KR100203488B1 - Automatic car-driving system - Google Patents

Automatic car-driving system Download PDF

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Publication number
KR100203488B1
KR100203488B1 KR1019960049727A KR19960049727A KR100203488B1 KR 100203488 B1 KR100203488 B1 KR 100203488B1 KR 1019960049727 A KR1019960049727 A KR 1019960049727A KR 19960049727 A KR19960049727 A KR 19960049727A KR 100203488 B1 KR100203488 B1 KR 100203488B1
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South Korea
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vehicle
signal
distance
control unit
speed
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KR1019960049727A
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Korean (ko)
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KR19980030346A (en
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신창현
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양재신
대우자동차주식회사
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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, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
    • 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
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K31/00—Vehicle fittings, acting on a single sub-unit only, for automatically controlling vehicle speed, i.e. preventing speed from exceeding an arbitrarily established velocity or maintaining speed at a particular velocity, as selected by the vehicle operator
    • B60K31/0008—Vehicle fittings, acting on a single sub-unit only, for automatically controlling vehicle speed, i.e. preventing speed from exceeding an arbitrarily established velocity or maintaining speed at a particular velocity, as selected by the vehicle operator including means for detecting potential obstacles in vehicle path
    • 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
    • B60W10/18—Conjoint control of vehicle sub-units of different type or different function including control of braking 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
    • 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, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
    • 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
    • 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
    • B60W2540/10—Accelerator pedal position
    • 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
    • B60W2540/12—Brake pedal position
    • 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
    • B60Y2302/00—Responses or measures related to driver conditions
    • B60Y2302/09—Reducing the workload of driver
    • 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
    • B60Y2400/30—Sensors
    • B60Y2400/303—Speed sensors

Abstract

본 발명은 차량자동주행시스템에 관한 것으로, 차량의 전방 좌우측부에 장착되어 앞선차량과의 거리를 측정하는 거리측정센서(10)와 속도를 감지하는 속도감지센서(20) 거리측정센서(10)로부터 출력되는 두개의 거리측정신호를 비교하여 방향전환신호를 출력하고, 이 거리측정신호와 기준거리신호를 비교하여 가속신호를 출력하며, 속도감지센서(20)로부터 출력되는 속도감지신호가 소정치 이상이되면 제동신호를 출력함과 동시에 경보신호를 출력하는 제어부(30), 제어부(30)로부터 방향전환신호가 출력되면 스티어링휠을 회전시키는 스티어링휠액츄에이터(40), 제어부(30)로부터 가속신호가 출력되면 액셀러레이터를 가속시키는 액셀러레이터액츄에이터(50), 제어부(30)로부터 제동신호가 출력되면 브레이크를 작동시키는 브레이크액츄에이터(60) 및 제어부(30)로부터 경보신호가 출력되면 차량이 앞선차량에 접근하고 있음을 알려주는 경보부(70)로 구성되어, 정체시 운전자가 차량간 거리유지를위해 스티어링휠이나 액셀러레이터와 브레이크패달을 조작하는 동작을 하지않아도 자동으로 앞선차량과의 거리를 측정하여 차량의 방향을 전환시키고 속도를 조절함은 물론 차량간 충돌사고를 방지하기위해 경보를 알려주도록 되어있기 때문에 운전자의 피로를 줄이게 되어 졸음운전등으로 인한 안전사고를 예방하게 되는 것이다.The present invention relates to a vehicle automatic traveling system, which comprises a distance measuring sensor (10) mounted on the front left and right portions of a vehicle for measuring a distance to a preceding vehicle, a speed detecting sensor (20) And outputs the acceleration signal by comparing the distance measurement signal with the reference distance signal. When the speed sensing signal outputted from the speed sensing sensor 20 is a predetermined value A steering wheel actuator 40 that rotates the steering wheel when a direction switching signal is output from the control unit 30; and a control unit 30 that outputs an acceleration signal from the control unit 30 An accelerator actuator 50 for accelerating the accelerator when it is outputted, a brake actuator 60 for actuating the brake when the brake signal is outputted from the controller 30, And an alarm unit 70 for notifying the driver that the vehicle is approaching the preceding vehicle when an alarm signal is output from the control unit 30. The driver operates the steering wheel or the accelerator and the brake pedal It automatically adjusts the distance from the preceding vehicle to change the direction of the vehicle and adjusts the speed. It also alerts the driver to prevent collision between the vehicles, which reduces the driver's fatigue. And prevent safety accidents.

Description

차량 자동 주행 시스템(Automatic car-driving system)Automatic car-driving system

본 발명은 차량 자동 주행 시스템에 관한 것으로, 특히 주행 중인 차량이 정체되어 서행을 하고 있을 경우 앞선 차량과의 거리를 측정하여 자동으로 방향 전환 및 속도 조절을 할 수 있도록 된 차량 자동 주행 시스템에 관한 것이다.BACKGROUND OF THE INVENTION 1. Field of the Invention [0001] The present invention relates to a vehicle automatic traveling system, and more particularly, to a vehicle automatic traveling system capable of automatically adjusting a direction and speed by measuring a distance to a preceding vehicle when the vehicle is in a stagnant state .

일반적으로 차량은 운전자가 손으로 스티어링휠을 회전시켜 차량의 주행 방향을 전환하고, 발로 액셀러레이터와 브레이크 패달을 밟아 차량의 주행 속도를 조절할 수 있도록 되어 있는데, 상기와 같은 조작은 주행 중에 운전자가 지속적으로 해야 하는 동작이기 때문에 장시간 차량을 운행할 때에는 운전자가 느끼는 피로를 줄이기 위해 적당한 휴식을 취해가면서 주행을 하는 것이 바람직하며, 그렇지 않을 경우에는 졸음 운전등으로 인한 안전 사고가 발생하여 큰 인명 피해를 입는 경우가 있다.2. Description of the Related Art In general, a vehicle is configured such that a driver rotates a steering wheel by hand to change a running direction of the vehicle, and can adjust a running speed of the vehicle by pressing a foot accelerator and a brake pedal. It is desirable to travel while taking a proper rest so as to reduce the fatigue felt by the driver when operating the vehicle for a long period of time. Otherwise, if a safety accident occurs due to drowsiness driving and the like, .

특히 주행 중인 차량이 심하게 정체되는 경우에 운전자는 차량간의 거리를 유지하기 위해서 상기와 같이 손과 발로 스티어링휠 및 액셀러레이터와 브레이크 패달을 조작하여 차량의 주행 방향을 전환하거나 속도를 조절하는 동작을 정상 속도로 차량을 운행하고 있을 때에 비해 더욱 빈번하게 해야 하기 때문에 피로를 쉽게 느끼게 되고, 이에 따라서 상기와 같은 졸음 운전 등으로 인한 안전 사고가 발생할 가능성이 더욱 증대되는 문제가 있었다.In particular, in the case where a vehicle under running is severely stalled, the driver operates the steering wheel, the accelerator and the brake pedal with hands and feet in order to maintain the distance between the vehicles, Therefore, there is a problem that the possibility of a safety accident due to the drowsiness driving or the like is further increased.

이에, 본 발명은 상기와 같은 문제점을 해결하기 위해서 주행 중인 차량이 정체되어 서행을 하고 있을 경우 앞선 차량과의 거리를 측정하여 자동으로 방향 전환 및 속도 조절을 할 수 있도록 된 차량 자동 주행 시스템을 제공하는 데 그 목적이 있다.SUMMARY OF THE INVENTION Accordingly, the present invention has been made to solve the above-mentioned problems, and it is an object of the present invention to provide a vehicle automatic traveling system capable of automatically adjusting a direction and speed of a vehicle while measuring a distance to the preceding vehicle, The purpose is to do.

상기와 같은 목적을 달성하기 위해서, 본 발명은 차량의 전방 좌우측부에 장착되어 앞선 차량의 후방 좌우측부와의 거리를 측정하는 거리측정센서와 차량의 속도를 감지하는 속도감지센서, 상기 거리측정센서로부터 출력되는 두 개의 거리측정신호를 비교하여 방향전환신호를 출력하고, 이 두 개의 거리측정신호와 소정의 기준거리신호를 비교하여 가속신호를 출력하며, 상기 속도감지센서로부터 출력되는 속도감지신호가 소정치 이상이 되면 제동신호를 출력함과 동시에 경보신호를 출력하도록 된 제어부, 이 제어부로부터 방향전환신호가 출력되면 스티어링휠을 회전시키는 스티어링휠액츄에이터, 이 제어부로부터 가속신호가 출력되면 액셀러레이터를 가속시키는 액셀러레이터액츄에이터, 이 제어부로부터 제동신호가 출력되면 브레이크를 작동시키는 브레이크액츄에이터 및 이 제어부로부터 경보신호가 출력되면 경보를 나타내어 차량이 소정의 기준거리 이상으로 앞선 차량에 접근하고 있음을 알려 주는 경보부로 구성된 것을 특징으로 한다.In order to accomplish the above object, the present invention provides a vehicle including a distance measuring sensor mounted on a front left and right portions of a vehicle and measuring a distance between the left and right rear portions of a preceding vehicle, a speed detecting sensor detecting a speed of the vehicle, And outputs a speed sensing signal output from the speed sensing sensor when the speed sensing signal outputted from the speed sensing sensor is a speed sensing signal output from the speed sensing sensor. A steering wheel actuator that rotates the steering wheel when a direction switching signal is output from the control unit; and an acceleration sensor that accelerates the accelerator when the acceleration signal is output from the control unit When the braking signal is outputted from the controller, an accelerator actuator After that brake actuator and the alarm signal is output from the control unit and indicated that the alarm unit to alarm configured to inform that the vehicle is approaching the preceding vehicle at a predetermined reference distance or more features.

이러한 구성으로 이루어진 본 발명의 장치는 정체시에 운전자가 차량간의 거리 유지를 위해 손과 발을 움직여 스티어링휠이나 액셀러레이터와 브레이크 패달을 조작하는 동작을 하지 않아도 자동으로 앞선 차량과의 거리를 측정하여 차량의 방향을 전환시키고 속도를 조절함은 물론 차량간 충돌 사고를 방지하기 위해 경보을 알려주도록 되어 있다.The apparatus of the present invention constructed as described above can automatically measure the distance to the preceding vehicle without moving the hands and feet to maintain the distance between the vehicle and the steering wheel or the accelerator and the brake pedal, To change the direction of the vehicle, to control the speed, and to alert the vehicle to prevent collision between vehicles.

도 1은 본 발명에 따른 차량 자동 주행 시스템의 구성을 도시한 블록도,1 is a block diagram showing a configuration of a vehicle automatic traveling system according to the present invention;

도 2는 도 1에 도시된 거리측정센서가 장착된 차량이 거리를 측정하는 상태를 도시한 일실시예이다.2 is a view showing a state in which a vehicle equipped with the distance measuring sensor shown in Fig. 1 measures a distance.

* 도면의 주요 부분에 대한 부호의 설명DESCRIPTION OF THE REFERENCE NUMERALS

10 : 거리측정센서 20 : 속도감지센서10: Distance sensor 20: Speed sensor

30 : 제어부 40 : 스티러링휠액츄에이터30: Control unit 40: Steering wheel actuator

50 : 액셀러레이터액츄에이터 60: 브레이크액츄에이터50: Accelerator actuator 60: Brake actuator

70 : 경보부70: Alarm section

이하, 첨부된 도면을 참조하여 본 발명에 따른 실시예를 상세히 설명한다.Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings.

도 1은 본 발명에 따른 차량 자동 주행 시스템의 구성을 도시한 블록도이고, 도 2는 도 1에 도시된 거리측정센서가 장착된 차량이 거리를 측정하는 상태를 도시한 일실시예이다.FIG. 1 is a block diagram showing the configuration of a vehicle automatic traveling system according to the present invention. FIG. 2 is a view showing a state in which a vehicle equipped with the distance measuring sensor shown in FIG. 1 measures a distance.

도 1과 도 2에 도시된 바와 같이, 본 발명에 따른 실시예는 차량의 전방 좌우측부에 장착되어 앞선 차량의 후방 좌우측부와의 거리를 측정하는 거리측정센서(10)와, 차량의 속도를 감지하는 속도감지센서(20), 상기 거리측정센서(10)로부터 출력되는 두 개의 거리측정신호(d1,d2)를 비교하여 방향전환신호를 출력하고, 이 두 개의 거리측정신호(d1,d2)와 소정의 기준거리신호(L)를 비교하여 가속신호를 출력하며, 상기 속도감지센서(20)로부터 출력되는 속도감지신호가 소정치 이상(예컨대, 시속 30km/h 이상을 나타내는 신호)이 되면 제동신호를 출력함과 동시에 경보신호를 출력하도록 된 제어부(30), 이 제어부(30)로부터 방향전환신호가 출력되면 스티어링휠을 회전시키는 스티어링휠액츄에이터(40), 이 제어부(30)로부터 가속신호가 출력되면 액셀러레이터를 가속시키는 액셀러레이터액츄에이터(50), 이 제어부(30)로부터 제동신호가 출력되면 브레이크를 작동시키는 브레이크액츄에이터(60) 및 이 제어부(30)로부터 경보신호가 출력되면 경보를 나타내어 차량이 소정의 기준거리 이상으로 앞선 차량에 접근하고 있음을 알려 주는 경보부(70)로 구성된다.As shown in Figs. 1 and 2, the embodiment according to the present invention includes a distance measuring sensor 10 mounted on the front left and right portions of the vehicle and measuring the distance to the rear left and right portions of the preceding vehicle, A speed sensing sensor 20 for sensing a distance between the two distance measuring signals d1 and d2 and a distance measuring signal d1 and d2 output from the distance measuring sensor 10 to output a direction switching signal, When the speed sensing signal output from the speed sensing sensor 20 is equal to or more than a predetermined value (for example, a signal indicative of a speed of 30 km / h or more per hour) A steering wheel actuator 40 that rotates the steering wheel when a direction switching signal is outputted from the control unit 30; and a control unit 30 that outputs an acceleration signal from the control unit 30 Accelerates the accelerator when output A brake actuator 60 for actuating a brake when a braking signal is outputted from the control unit 30 and an alarm when an alarm signal is outputted from the control unit 30 so that the vehicle is not less than a predetermined reference distance And an alarm unit 70 for informing that the vehicle is approaching the preceding vehicle.

상기와 같이 구성된 본 발명에 따른 실시예의 작용은 다음과 같다.The operation of the embodiment according to the present invention is as follows.

도 1과 도 2에 표시된 d1과 d2는 상기 거리측정센서(10)가 측정한 앞선 차량의 후방 좌우측부와의 거리를 나타내고, L은 상기 제어부(30)에 입력되는 소정의 차량간 기준거리를 나타내며, 상기 제어부(30)에서 상기 속도감지센서(20)로부터 감지되는 기준감지신호를 시속 30km/h로 하고 있으므로 상기 소정의 기준거리 L은 30m 이하의 범위에서 소정치를 기준거리로 택하는 것이 바람직하며, 본 발명에 따른 실시예에서는 기준거리 L을 30m로 정한다.1 and 2, d1 and d2 represent the distances between the rear left and right portions of the preceding vehicle measured by the distance measuring sensor 10, and L represents a predetermined inter-vehicle reference distance input to the controller 30 And the control unit 30 sets the reference sensing signal sensed by the speed sensing sensor 20 at a speed of 30 km / h per hour, so that the predetermined reference distance L is set to a reference distance in a range of 30 m or less In the embodiment of the present invention, the reference distance L is set to 30 m.

본 발명에 따른 장치는 차량의 방향전환작동을 가장 먼저 하며, 순차적으로 차량의 속도를 증가시키는 작동을 한 후에 상기 속도감지센서(20)로부터 출력되는 속도감지신호에 따라 속도를 계속 증가시키거나 감소시키는 작동을 하고, 차량의 속도를 감소시키는 작동을 함과 동시에 경보를 발생시키는 작동을 하게 되어 있으며, 이러한 작동은 차량의 속도가 시속 30km/h 이하이고 앞선 차량과의 거리가 상기의 기준거리 L이 30m 이상인 조건에서 지속적으로 행해지기 때문에 차량간의 거리를 항상 30m 이내의 범위에서 유지할 수 있게 되는 것이다.The apparatus according to the present invention firstly performs the direction switching operation of the vehicle and sequentially increases or decreases the speed according to the speed sensing signal outputted from the speed sensing sensor 20 after the operation of increasing the speed of the vehicle sequentially This operation is performed when the speed of the vehicle is less than 30 km / h per hour and the distance from the preceding vehicle is less than the reference distance L The distance between the vehicles can be kept within a range of 30 m or less.

만약 상기 거리측정센서(10)로부터 상기 제어부(30)로 입력된 거리측정신호 d1과 d2의 값이 서로 다른 값이면 상기 제어부(30)에서는 좌측 혹은 우측 방향으로 방향을 전환하도록 하는 방향전환신호를 상기 스티어링휠액츄에이터(40)로 출력하여, 이 스티어링휠액츄에이터(40)를 구동시켜 차량의 진행 방향을 전환하게 된다.If the values of the distance measurement signals d1 and d2 input from the distance measuring sensor 10 to the controller 30 are different from each other, the controller 30 outputs a direction switching signal for switching the direction to the left or right direction And outputs the steering wheel actuator 40 to the steering wheel actuator 40 to change the traveling direction of the vehicle.

또한, 상기 거리측정센서(10)로부터 상기 제어부(30)로 입력된 거리측정신호 d1과 d2가 서로 같은 값이면 상기 제어부(30)에서는 방향전환신호를 출력하지 않고, 상기 제어부(30)에 입력되어 있는 기준거리신호 L과 같은 값을 나타내는 두 개의 거리측정신호 d1과 d2의 크기를 비교하여 d1과 d2의 값이 L의 값보다 크면, 즉 차량간의 거리가 30m 이상이 되면 상기 제어부(30)에서는 차량의 속도를 증가시키는 가속신호를 상기 액셀러레이터액츄에이터(50)로 출력하여, 이 액셀러레이터액츄에이터(50)를 구동시켜 차량의 속도를 증가시켜 차량 간격을 좁히게 된다.If the distance measuring signals d1 and d2 input from the distance measuring sensor 10 to the controller 30 are equal to each other, the controller 30 does not output a direction switching signal, If the value of d1 and d2 is larger than the value of L, that is, if the distance between the vehicles is 30 m or more, the control unit 30 determines that the distance measurement signals d1 and d2 are the same as the reference distance signal L, An acceleration signal for increasing the speed of the vehicle is output to the accelerator actuator 50 and the accelerator actuator 50 is driven to increase the speed of the vehicle to narrow the vehicle interval.

하지만, 상기 제어부(30)에 입력되어 있는 기준거리신호 L과 같은 값을 나타내는 두 개의 거리측정신호 d1과 d2의 크기를 비교하여 d1과 d2의 값이 L의 값보다 작거나 같으면, 즉 차량간의 거리가 30m 이하가 되면 상기 제어부(30)에서는 가속신호를 출력하지 않고, 상기 속도감지센서(20)로부터 상기 제어부(30)로 입력되는 속도감지신호가 시속 30km/h 이상을 나타내고 있는가를 판단하여, 시속 30km/h 이상을 나타내면 상기 제어부(30)에서는 제동신호를 상기 브레이크액츄에이터(60)로 출력하여, 이 브레이트액츄에이터(60)를 구동시켜 차량의 속도를 감소시켜 차량 간격을 넓히게 되며, 동시에 경보신호를 상기 경보부(70)로 출력하여, 이 경보부(70)를 구동시켜 경보를 발생시켜 운전자에게 차량간의 간격이 좁아져 충돌 사고의 위험이 있음을 알려 주게 된다.However, if the values of d1 and d2 are smaller than or equal to the value of L by comparing the magnitudes of the two distance measurement signals d1 and d2 indicating the same value as the reference distance signal L input to the control unit 30, When the distance is less than 30 m, the control unit 30 does not output an acceleration signal and determines whether the speed sensing signal input from the speed sensing sensor 20 to the control unit 30 indicates a speed of 30 km / h or more, The control unit 30 outputs a brake signal to the brake actuator 60 to drive the brake actuator 60 to reduce the speed of the vehicle to increase the vehicle interval, To the alarm unit 70 and drives the alarm unit 70 to generate an alarm to inform the driver that there is a risk of a collision due to a narrower interval between the vehicles.

반면에 상기 속도감지센서(20)로부터 상기 제어부(30)로 입력되는 속도감지신호가 시속 30km/h 이상을 나타내고 있는가를 판단하여, 시속 30km/h 이상을 나타내고 있지 않으면 상기 제어부(30)에서는 제동신호를 출력하지 않는다.On the other hand, if it is determined that the speed sensing signal input from the speed sensing sensor 20 to the control unit 30 indicates a speed of 30 km / h or more, and if the speed sensing signal does not indicate a speed of 30 km / h or more, .

따라서, 차량이 정체 구간을 주행하고 있는 동안, 즉 차량의 속도가 시속 30km/h 이하이고 앞선 차량과의 거리가 상기의 기준거리 L이 30m 이상인 조건에서 상기 제어부(30)는 상기와 같은 작동을 지속적으로 반복하기 위한 제어신호를 출력하도록 되어 있다.Therefore, when the vehicle travels in the congestion section, that is, when the speed of the vehicle is 30 km / h or less and the distance from the preceding vehicle is the above-mentioned reference distance L of 30 m or more, the control section 30 performs the above- So that a control signal for continuously repeating is output.

이상에서 살펴 본 바와 같이, 본 발명에 따라 주행 중인 차량이 정체되어 서행하고 있을 경우 운전자가 차량간의 거리 유지를 위해 손과 발로 스티어링휠이나 액셀러레이터와 브레이크패달을 조작하는 동작을 하지 않아도 자동으로 앞선 차량과의 거리를 측정하여 차량의 방향을 전환시키고 속도를 조절함은 물론 차량간 충돌 사고를 방지하기 위해 경보를 알려 주도록 함으로써, 정체 구간을 주행하는 운전자가 느끼게 되는 피로를 줄일 수 있을 뿐만 아니라 졸음 운전등으로 인한 안전 사고를 예방하게 되는 효과가 있다.As described above, according to the present invention, even if the driver does not operate the steering wheel, the accelerator, and the brake pedal with his or her hands to maintain the distance between the vehicles, So as to not only reduce the fatigue felt by the driver traveling in the congestion zone but also reduce the risk of driving the vehicle to the sleeping driving And the like.

Claims (1)

차량의 전방 좌우측부에 장착되어 앞선 차량의 후방 좌우측부와의 거리를 측정하는 거리측정센서(10)와, 차량의 속도를 감지하는 속도감지센서(20), 상기 거리측정센서(10)로부터 출력되는 두 개의 거리측정신호를 비교하여 방향전환신호를 출력하고, 이 두 개의 거리측정신호와 소정의 기준거리신호를 비교하여 가속신호를 출력하며, 상기 속도감지센서(20)로부터 출력되는 속도감지신호가 소정치 이상이 되면 제동신호를 출력함과 동시에 경보신호를 출력하도록 된 제어부(30), 이 제어부(30)로부터 방향전환신호가 출력되면 스티어링휠을 회전시키는 스티어링휠액츄에이터(40), 이 제어부(30)로부터 가속신호가 출력되면 액셀러레이터를 가속시키는 액셀러레이터액츄에이터(50), 이 제어부(30)로부터 제동신호가 출력되면 브레이크를 작동시키는 브레이크액츄에이터(60) 및 이 제어부(30)로부터 경보신호가 출력되면 경보를 나타내어 차량이 소정의 기준거리 이상으로 앞선 차량에 접근하고 있음을 알려 주는 경보부(70)로 구성된 것을 특징으로 하는 차량 자동 주행 시스템.A distance measuring sensor 10 mounted on the front left and right portions of the vehicle for measuring the distance from the rear left and right portions of the preceding vehicle, a speed sensing sensor 20 for sensing the speed of the vehicle, And outputs an acceleration signal. The speed sensing signal output from the speed sensing sensor 20 is output to the speed sensing sensor 20, A steering wheel actuator 40 that rotates the steering wheel when a direction switching signal is output from the control unit 30, and a control unit 30 that outputs a braking signal and outputs an alarm signal, An accelerator actuator 50 for accelerating the accelerator when an acceleration signal is outputted from the accelerator 30, a brake for actuating the brake when the brake signal is outputted from the controller 30, And an alarm unit (70) indicating an alarm when an alarm signal is output from the controller (60) and indicating that the vehicle approaches the preceding vehicle by a predetermined reference distance or more. system.
KR1019960049727A 1996-10-29 1996-10-29 Automatic car-driving system KR100203488B1 (en)

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KR101469132B1 (en) * 2013-06-10 2014-12-04 국민대학교산학협력단 Test system of collision avoidance system
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