KR0148448B1 - Equipment and method of following preceding car - Google Patents

Equipment and method of following preceding car Download PDF

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Publication number
KR0148448B1
KR0148448B1 KR1019950005153A KR19950005153A KR0148448B1 KR 0148448 B1 KR0148448 B1 KR 0148448B1 KR 1019950005153 A KR1019950005153 A KR 1019950005153A KR 19950005153 A KR19950005153 A KR 19950005153A KR 0148448 B1 KR0148448 B1 KR 0148448B1
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South Korea
Prior art keywords
vehicle
preceding vehicle
distance
driving
deceleration
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KR1019950005153A
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Korean (ko)
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KR960034985A (en
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조덕상
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김주용
현대전자산업주식회사
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Priority to KR1019950005153A priority Critical patent/KR0148448B1/en
Publication of KR960034985A publication Critical patent/KR960034985A/en
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/14—Adaptive cruise control
    • B60W30/16—Control of distance between vehicles, e.g. keeping a distance to preceding vehicle
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
    • B60Q1/00—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor
    • B60Q1/26—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic
    • B60Q1/50—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic for indicating other intentions or conditions, e.g. request for waiting or overtaking
    • B60Q1/52—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic for indicating other intentions or conditions, e.g. request for waiting or overtaking for indicating emergencies
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
    • B60Q9/00—Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00, e.g. haptic signalling
    • B60Q9/008—Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00, e.g. haptic signalling for anti-collision purposes
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W10/00—Conjoint control of vehicle sub-units of different type or different function
    • B60W10/20—Conjoint control of vehicle sub-units of different type or different function including control of steering systems
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/10—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to vehicle motion
    • B60W40/105—Speed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/08—Interaction between the driver and the control system
    • B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C3/00—Measuring distances in line of sight; Optical rangefinders
    • G01C3/02—Details
    • G01C3/06—Use of electric means to obtain final indication
    • G01C3/08—Use of electric radiation detectors
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C3/00—Measuring distances in line of sight; Optical rangefinders
    • G01C3/22—Measuring distances in line of sight; Optical rangefinders using a parallactic triangle with variable angles and a base of fixed length at, near, or formed by the object
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
    • G01S17/06—Systems determining position data of a target
    • G01S17/08—Systems determining position data of a target for measuring distance only
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/08—Interaction between the driver and the control system
    • B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
    • B60W2050/143—Alarm means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2520/00—Input parameters relating to overall vehicle dynamics
    • B60W2520/10—Longitudinal speed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2540/00—Input parameters relating to occupants
    • B60W2540/18—Steering angle
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Y—INDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY
    • B60Y2300/00—Purposes or special features of road vehicle drive control systems
    • B60Y2300/08—Predicting or avoiding probable or impending collision
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Y—INDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY
    • B60Y2300/00—Purposes or special features of road vehicle drive control systems
    • B60Y2300/14—Cruise control
    • B60Y2300/16—Control of distance between vehicles, e.g. keeping a distance to preceding vehicle
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Y—INDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY
    • B60Y2400/00—Special features of vehicle units
    • B60Y2400/90—Driver alarms

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Mechanical Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Transportation (AREA)
  • Electromagnetism (AREA)
  • Radar, Positioning & Navigation (AREA)
  • General Physics & Mathematics (AREA)
  • Remote Sensing (AREA)
  • Human Computer Interaction (AREA)
  • Mathematical Physics (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Traffic Control Systems (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
  • Optical Radar Systems And Details Thereof (AREA)

Abstract

본 발명은 광을 이용하여 선행차와의 거리를 구하는 광학식 거리측정장치에 관한 것으로, 특히 광학식 거리 측정장치로 거리를 측정하여 선행차의 가감속을 구하고, 자차를 선행차와 일정한 거리를 유지하여 진행토록 하는 선행차 추종장치 및 방법에 관한 것으로, 거리측정장치는 선행차 추종장치가 없는점을 개선하여 본 발명은 자동차의 전면에 선행차와의 거리를 측정할 수 있는 거리측정장치를 부착하고 주변 상황을 인식할 수 있는 센서장치를 부착하여 선행차와의 일정한 거리를 유지시키면서 진행토록, 광학식 거리측정장치에 선행차 정보 입출력 장치와 자차 스티어링 정보입력 및 제어장치를 구성하여 운전의 편의성을 증대시킬 수 있다.The present invention relates to an optical distance measuring apparatus for finding a distance from a preceding vehicle by using light. Particularly, the present invention relates to an optical distance measuring apparatus. The present invention relates to a preceding vehicle tracking device and a method for improving the distance, and the distance measuring device improves the absence of the preceding vehicle tracking device, and the present invention attaches a distance measuring device capable of measuring a distance from the preceding vehicle to the front of the vehicle. In order to maintain the constant distance from the preceding vehicle by attaching a sensor device that can recognize the surrounding situation, the preceding vehicle information input / output device and the own vehicle steering information input and control device are configured in the optical distance measuring device to increase the convenience of operation. You can.

Description

[발명의 명칭[Name of invention]

선행차 추종장치 및 방법Predecessor follower and method

[도면의 간단한 설명BRIEF DESCRIPTION OF THE DRAWINGS

제1도는 본 발명의 전체 구성도.1 is an overall configuration diagram of the present invention.

제2도는 본 발명의 제어부 동작순서도이다.2 is a flowchart of the operation of the control unit of the present invention.

* 도면의 주요부분에 대한 부호의 설명* Explanation of symbols for main parts of the drawings

10 : 제어부 20 : 광학식 거리측정부10: control unit 20: optical distance measuring unit

30 : 측면 감시부 40 : 해저드 구동부30: side monitoring unit 40: hazard drive

50 : 자차속 입력장치 60 : 가감속 제어장치50: vehicle speed input device 60: acceleration / deceleration control device

70 : 경보장치 80 : 스티어링 정보입력 및 제어부70: alarm device 80: steering information input and control

90 : 선행차 정보입력 및 제어부90: preceding vehicle information input and control unit

[발명의 상세한 설명]Detailed description of the invention

본 발명은 광을 이용하여 선행차와의거리를 구하는 광학식 거리측정 장치에 관한 것으로, 특히 광학식 거리측정장치로 거리를 측정하여 선행차의 가감속을 구하고, 또한 자차를 선행차와 일정한 거리를 유지하여 진행토록 하는 선행차 추종장치 및 방법에 관한 것이다.The present invention relates to an optical distance measuring device for finding a distance from a preceding vehicle by using light. In particular, the optical distance measuring apparatus measures a distance to obtain an acceleration / deceleration of the preceding vehicle, and maintains a constant distance from the preceding vehicle. The present invention relates to a preceding vehicle follower and a method to proceed.

일반적으로 종래의 거리 측정 기기들은, 대부분 해당하는 길이의 표준 측정 장비를 가지고 물체와의 거리를 상대적으로 측정하는 방식을 사용하였다.In general, the conventional distance measuring devices, the standard measuring equipment of the corresponding length is used to measure the distance to the object relatively.

한편, 광학식 거리 측정 장치에 있어서 거리를 측정하는 방법은 광이 이동한 시간을 측정하여 측정된 이동 시간과 공속을 이용하여 거리를 측정한다.On the other hand, in the optical distance measuring device, the distance measuring method measures the distance by using the measured travel time and air velocity by measuring the time the light travels.

그러나 종래의 광을 이용한 차간 거리측정장치는 선행차 추종장치가 없는 점을 개선하여 본 발명은 자동차의 전면에 선행차와의 거리를 측정할 수 있는 거리 측정장치를 부착하고 주변 상황을 인식할 수 있는 센서장치를 부착하여 선행차와의 거리를 일정하게 유지시키면서 진행토록함을 특징으로 한다.However, the conventional apparatus for measuring the distance between lights using the conventional light improves the absence of a preceding vehicle tracking device, and thus, the present invention can attach a distance measuring apparatus that can measure the distance to the preceding vehicle on the front of the vehicle and recognize the surrounding situation. It is characterized in that it is attached to the sensor device to proceed while maintaining a constant distance from the preceding vehicle.

즉, 선행차의 정보를 입력하고, 입력된 정보에 따라 스티어링을 제어할 수 있도록 광학식 거리측정장치에 선행차 정보 입출력 장치와 자차 스티어링 정보입력 및 제어장치를 구성한 것이다.That is, the preceding vehicle information input / output device and the own vehicle steering information input and control apparatus are configured in the optical distance measuring apparatus so as to input the information of the preceding vehicle and control the steering according to the input information.

이하, 도면을 참조로 상세히 설명하면 다음과 같다.Hereinafter, described in detail with reference to the drawings.

제1도는 본 발명의 전체 구성도로써, 시스템의 전체적인 동작을 컨트롤하는 제어부(10)와; 레이저를 대상물체에 발사하고, 상기 선행차량에 맞고 반사된 레이저 빔을 수신하여 선행차와의 거리를 구하는 광학식 거리 측정부(20)와; 자차가 턴하는 경우에 자차의 턴방향을 감시하고, 차량의 측면과 후측면을 감시하기 위해 차량의 측면 및 후면에 장착되는 측면감시부(30)와; 위험 발생시 후방의 차량에게 위험을 알리기 위해 자차의 비상등을 구동시키는 비상등 구동부(40)와; 자차속을 입력하는 자차속 입력장치(50)와; 자차의 가속 및 감속을 제어하는 가감속 제어장치(60)와; 위험상황 발생시 운전자에게 위험경보를 행하는 경보장치(70)와; 자차의 스티어링이 움직인 각도를 알 수 있도록 하고 또한 이를 제어하는 자차 스티어링 정보 입력 및 제어부(80)와; 선행차량에서 전송되는 스티어링 각에 관한 정보를 입력받고 또한 후행차량을 위해 자차의 스티어링 각에 관한 정보를 입력받고 또한 후행차량을 위해 자차의 스티어링각을 전송할 수 있는 선행차 정보입력 및 출력부(90)로 구성한다.1 is an overall configuration diagram of the present invention, the control unit 10 for controlling the overall operation of the system; An optical distance measuring unit 20 for firing a laser beam onto a target object and receiving a laser beam reflected by the preceding vehicle to obtain a distance from the preceding vehicle; A side monitoring unit 30 mounted to the side and the rear of the vehicle to monitor the turning direction of the vehicle when the vehicle is turned and to monitor the side and rear sides of the vehicle; An emergency light driver 40 for driving an emergency light of the own vehicle to notify a vehicle behind the danger when a danger occurs; A vehicle speed input device 50 for inputting the vehicle speed; Acceleration and deceleration control device 60 for controlling the acceleration and deceleration of the host vehicle; An alarm device 70 which alerts a driver to a driver when a dangerous situation occurs; A host vehicle steering information input and control unit 80 so as to know the angle at which the steering of the vehicle is moved and control the same; A preceding vehicle information input and output unit for receiving information on the steering angle transmitted from the preceding vehicle and receiving information about the steering angle of the own vehicle for the trailing vehicle and also transmitting the steering angle of the own vehicle for the trailing vehicle 90 ).

상기와 같이 구성된 본 발명은 광학식 거리측정부(20)로 선행차와의 거리를 구하고, 선행차 정보입력 및 제어부(90)로 선행차량에서 전송되는 스티어링 각에 관한 정보를 출력하여 제어부(10)로 하여금 선행차와의 거리와 선행차의 회전방향을 파악하도록 한다.According to the present invention configured as described above, the distance between the preceding vehicle is obtained by the optical distance measuring unit 20, and the information regarding the steering angle transmitted from the preceding vehicle is input to the preceding vehicle information input and the controller 90, and then the controller 10. Let the driver know the distance from the preceding vehicle and the direction of rotation of the preceding vehicle.

한편, 상기 측면감시부(30)는 측면 및 후면에 물체가 존재하는지의 유무를 파악하기 위한 장치로서 레이저 센서 등으로 구성되며, 상기 비상등 구동부(40)는 비상등을 구동하도록 온/오프 신호를 출력하는 트랜지스터 등의 회로로 구성된다.On the other hand, the side monitoring unit 30 is a device for determining whether there is an object on the side and the back is composed of a laser sensor, etc., the emergency light driver 40 outputs an on / off signal to drive the emergency light. It consists of circuits, such as a transistor.

상기 제어부(10)는 선행차를 파악한 정보와 자차속 입력장치(50)로 부터 구한 자차속의 정보를 조합하고, 여기서 구한 데이터값에 의해서 자차스티어링 정보입력 및 제어부(90)를 제어하여 선행차량이 회전한 부분에서 자차의 회전이 이루어질 수 있도록 한다.The controller 10 combines the information of the preceding vehicle and the information of the vehicle speed obtained from the vehicle speed input device 50, and controls the vehicle steering information input and the controller 90 based on the data value obtained here. The rotation of the host vehicle can be made in the rotated portion.

이때, 회전하고자하는 방향에 물체가 있는지를 감시하기 위해 차량의 측면 및 후면에 장착되어 레이저 샌서 등으로 구성된 측면감시장치를 통해 차량의 측면 및 후측면에 물체가 존재하는지의 유무를 파악한 후 후행차량에 스티어링 각에 관한 정보를 전송 하며, 위험상황으로 판단시 비상등 구동부(40)를 통해 비상등을 구동하여 후방의 차량에게 위험상황을 알리고 경보장치(70)를 통해 운전자에게 위험상황을 알린다.At this time, after monitoring the presence or absence of an object on the side and the rear side of the vehicle through the side monitoring device, which is mounted on the side and the rear of the vehicle and composed of a laser sander to monitor whether there is an object in the direction to be rotated, the following vehicle Information on the steering angle is transmitted to, and when it is determined as a dangerous situation to drive the emergency light through the emergency light drive unit 40 to inform the rear of the dangerous situation to the driver through the alarm device 70.

상기 제어부(10)의 동작을 살펴보면, 먼저 시스템의 초기화를 행한후 선행차 정보 입력이 있는가를 검사한다. 이때 선행차에서 스티어링각에 관한 정보가 전송된 경우 이 각을 취득하고 그렇지 아니하면 몇회 이상인가를 검사하여 기 설정된 횟수 이상이면 선행차 추종불능표시를 행하고, 비상등 구동부(40)를 통해 비상등을 구동시키며, 경보장치를 구동시킨다. 만약 기 설정된 횟수 이하이면 선행차량과의 거리를 측정하여 감속영역인 경우에는 감속장치를 구동시키고 위험영역인 경우에는 비상등 구동부(40)를 통해 비상등을 구동시키며, 경보장치를 구동시킨다. 또한 후행차량을 위해 스티어링각을 전송시키다.Looking at the operation of the control unit 10, after initializing the system to check whether there is a preceding vehicle information input. At this time, if the information about the steering angle is transmitted from the preceding vehicle, the angle is acquired. Otherwise, the vehicle is inspected how many times or more, and if it is more than the predetermined number of times, the preceding vehicle cannot be displayed and the emergency light is driven through the emergency light driving unit 40. And activate the alarm. If the predetermined number is less than the predetermined number of times to measure the distance with the preceding vehicle to drive the deceleration device in the deceleration area, in the case of the dangerous area to drive the emergency light through the emergency light drive unit 40, and drive the alarm device. It also transmits a steering angle for the trailing vehicle.

한편 선행차에 정보의 입력이 있는 경우에는 스티어링각을 취득하고 선행차와의 거리를 측정한다. 여기서 측정된 거리에 의해 선행차량의 속도를 측정하고 이속도에 따라 자차의 최대속도 및 유지거리를 설정한다. 이 값은 우선 선행차의 진행궤도상에서 스티어링각을 이용하여 자차의 진행방향의 곡선 정도를 인식하고 이러한 조건에서의 초대속도 및 유지되어야할 거리를 계산한다. 측정된 거리값에 의해 가감속 조건을 검사하고 가속시에는 기 계산된 최대속도 이상의 속도가 되지 않도록 한다. 또한 스티어링 구동은 선행차에서 보내온 스티어링각을 이용하여 자차의 현 위치에서 선행차가 기존에 취했던 구동각 만큼 자차의 스티어링을 동일하게 구동한다. 여기에서 자차의 현위치와 선행차가 기존에 취했던 행동은 자차의 차속과 시간의 관계를 이용하여 계산한다.On the other hand, when there is input of information in the preceding vehicle, the steering angle is acquired and the distance to the preceding vehicle is measured. Here, the speed of the preceding vehicle is measured by the measured distance, and the maximum speed and the maintenance distance of the own vehicle are set according to the speed. This value first recognizes the degree of the curve of the traveling direction of the host vehicle using the steering angle on the traveling track of the preceding vehicle, and calculates the super speed and the distance to be maintained under these conditions. The acceleration / deceleration condition is checked by the measured distance value, and during acceleration, the speed should not exceed the calculated maximum speed. In addition, the steering drive uses the steering angle sent from the preceding vehicle to drive the steering of the own vehicle by the same driving angle that the preceding vehicle has previously taken at the current position of the own vehicle. Here, the current position of the vehicle and the action previously taken by the preceding vehicle are calculated using the relationship between the vehicle speed and the time of the vehicle.

스티어링이 구동되는 경우에는 차량의 측면 및 후면에 장착되어 레이저 센서등으로 구성된 측면감시부(30)를 통해 측면에 물체가 있는가를 검사하여 물체가 있을시, 자차의 스티어링각과 물체와의 위치를 고려하여 물체의 진행에 방해가 되거나 자차의 안전이 위험한 경우 스티어링 구동을 행하지 않고, 물체가 없을 경우에는 스티어링을 구동한다. 제2도는 제어부 동작순서도로써, 시스템의 초기화를 행한후 선행차의 정보입력이 잇는가를 판단하여 정보입력이 없는 경우 다시 몇회 이상인가를 판단하여 기 설정된 횟수 이상이면 선행차 추종불능표시를 하고 경보장치를 구동시켜 주는 제1단계(S1)와; 기 설정된 횟수 이하이면 선행차와의 거리를 측정하여 감속영역인 경우에는 감속장치를 구동하고 위험영역인 경우, 비상등 및 경보장치를 구동시킨 후 스티어링각을 전송시키는 제2단계(S2)와; 상기 제1단계(S1)에서 선행차의 입력이 있는 경우 스티어링각을 취득하고 선행차와의 거리를 측정후 측정된 거리데이터에 의해 선행차량의 속도를 측정하고, 이 속도에 따라 자차의 최대 속도 및 유지거리를 설정하는 제3단계(S3)와; 측정된 거리값에 의해 가감속 조건을 판단하여 가속영역인 경우에는 기 계산된 최대속도 이상의 속도가 되지 않도록 가속장치를 구동하는 제4단계(S4)와; 감속영역인 경우 감속장치를 구동하고 위험영역이면 비상등 및 경보장치를 구동하는 제5단계(S5)와; 스티어링 구동이 필요한 경우 차량의 측면 및 후면에 장착되어 레이저 센서 등으로 구성된 측면감시부를 통해 측면에 물체가 있는가를 검사하여 측면 및 후측면에 물체가 있을 경우, 스티어링을 구동하지 않고, 측면 및 후측면에 물체가 없을 경우, 스티어링을 구동시킨 후 후행차량에 스티어링각에 대한 정보를 전송하는 제6단계(S6)로 이루어져 순차동작한다.When the steering is driven, the side monitoring unit 30, which is mounted on the side and the rear of the vehicle and checks whether there is an object on the side through the side monitoring unit 30 composed of a laser sensor, etc., in consideration of the steering angle of the vehicle and the position of the object If there is an obstacle in the progress of the object or the safety of the own vehicle is dangerous, the steering drive is not performed. 2 is a flow chart of the control unit. After initializing the system, it is determined whether there is information input of the preceding vehicle. If there is no information input, it is determined how many more times again. First step (S1) for driving the; A second step (S2) of measuring a distance from the preceding vehicle when the preset number is less than the predetermined number of times, driving the deceleration device in the deceleration area and driving the emergency light and the alarm device in the dangerous area; In the first step (S1), if there is an input of the preceding vehicle, the steering angle is obtained, the distance with the preceding vehicle is measured, and then the speed of the preceding vehicle is measured by the measured distance data, and according to the speed, the maximum speed of the own vehicle And a third step S3 of setting a holding distance; A fourth step (S4) of driving the accelerator so that the acceleration / deceleration condition is determined based on the measured distance value and the acceleration area is not set to a speed higher than or equal to the previously calculated maximum speed; A fifth step (S5) of driving the deceleration device in the deceleration area and driving the emergency light and the alarm device in the dangerous area; If steering is required, the vehicle is mounted on the side and rear of the vehicle to check whether there is an object on the side through the side monitoring unit composed of a laser sensor, etc. In the absence of an object, a sixth step S6 is performed to sequentially transmit information on the steering angle to the following vehicle after driving the steering.

상기에서 상세히 설명한 바와같이, 본 발명은 선행차 추종장치로써 운전의 편의성을 증대시킬 수 있다.As described in detail above, the present invention can increase the convenience of operation as a preceding vehicle tracking device.

Claims (2)

시스템의 전체적인 동작을 컨트롤하는 제어부(10)와; 레이저를 대상물체에 발사하고, 상기 선행차량에 맞고 반사된 레이저빔을 수신하여 선행차와의 거리를 구하는 광학식 거리 측정부(20)와; 자차가 턴하는 경우에 자차의 턴방향을 감시하고, 차량의 측면과 후측면을 감시하기 위해 차량의 측면 및 후면에 장착되는 측면감시부(30)와; 위험 발생시 후방의 차량에게 위험을 알리기 위해 자차의 비상등을 구동시키는 비상등 구동부(40)와; 자차속을 입력하는 자차속 입력장치(50)와; 자차의 가속 및 감속을 제어하는 가감속 제어장치(60)와; 위험상황 발생시 운전자에게 위험경보를 행하는 경보장치(70)와; 자차의 스티어링이 움직인 각도를 알 수 있도록 하고 또한 이를 제어하는 자차 스티어링 정보입력 및 제어부(80)와; 선행차량에서 전송되는 스티어링 각에 관한 정보를 입력받고 또한 후행차량을 위해 자차의 스티어링각을 전송할 수 있는 선행차 정보입력 및 출력부(90)로 구성함을 특징으로 하는 선행차 추종장치.A controller 10 for controlling the overall operation of the system; An optical distance measuring unit 20 for firing a laser beam onto a target object and receiving a laser beam reflected by the preceding vehicle to obtain a distance from the preceding vehicle; A side monitoring unit 30 mounted to the side and the rear of the vehicle to monitor the turning direction of the vehicle when the vehicle is turned and to monitor the side and rear sides of the vehicle; An emergency light driver 40 for driving an emergency light of the own vehicle to notify a vehicle behind the danger when a danger occurs; A vehicle speed input device 50 for inputting the vehicle speed; Acceleration and deceleration control device 60 for controlling the acceleration and deceleration of the host vehicle; An alarm device 70 which alerts a driver to a driver when a dangerous situation occurs; A host vehicle steering information input and control unit 80 so as to know an angle at which the steering of the vehicle is moved and control the same; And a preceding vehicle information input and output unit (90) configured to receive information on the steering angle transmitted from the preceding vehicle and to transmit the steering angle of the own vehicle for the following vehicle. 시스템의 초기화를 행한후 선행차의 정보입력이 있는가를 판단하여 정보입력이 없는 경우 다시 몇회 이상인가를 판단하여 기설정된 횟수 이상이면 선행차 추종불능표시를하고 경보장치를 구동시켜 주는 제1단계(S1)와; 기 설정된 횟수이하이면 선행차와의 거리를 측정하여 감속영역인 경우에는 감속장치를 구동하고 위험영역인 경우, 비상등 및 경보장치를 구동시킨 후 스티어링각을 전송시키는 제2단계(S2)와; 상기 제1단계(S1)에서 선행차의 입력이 있는 경우 스티어링각을 취득하고 선행차와의 거리를 측정후 측정된 거리데이터에 의해 선행차량의 속도를 측정하고, 이 속도에 따라 자차의 최대 속도 및 유지거리를 설정하는 제3단계(S3)와; 측정된 거리값에 의해 가감속 조건을 판단하여 가속영역인 경우에는 기 계산된 최대속도 이상의 속도가 되지 않도록 가속장치를 구동하는 제4단계(S4)와; 감속영역인 경우 감속장치를 구동하고 위험영역이면 비상등 및 경보장치를 구동하는 제5단계(S5)와; 스티어링 구동이 필요한 경우 차량의 측면 및 후면에 장착되어 레이저 센서 등으로 구성된 측면감시부를 통해 측면에 물체가 있는가를 검사하여 측면 및 후측면에 물체가 있을 경우, 스티어링을 구동하지 않고, 측면 및 후측면에 물체가 없을 경우, 스티어링을 구동시킨 후 후행차량에 스티어링각에 대한 정보를 전송하는 제6단계(S6)로 이루어져 순차동작함을 특징으로 하는 선행차 추종방법.After initializing the system, it is determined whether there is information input of the preceding vehicle, and if there is no information input, it is determined again how many more times, and if it is more than the predetermined number of times, the first step of displaying the impossible to follow the preceding vehicle and driving the alarm device (S1). )Wow; A second step (S2) of measuring a distance from the preceding vehicle when the preset number is less than the predetermined number of times and driving the deceleration device in the deceleration area and driving the emergency light and the alarm device in the dangerous area; In the first step (S1), if there is an input of the preceding vehicle, the steering angle is obtained, the distance with the preceding vehicle is measured, and then the speed of the preceding vehicle is measured by the measured distance data, and according to the speed, the maximum speed of the own vehicle And a third step S3 of setting a holding distance; A fourth step (S4) of driving the accelerator so that the acceleration / deceleration condition is determined based on the measured distance value and the acceleration area is not set to a speed higher than or equal to the previously calculated maximum speed; A fifth step (S5) of driving the deceleration device in the deceleration area and driving the emergency light and the alarm device in the dangerous area; If steering is required, the vehicle is mounted on the side and rear of the vehicle to check whether there is an object on the side through the side monitoring unit composed of a laser sensor, etc. If there is no object, the preceding vehicle tracking method comprising a sixth step (S6) for transmitting the information about the steering angle to the following vehicle after driving the steering.
KR1019950005153A 1995-03-13 1995-03-13 Equipment and method of following preceding car KR0148448B1 (en)

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