KR100285430B1 - An error alarm removal apparatus and method on collision warning system - Google Patents

Abstract

end. TECHNICAL FIELD The present invention relates to a collision warning system.

I. An object of the present invention is to eliminate an error alarm that may be generated when there is no risk of collision when operating a collision alarm system, and to select an obstacle present in a progress path and output an alarm sound according to an optimum situation And a method.

All. The present invention also relates to a steering angle sensor for detecting a steering angle of a vehicle, comprising: a relative distance measurement unit for scanning a target existing on the left, right, and front sides of the front of the vehicle, And calculating a relative distance, a vehicle speed, and a wheel rotation angle with respect to a target object existing within a scanning range by calculating data and signals input from the relative distance measuring unit and the sensor units, respectively, . And a control unit for recognizing a running state of the curved road using the wheel turning angle data and selecting a target object existing on a running trajectory among objects existing within a scanning range when the vehicle is traveling on a curved road as a main target object, When the distance has a value within the alarm distance, it outputs an alarm sound. Accordingly, it is possible to eliminate an error alarm that may occur at the time of traveling on a curved road, and to accurately detect only a vehicle existing on a driving trajectory, and to output an accurate alarm sound before a collision situation occurs.

la. An important application of the invention is that it can be used in a crash alarm system for automobiles.

Description

TECHNICAL FIELD [0001] The present invention relates to an apparatus and a method for eliminating an error alarm in a collision alarm system,

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a collision warning system, and more particularly, to a collision warning system and a method for eliminating an error alarm and a collision situation incapable of detecting a collision situation.

With the rapid spread of automobiles, automobile manufacturers are actively researching various aspects to enable passengers to experience optimum driving performance as well as boarding sensations. One of these findings will be the crash alarm system. The collision warning system is a system developed to guarantee the safety of the driver as well as the occupant. It is a system that alerts the driver when approaching the obstacle in the traveling direction of the vehicle. An example of such a collision warning system is USP 5,459,460, which is a prior patent application filed by " Kansei Corporation ".

Hereinafter, the operation of the collision alerting system cited above with reference to FIGS. 1 and 2 will be briefly described.

FIG. 1 is a block diagram of a general collision warning system, FIG. 2 is a flowchart of an operation of the collision alerting system having the configuration of FIG. 1, FIG. 3 is a flowchart illustrating an operation of the collision alerting system And a forward situation example at the time of traveling on a curved road. In Fig. 3, a indicates a car, e indicates a preceding vehicle, and g indicates a main object sensing area. And f and h represent the left and right object detection areas.

Referring to FIG. 1, the relative distance measuring unit 10 detects a target object ahead by using three laser diodes as shown in FIG. 3, and outputs a distance measuring signal corresponding thereto. Here, only the object detected in the front direction is detected as the main object, and the detected object is applied to the alarm condition, and the object detected on the left and right sides is detected as the vehicle traveling in the left and right lanes. The vehicle speed sensing unit 20 senses the driving condition of the system vehicle and senses the vehicle speed of the system vehicle. The signal processing and computing unit 30 computes a distance measurement signal and a vehicle speed sensing signal input from the relative distance measuring unit 10 and the vehicle speed sensing unit 20 to determine the possibility of collision with a target object. The signal processing and computing unit 30 outputs an alarm output control signal to the alarm unit 50 for notifying the driver of the possibility of collision according to the determination result. On the other hand, the measurement distance display unit 40 displays the measurement distance display data input from the signal processing operation unit 30. [

The operation of the crash alarm system having the above-described configuration will now be described with reference to FIG. 2. First, in operation 60, the signal processing and calculating unit 30 calculates the distance between the obstacle and the obstacle through the relative distance measuring unit 10 and the vehicle speed sensing unit 20, The relative distance, and the vehicle speed. The signal processing operation unit 30 outputs the measured distance display data to the measured distance display unit 40, thereby displaying the relative distance in step 62. [ The signal processing and computing unit 30 proceeds to step 64 to calculate the speed of the preceding vehicle. As a calculation method, the speed of the preceding vehicle can be calculated by subtracting the relative speed (obtained by differentiating the relative distance with respect to time) at the vehicle speed. If the relative distance is within the alarm distance, the signal processing operation unit 30 proceeds to step 68 and outputs an alarm output control signal to output an alarm sound.

The collision alerting system operating with the above-described configuration outputs an alarm sound in the presence of an obstacle within a set alarm distance without distinguishing the obstacle detected in the front. Therefore, even when the distance data measured by the guard rail during the curved road running is mistaken as data by the preceding vehicle and the vehicle approaches the guard rail without any risk of collision, it is determined that the preceding vehicle is nearby and a false alarm sound is output. In particular, assuming an area with a lot of curved roads, the possibility of outputting false alarm sounds becomes even higher. When the preceding vehicle is present within the detection range at the time of traveling on the curved road, the main object detection area is fixed as shown in FIG. 3, so that the direction of travel of the vehicle and the mounting direction of the relative distance measuring unit 10 The alarm sound may not be output even in a collision situation.

SUMMARY OF THE INVENTION Accordingly, it is an object of the present invention to provide an apparatus and method capable of eliminating an error alarm that can be generated when there is no risk of collision during operation of a collision alarm system.

It is still another object of the present invention to provide an apparatus and method for predicting a running locus of a car according to a rotation angle of a wheel and selecting an obstacle existing in a predicted running locus as a main target and outputting an alarm sound according to an optimal situation .

According to another aspect of the present invention, there is provided a vehicular navigation system including a relative distance measurement unit for scanning a target object existing on the left, right, and front sides of a vehicle ahead of a reference angle to output relative distance data, A method for eliminating a fault alarm in a crash alarm system having at least a vehicle speed sensor and a steering angle sensor,

Calculating a relative distance, a vehicle speed, and a wheel rotation angle with respect to a target object within a scanning range by calculating data and signals respectively input from the relative distance measuring unit and the sensor units;

A road condition judging process for judging a degree of bending of a road currently in operation,

A main object selecting step of selecting, as a main object, an object existing on a driving trajectory among objects existing within a scanning range when driving on a curved road;

And outputting an alarm sound when the relative distance to the selected main object has a value within an alarm distance.

1 is a block diagram of a general crash alarm system;

Fig. 2 is a flowchart of the operation of the crash alarm system having the configuration of Fig. 1; Fig.

FIG. 3 is an illustration of a forward situation at the time of traveling on a curved road for explaining a principal object detection method in a general collision warning system; FIG.

4 is a block diagram of an error alarm remover according to an embodiment of the present invention.

5 is a flowchart illustrating the operation of the error alarm canceling apparatus according to the embodiment of the present invention.

6 is a diagram illustrating a forward situation at the time of traveling on a curved road;

Figs. 7A to 7D are diagrams illustrating signal waveforms sensed by a guard rail when traveling on a curved road; Fig.

8A and 8B illustrate examples of signal waveforms sensed by a guard rail when traveling on a straight road.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Reference will now be made in detail to the present embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like reference numerals refer to the like elements throughout.

First, before describing an apparatus and method for removing an error alarm in a crash alarm system according to an embodiment of the present invention, a situation that may occur when a vehicle equipped with a general crash alarm system travels on a curved road will be described.

First, there are cases where an alarm is not output in a dangerous situation,

The second case is that the guard rail is detected as a preceding vehicle and an alarm sound is output even in a non-dangerous situation.

The relative distance measuring unit 10, which measures the distance from the preceding vehicle e, is mounted on the front surface of the vehicle body a. It is common. Therefore, when the vehicle is traveling on a curved road, the direction (steering angle of the wheel) (d) of the vehicle and the sensing direction (scanning angle 0 °) of the principal object detected by the relative distance measuring unit 10 A difference is generated by an angle?. On the other hand, when the vehicle runs on a straight road, the direction of the vehicle is matched with the main object detection direction, and β = 0. If the preceding vehicle e is traveling within the alarm distance, the above-described general collision warning system recognizes only the object located near the scanning angle of 0 °, which is the front of the sensing area c, as the main object, The alarm sound is not output even under the circumstances.

In addition, if the vehicle (a) equipped with the collision alerting system described above is traveling on a curved road in which a guardrail or an object continuously exists around the vehicle, the collision alerting system recognizes the guardrail as a target object traveling forward. Figs. 7A to 7C and Figs. 8A and 8B show relative distance data detected by the guard rail at the time of traveling on a curved road and relative distance data according to the relative speed when traveling on a straight road. Referring to FIGS. 7A to 7C and FIGS. 8A and 8B, first of all, relative distance data of the guard rails measured in accordance with a time change through one beam (scanning angle 0 °) of a plurality of scanning beams at the time of traveling on a curved road as shown in FIG. 7B) is similar to the preceding vehicle (e) relative distance data when the preceding vehicle e and the vehicle a travel at the same speed (Va = Vb) when traveling on a straight road as shown in FIG. 8A (FIG. In this case, since the crash alarm system described above detects the guard rail as a preceding vehicle, even if the vehicle a approaches the guard rail without risk of collision, it recognizes that the preceding vehicle e is close to output a warning sound. For reference, FIG. 7C is a diagram showing relative distance data obtained from a guard rail according to a scanning angle at the time of traveling on a curved road as shown in FIG. 7A.

Therefore, the apparatus and method for removing false alarms according to the embodiment of the present invention solve the first problem by selecting only the object existing in the trajectory of the car (a) as the main object with possibility of collision, To solve the second problem.

Hereinafter, the configuration and operation of the error alarm cancellation apparatus of the crash alarm system according to the embodiment of the present invention will be described in detail with reference to FIGS. 4 and 5. FIG.

FIG. 4 is a block diagram of an error alarm remover according to an embodiment of the present invention, and FIG. 5 is a flowchart illustrating an operation of the error alarm remover according to an embodiment of the present invention.

4, the relative distance measuring unit 70 can scan a target object positioned at a certain angle by emitting a plurality of beams in the left and right directions with reference to the front of the system vehicle (referred to as " scanning reference angle & It consists of radar. Accordingly, the relative distance measuring unit 70 detects a target object existing within a scanning angle range, and outputs a distance measurement signal and a relative angle signal with respect to the vehicle. The vehicle speed sensing unit 80 senses the driving condition of the system vehicle and senses the vehicle speed of the system vehicle. The steering angle sensing unit 90 may be implemented by a steering angle sensor and outputs a steering angle sensing signal according to the wheel rotation angle to the DSP 100. The DSP 100 processes the distance measurement signal, the vehicle speed sensing signal, and the steering angle sensing signals input from the relative distance measuring unit 70, the vehicle speed sensing unit 80 and the steering angle sensing unit 90, Distance calculation values and the like to an ECU (Electronic Control Unit) The ECU 110 has a memory in which a control program for controlling the overall operation of the crash alarm system is stored, and a control program as shown in Fig. 4 is stored in the memory. Each of the alarm unit 120 and the display unit 130 displays the measured distance display data input from the ECU 110 to the outside or outputs an alarm sound of a predetermined level according to the alarm output control signal.

Hereinafter, the operation of the error alarm canceller will be described in detail with reference to the above-described configuration.

First, if the vehicle equipped with the error alarm remover according to the embodiment of the present invention is in a running state, the DSP 100 calculates the distance from the target object located within the scanning angle range through the relative distance measuring unit 70 in step 140 In step 142, the vehicle speed sensing unit 80 receives the vehicle speed sensing signal indicating the speed of the vehicle, and measures the vehicle speed. In step 144, the DSP 100 receives the steering angle sensing signal through the steering angle sensing unit 90 and measures the steering angle of the vehicle. In step 146, the DSP 100 calculates the rotation angle [beta] of the wheel according to the steering angle sensing signal, and outputs the calculated steering angle to the ECU 110. In addition, the DSP 100 outputs the alarm distance data calculated according to the alarm distance calculation formula, .

On the other hand, the ECU 110 determines in step 148 whether the vehicle is traveling on a curved road. As a determination method, it can be determined that when the rotation angle data of the wheel inputted from the DSP 100 is maintained at a reference angle (0 deg.) For a predetermined time, the vehicle is traveling on a curved road. If it is determined in step 148 that the vehicle is traveling on the curved road, the ECU 110 proceeds to step 150 to change the main object sensing angle. At this time, the changed amount is changed to the same value as the wheel rotation angle data. Accordingly, if the vehicle is traveling on a curved road as shown in FIG. 6, the main object sensing angle is changed by? According to the wheel rotation angle data.

In step 152, the ECU 110 changes the main object detection angle as described above. The main object detection method can be detected through the relative distance data of the object detected and output for each scanning angle. Referring to Table 1 below,

Object detection angle -na ° ... -2a -a ° 0 ° a ° 2a ° ... na ° Relative distance d1 d2 d3 d4 d5 d6 d7 d8 d9

For example, supposing that the wheel angle of the main object is changed from 0 ° to β (= 2a °) as the wheel rotates on the curved road and the wheel is detected as β °, Right direction), the relative distance data is constantly increased from -na ° to a ° by the guard rail as shown in FIG. 7c. If there is a preceding vehicle in the vicinity of 2a, the change of the relative distance data will occur abruptly around 2a °. Therefore, the ECU 110 uses the distance information with respect to the object measured in the newly calculated main object detection area (scanning angle 2 [deg.] = [Beta]) at the existing main object detection area (scanning angle 0 [ It is used.

The main object can be detected through the rate of change of the relative distance data obtained at each of the scanning angles.

The ECU 110, which detects the main object through the above-described method, then determines whether or not a dangerous object exists on the driving trajectory in step 154. [ The dangerous body will be the preceding vehicle on the curved road and the guard rail is excluded from the dangerous body. If there is no dangerous object on the trajectory as a result of the determination in step 154, the error alarm remover according to the embodiment of the present invention continuously checks the forward situation of the road through steps 140 to 148 again. Therefore, even if the vehicle enters the curved road, it is possible to prevent the error alarm from being output by the guard rail if the dangerous object does not exist on the trajectory of travel.

On the other hand, if it is determined in step 154 that the dangerous object exists on the driving trajectory, the ECU 110 compares the alarm distance data calculated through the DSP 100 in step 158 with the relative distance data in step 160. If the relative distance data is smaller than the alarm distance data, the ECU 110 proceeds to step 162 to control the alarm unit 120 to output a warning sound to the driver. That is, after detecting the preceding vehicle existing on the trajectory on the curved road accurately, the relative distance between the detected preceding vehicle and the preceding vehicle is compared with the alarm distance calculated by the alarm distance calculating formula, and the alarm sound is outputted according to the comparison result Function.

If it is determined in step 148 that the vehicle is traveling on a straight road, the error alarm cancellation apparatus according to the embodiment of the present invention sequentially performs steps 156, 158, 160, and 162 to detect a main object The object detection angle becomes 0 DEG), and the calculated alarm distance is compared with the relative distance, so that the driver can be notified of the collision situation with the preceding vehicle as an alarm sound in advance.

As described above, the present invention is advantageous in that it is possible to prevent an alarm sound that may be generated by mistaking an obstacle such as a guard rail, which is not placed on a vehicle driving trajectory, It is possible to provide the driver with a cornerstone of safe driving by detecting the collision situation with the preceding vehicle existing on the driving trajectory in advance.

Claims (5)

An error alarm remover for a crash alarm system, A relative distance measuring unit having a scanning reference angle and sensing and outputting a relative distance to the object at each of the divided scanning angles, A vehicle speed sensor for sensing and outputting a vehicle speed, A steering angle sensor for outputting a steering angle detection signal corresponding to a wheel rotation angle, A signal processing unit for calculating a signal inputted from each of the sensors and outputting a relative distance to the target object, an alarm distance and wheel turning angle data, Only the preceding vehicle lying on the driving trajectory is detected through the data inputted from the signal processing unit and the alarm unit is operated only when the relative distance with the detected preceding vehicle is within the alarm distance to output and output alarm sound of a predetermined level And a control unit for controlling the output of the alarm sound when the change rate of the relative distance data output from each of the scanning angles is constant when the steering angle sensing signal is maintained at a constant angle for a predetermined time. Device. In the first aspect, the control unit may include: And when the steering angle detection signal maintains a predetermined angle for a predetermined time, it determines that the vehicle is in a curved road running state. A relative distance measurement unit that scans a target existing on the left, right, and front sides of the front of the vehicle with the reference angle as a center and outputs relative distance data; a vehicle speed sensor for sensing the vehicle speed and steering angle of the vehicle; The method comprising the steps of: Calculating a relative distance, a vehicle speed, and a wheel rotation angle with respect to a target object within a scanning range by calculating data and signals respectively input from the relative distance measuring unit and the sensor units; A road condition judging process for judging a degree of bending of a road currently in operation, A main object selecting step of selecting, as a main object, an object existing on a driving trajectory among objects existing within a scanning range when driving on a curved road; And outputting an alarm sound when the relative distance with the selected main object has a value within an alarm distance. 4. The method of claim 3, wherein the road condition determining process determines that the road surface condition is a curve road running condition when the wheel turning angle data maintains a predetermined angle for a predetermined time. 4. The method according to claim 3, wherein, in the main object selection process, the reference angle is shifted in the same direction by the wheel rotation angle data held for a predetermined time to move the main object detection range, And the collision alarm is applied using the distance data.