A vehicle that generates one of an acceleration control signal, a braking control signal, or a steering control signal based on a result of comparison with a predetermined value. The method of claim 1,
The control unit is
A vehicle generating the acceleration control signal when the specific gravity of the object is lower than the predetermined value. The method of claim 1,
The control unit is
A vehicle generating either the braking control signal or the steering control signal when the specific gravity of the object is greater than the predetermined value. The method of claim 1,
The control unit is
When the sensor unit detects the object and there is no contact between the bumper protruding device and the object, the vehicle generates the acceleration control signal. The method of claim 1,
The sensor unit,
A vehicle comprising at least one of a camera, radar and lidar. The method of claim 1,
The bumper protruding device,
A vehicle comprising: a contact part contacting the object; and a connection part connecting the contact part and the front bumper. 7. The method of claim 6,
The bumper protruding device,
A vehicle including a first connection part installed on the left side and a second connection part installed on the right side of the connection part. 8. The method of claim 7,
The control unit is
A vehicle for controlling the bumper protruding device so that either one of the first connection part and the second connection part is contracted when the contact part and the object come into contact. detecting an object in a front view of the vehicle through a sensor unit;
detecting contact with an object through a bumper protruding device installed on a front bumper of the vehicle; and
A control signal is generated based on the data obtained by the sensor unit and the bumper protruding device, and when the sensor unit detects the object while the vehicle is driving, the vehicle is controlled to reduce the speed of the vehicle, and the bumper protrudes When the device comes into contact with the object, measuring the specific gravity of the object, and generating one of an acceleration control signal, a braking control signal, or a steering control signal based on a result of comparing the specific gravity of the object with a predetermined value How to control the vehicle. 10. The method of claim 9,
The generating of the control signal comprises:
When the specific gravity of the object is lower than the predetermined value, the control method of the vehicle to generate the acceleration control signal. 10. The method of claim 9,
The generating of the control signal comprises:
When the specific gravity of the object is greater than the predetermined value, the control method of the vehicle for generating either the braking control signal or the steering control signal. 10. The method of claim 9,
The generating of the control signal comprises:
When the sensor unit detects the object and there is no contact between the bumper protruding device and the object, the vehicle control method generates the acceleration control signal. 10. The method of claim 9,
The sensor unit,
A method of controlling a vehicle including at least one of a camera, a radar, and a lidar. 10. The method of claim 9,
The bumper protruding device,
A method for controlling a vehicle, comprising: a contact part contacting the object; and a connection part connecting the contact part and the front bumper. 15. The method of claim 14,
The bumper protruding device,
A method for controlling a vehicle including a first connection part installed on the left side of the connection part and a second connection part installed on the right side. 16. The method of claim 15,
The generating of the control signal comprises:
When the contact part and the object come into contact, the control method of the vehicle for controlling the bumper protruding device so that any one of the first connection part and the second connection part is contracted. In combination with a computing device,
detecting an object in a front view of the vehicle through a sensor unit;
detecting contact with an object through a bumper protruding device installed on a front bumper of the vehicle; and
A control signal is generated based on the data obtained by the sensor unit and the bumper protruding device, and when the sensor unit detects the object while the vehicle is driving, the vehicle is controlled to reduce the speed of the vehicle, and the bumper protrudes When the device comes into contact with the object, measuring the specific gravity of the object, and generating one of an acceleration control signal, a braking control signal, or a steering control signal based on a result of comparing the specific gravity of the object with a predetermined value A computer program stored on a recording medium.

Images