KR100820436B1 - A vehicle interval control system and the drive disposition collection method thereof - Google Patents

A vehicle interval control system and the drive disposition collection method thereof Download PDF

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KR100820436B1
KR100820436B1 KR1020060105144A KR20060105144A KR100820436B1 KR 100820436 B1 KR100820436 B1 KR 100820436B1 KR 1020060105144 A KR1020060105144 A KR 1020060105144A KR 20060105144 A KR20060105144 A KR 20060105144A KR 100820436 B1 KR100820436 B1 KR 100820436B1
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acceleration
vehicle
driver
distance
speed
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이찬규
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현대자동차주식회사
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    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60WCONJOINT 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
    • B60W30/00Purposes 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
    • B60W30/14Adaptive cruise control
    • B60W30/16Control of distance between vehicles, e.g. keeping a distance to preceding vehicle
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60WCONJOINT 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
    • B60W30/00Purposes 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
    • B60W30/14Adaptive cruise control
    • B60W30/143Speed control
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60WCONJOINT 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
    • B60W40/00Estimation 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
    • B60W40/08Estimation 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 drivers or passengers
    • B60W40/09Driving style or behaviour
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60WCONJOINT 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
    • B60W40/00Estimation 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
    • B60W40/10Estimation 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
    • B60W40/105Speed
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60WCONJOINT 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
    • B60W40/00Estimation 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
    • B60W40/10Estimation 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
    • B60W40/107Longitudinal acceleration
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60WCONJOINT 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
    • B60W2540/00Input parameters relating to occupants
    • B60W2540/30Driving style
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60WCONJOINT 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
    • B60W2720/00Output or target parameters relating to overall vehicle dynamics
    • B60W2720/10Longitudinal speed
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60WCONJOINT 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
    • B60W2754/00Output or target parameters relating to objects
    • B60W2754/10Spatial relation or speed relative to objects
    • B60W2754/30Longitudinal distance
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60WCONJOINT 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
    • B60W2754/00Output or target parameters relating to objects
    • B60W2754/10Spatial relation or speed relative to objects
    • B60W2754/50Relative longitudinal speed
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60YINDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY
    • B60Y2300/00Purposes or special features of road vehicle drive control systems
    • B60Y2300/14Cruise control
    • B60Y2300/143Speed control
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60YINDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY
    • B60Y2300/00Purposes or special features of road vehicle drive control systems
    • B60Y2300/14Cruise control
    • B60Y2300/16Control of distance between vehicles, e.g. keeping a distance to preceding vehicle

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  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • Mathematical Physics (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
  • Controls For Constant Speed Travelling (AREA)

Abstract

A vehicle interval control system and a vehicle interval control method thereof are provided to reduce the risk of a driver and unnecessary operations of an actuator by preventing the unnecessary deceleration control tendency after acceleration when own vehicle approaches the preceding vehicle, by allowing and disapproving acceleration. A vehicle interval control system is composed of a speed control module calculating acceleration in order to minimize difference between the vehicle speed set by a driver and the present vehicle speed and outputting calculated acceleration as a limited value in consideration of riding comfort of the driver; a distance control module making the demand distance set by a driver or demand distance calculated by multiplication of time(Headway) and vehicle speed, same and calculating the demand acceleration in order to make the relative speed to the preceding vehicle zero; and an acceleration condition detection module(4) calculating a time gap by using the relative distance and present vehicle speed and outputting an acceleration allow signal(AccelEn). Acceleration is limited within a range of DecelLmt~0(3). An acceleration limited value is set within a range of maximum control deceleration~maximum control acceleration(DecelLmt~AccelLmt) when the acceleration allow signal is output from the acceleration condition detection module, and the demand acceleration is output by executing switching for acceleration(5,6). Acceleration is controlled by a brake actuator and an acceleration actuator by outputting small one of the calculated vehicle speed control demand acceleration and distance control demand acceleration as final demand acceleration(7).

Description

차간거리 제어시스템 및 그의 차간거리 제어방법 {a vehicle interval control system and the drive disposition collection method thereof}Distance control system and its distance control method {a vehicle interval control system and the drive disposition collection method

도 1은 본 발명의 한 실시예의 작동 블록도1 is a working block diagram of one embodiment of the present invention;

도 2는 본 발명의 운전자 접근 상대속도 계산 흐름도2 is a flowchart illustrating a driver approach relative speed of the present invention.

도 3은 본 발명의 운전자 가속 시점 계산 흐름도3 is a flowchart for calculating a driver acceleration time according to the present invention.

도 4는 가속허용여부(AccelEn)값을 결정하는 가속 조건 탐지 모듈의 작동 흐름도4 is an operation flowchart of an acceleration condition detection module for determining an acceleration allowance value (AccelEn) value;

본 발명은 차간거리 제어시스템 및 그의 차간거리 제어방법에 관한 것으로, 더 자세하게는 운전자가 선행차에 접근할 때의 상대 속도, 선행차와 거리제어 중 선행차가 가속할 때 운전자가 가속하는 시점 등을 수집하여 보다 안정적으로 차간거리 제어시스템을 운용할 수 있도록 한 것에 관한 것이다.The present invention relates to a inter-vehicle distance control system and a method for controlling the inter-vehicle distance, and more particularly, to the relative speed when the driver approaches the preceding vehicle, the timing at which the driver accelerates when the preceding vehicle accelerates during the preceding vehicle and the distance control. It is about collecting and operating the distance control system more stably.

일반적으로 자동차의 차간거리 제어시스템은 크게 차속제어 모듈과 거리제어 모듈로 나뉘어져 있으며, 운전자가 설정한 차속으로 주행하다가 선행차가 존재할 때 설정된 차간 시간(Headway)으로 유지하게 된다.In general, the inter-vehicle distance control system of a vehicle is largely divided into a vehicle speed control module and a distance control module. The vehicle is driven at a vehicle speed set by a driver, and is maintained at a set vehicle time when a preceding vehicle exists.

상기 차간거리 제어시스템에서 운전자가 설정한 차속을 유지하는 기술은 비교적 간단한 기술이지만 선행차와의 거리를 유지하는 기술은 운전자의 안전성을 고려해야 할 뿐만 아니라 관련 엑츄에이터의 응답 성능 및 운전자의 제어 성향 등도 고려해야 하는 고급 튜닝 기술이라 할 수 있다.The technique of maintaining the vehicle speed set by the driver in the inter-vehicle distance control system is a relatively simple technique, but the technique of maintaining the distance from the preceding vehicle has to consider not only the driver's safety but also the response performance of the relevant actuator and the driver's control tendency. This is an advanced tuning technique.

한편 선행차와의 거리를 제어하는 종래 기술이 갖는 문제점은 크게 두 가지로 분류할 수 있다.On the other hand, the problems with the prior art for controlling the distance to the preceding vehicle can be classified into two categories.

첫번째는 서행하고 있는 선행차가 발견되었을 때 얼마나 빨리 또는 안전하게 운전자가 원하는 거리를 유지하느냐의 문제이다.The first is how quickly or safely the driver keeps the desired distance when a slowing preceding vehicle is found.

예를 들어 자차(제어차량) 80kph로 주행중 100m 전방에서 20kph로 주행하고 있는 차량 발견, 최종 거리 제어 목표는 10여 미터일 경우와 같이 선행차가 자차(제어차량)보다 느린 속도로 주행하고 있는 것을 검지했을 경우에는 얼마의 거리까지 자차가 80kph로 주행하느냐의 문제와 얼마의 거리부터 자차가 감속하여 얼마의 상대 속도로 접근하느냐의 문제가 중요하게 된다.For example, when a vehicle is driven at 80kph and finds a vehicle that is driving at 100k in front of 20kph, and detects that the preceding vehicle is running at a slower speed than its own, such as when it is 10 meters, the final distance control target is about 10 meters. In this case, the problem of how far the vehicle runs at 80 kph and how far the vehicle decelerates and approaches at a relative speed becomes important.

그런데 종래에 제안된 차간거리 제어 시스템은 80kph로 접근 후 요구제어 거리에 이르렀을 때 감속 수행함으로써 운전자에게 위협감을 주게 되는 문제가 있었다.However, the conventional inter-vehicle distance control system has a problem that poses a threat to the driver by decelerating when the required control distance is reached after approaching 80 kph.

또한 자차 속도 40kph인데, 설정속도를 80kph로 하여 가속중 전방 100m에서 60kph로 주행중인 선행차 검지한 경우와 같이 자차가 가속중 비슷한 속도로 주행하 고 있는 전방 차량이 멀리서 발견되었을 경우에 종래에 제안된 시스템은 80kph로 가속한 후 다시 60kph로 감속하게 되므로 불필요한 가속 후 감속 뿐 아니라 운전자에게 위협감을 주게 되는 문제가 있었다.In addition, the vehicle speed is 40kph, which has been proposed in the past when a front vehicle running at a similar speed during acceleration is found from a distance, such as when a preceding vehicle is detected driving from 100m to 60kph during acceleration with a set speed of 80kph. The system accelerates to 80 kph and then decelerates to 60 kph, which causes a problem for the driver as well as deceleration after unnecessary acceleration.

둘째 선행차가 감가속을 반복할 경우 종래에 제안된 기술은 선행차와 동일하게 불필요하게 감가속을 수행하게 되므로 승차감을 저하시킬 뿐만 아니라 자차가 가속할 때 선행차가 감속하는 경우에는 운전자가 위험에 빠질 수도 있는 문제가 있었다.Secondly, if the preceding vehicle repeatedly decelerates, the conventionally proposed technique performs deceleration unnecessarily as in the preceding vehicle, which not only reduces the riding comfort but also puts the driver in danger when the preceding vehicle decelerates when the own vehicle accelerates. There might have been a problem.

본 발명은 상기 종래의 문제점을 감안하여 안출한 것이며, 그 목적이 운전자가 위험을 느끼지 않도록 선행차에 접근하여 요구 거리를 유지할 수 있도록 하고, 선행차의 잦은 감가속에도 자차(제어차량)의 승차감을 저하시키지 않는 안전한 속도로 유지할 수 있도록 함은 물론 운전자가 선행차에 접근할 때의 상대 속도, 선행차와 거리제어 중 선행차가 가속할 때 운전자가 가속하는 시점 등을 수집하여 보다 안정적으로 차간거리 제어시스템을 운용할 수 있도록 하는 차간거리 제어시스템 및 그의 차간거리 제어방법을 제공하는 데에 있는 것이다.The present invention has been made in view of the above-described conventional problems, and its purpose is to allow the driver to approach the preceding vehicle to maintain the required distance so that the driver does not feel a danger, and the ride comfort of the own vehicle (control vehicle) even with frequent deceleration of the preceding vehicle. In addition to maintaining a safe speed without deterioration, it also controls the inter-vehicle distance more stably by collecting the relative speed when the driver approaches the preceding vehicle and the time when the driver accelerates when the preceding vehicle accelerates during the preceding vehicle and distance control. An object of the present invention is to provide an inter-vehicle distance control system and a method for controlling the inter-vehicle distance that enable the system to operate.

이하 상기의 목적을 달성하기 위한 본 발명의 구체적인 기술내용을 첨부도면에 의거하여 더욱 자세히 설명하면 다음과 같다.Hereinafter, the specific technical details of the present invention for achieving the above object will be described in more detail with reference to the accompanying drawings.

도 1에는 본 발명의 한 실시예의 작동 블록도가 도시되어 있다.1 is an operational block diagram of one embodiment of the present invention.

본 발명의 차간거리 제어방법은 크게 속도제어와 거리제어로 나누어진다.The inter-vehicle distance control method of the present invention is largely divided into speed control and distance control.

속도제어 모듈은 운전자에 의해 설정된 설정차속과 현재 차속과의 차이를 최소화하기 위한 가속도를 계산하여 운전자 승차감을 고려하여 제한된 값으로 출력(①)하게 된다.The speed control module calculates the acceleration to minimize the difference between the set vehicle speed set by the driver and the current vehicle speed, and outputs the limited value (①) in consideration of the driver's riding comfort.

거리제어 모듈은 운전자가 설정한 요구거리 또는 시간(Headway)과 차속의 곱에 의해 계산된 요구거리와 상대거리가 같아야 하며, 또한 선행차와의 상대속도가 0이 되도록 요구가속도를 계산(②)하게 된다.The distance control module calculates the required acceleration so that the required distance and the relative distance calculated by the driver's request distance or time (Headway) and the product of the vehicle speed are the same, and the relative speed with the preceding vehicle is 0 (②). Done.

하지만 기본적으로 가속도값이 DecelLmt~0으로 제한되어 가속이 제한(③)되어 있다.However, since the acceleration value is basically limited to DecelLmt ~ 0, the acceleration is restricted (③).

가속 조건 탐지 모듈(Acceleration Condition Detection Module;④)에서 가속을 허용하는 신호(AccelEn=ON)가 출력될 때 가속도 제한값은 최대제어감속도(DecelLmt)~최대제어가속도(AccelLmt)로 설정(⑤)되어 가속이 가능하도록 스위칭되어 거리제어 요구가속도가 출력(⑥)된다.When the acceleration condition detection module (AccelEn = ON) is output from the Acceleration Condition Detection Module (④), the acceleration limit value is set as the maximum control deceleration (DecelLmt) to the maximum control acceleration (AccelLmt). The acceleration is switched to enable the distance control request acceleration (⑥).

계산된 차속제어 요구가속도와 거리제어 요구가속도 중 작은 값이 최종 요구가속도로 출력(⑦)되어 제동 엑츄에이터와 가속 엑츄에이터에 의해 가속도 제어를 수행함으로써 차간거리 제어장치가 구동된다.The smaller of the calculated vehicle speed control acceleration and distance control acceleration is output at the final demand acceleration (⑦), and the inter-vehicle distance control device is driven by performing the acceleration control by the braking actuator and the acceleration actuator.

운전자 성향 수집장치(⑧)는 자동 제어가 아닌 운전자가 주행하는 일반 상황에서 두 가지의 요소(factor)를 추출하여 가속 조건 탐지 모듈(Acceleration Condition Detection Module)에 전달하게 된다.The driver propensity collecting device (⑧) extracts two factors from the general situation in which the driver travels instead of automatic control and transfers them to the Acceleration Condition Detection Module.

도 2에는 본 발명의 운전자 접근 상대속도 계산 흐름도가 도시되어 있다.2 is a flowchart illustrating a driver approach relative speed calculation according to the present invention.

도 2와 같이 본 발명에 있어서는 선행차에 접근할 때의 상대속도를 계속적으로 모니터링하여 평균값을 추출한다.In the present invention as shown in Figure 2, the relative speed when approaching the preceding vehicle is continuously monitored to extract the average value.

상대속도를 평균값 계산에 적용하는 조건은 다음과 같다.The conditions for applying the relative speed to the average value are as follows.

1) 선행차속도 < 자차속도1) Leading vehicle speed <own vehicle speed

2) 선행차와의 초기 거리 > 현재속도 * 일정값2) Initial distance from the preceding vehicle> Current speed * Constant value

3) 선행차와의 최종 거리 < 현재속도 * 일정값3) Final distance from the preceding vehicle <current speed * constant value

4) 2)번과 3)번 조건이 일정시간 이내에 이루어질 것4) Conditions 2) and 3) must be met within a certain time

상기 1)~4)번 조건을 모두 만족할 경우 계산된 상대속도의 평균값을 상대속도평균총합에 반영한다.When all of the above conditions 1) to 4) are satisfied, the calculated average value of the relative speed is reflected in the total relative speed average.

추출된 접근상대속도 평균값은 RelSpdLoHys=기본상대속도+(기본상대속도-평균상대속도)*상수The extracted approach relative speed average value is RelSpdLoHys = basic relative speed + (basic relative speed-average relative speed) * constant

의 계산에 의해 RelSpdLoHys 값으로 출력된다.It is output as RelSpdLoHys by the calculation of.

도 3에는 본 발명의 운전자 가속 시점 계산 흐름도가 도시되어 있다.3 is a flowchart illustrating a driver acceleration time calculation according to the present invention.

도 3과 같이 본 발명에 있어서는 선행차와 일정거리를 유지하여 주행 중 선행차가 가속할 때 자차가 가속하는 시점을 선행차와의 차간시간(Timegap=상대거리/자차속도)로 환산하여 운전자 성향 수집장치에 적용한다.In the present invention as shown in FIG. 3, the driver's propensity is collected by converting the time at which the own vehicle accelerates when the preceding vehicle accelerates while maintaining a predetermined distance from the preceding vehicle in terms of the time difference (Timegap = relative distance / vehicle speed) with the preceding vehicle. Applies to the device.

이 때 적용하는 조건은 다음과 같다.The conditions applied at this time are as follows.

1) 초기 상대거리 < 일정값1) Initial relative distance <constant value

2) 초기 |상대속도| < 일정값2) Initial | relative speed | <Constant value

3) 1)번과 2)번 조건이 동시에 만족 - CalReady=ON3) 1) and 2) are satisfied at the same time-CalReady = ON

4) 3)번 조건이 만족할 때 선행차속도 > 초기속도 + 일정값4) Leading vehicle speed> initial speed + constant value when condition 3) is satisfied

5) 4)번 조건이 만족할 때 자차 > 초기속도 + 일정값5) When the condition 4) is satisfied, own vehicle> initial speed + constant value

상기 1)~5)번 조건을 동시에 만족할 경우 최종 차간시간(Timegap)=상대거리/현재속도라고 정의하면, HeadwayHIHys=기본값+{기본값-(최종 차간시간-초기 차간시간)}*상수를 통해서 HeadwayHiHys값으로 출력된다.If the above conditions 1) to 5) are satisfied at the same time, define Last Timegap = Relative Distance / Current Speed, HeadwayHIHys = Default + {Default- (Last Interval Time-Initial Interval Time)} * Constant HeadwayHiHys The value is output.

상기 두 가지 값은 가속 조건 탐지 모듈에서 운전자의 성향을 반영하여 가속허용 여부(AccelEn)를 결정함으로써 접근 상대속도와 선행차 가속시 자차 가속 시점을 결정하는 요소가 된다.The two values are factors for determining the relative relative speed and the acceleration of the own vehicle when accelerating the preceding vehicle by determining whether to allow acceleration (AccelEn) by reflecting the driver's propensity in the acceleration condition detection module.

도 1의 가속 조건 탐지 모듈(④)은 가속허용여부(AccelEn) 신호를 출력하는 모듈이며, 이 모듈에서는 상대거리와 현재차속을 이용하여 차간시간(Timegap) 계산을 수행한다.The acceleration condition detection module ④ of FIG. 1 is a module that outputs an Acceleration Allowance (AccelEn) signal, and the module performs timegap calculation using the relative distance and the current vehicle speed.

도 4는 실제적으로 가속허용여부(AccelEn)값을 결정하는 가속 조건 탐지 모듈의 작동 흐름도이다.4 is an operation flowchart of an acceleration condition detection module that actually determines an acceleration allow value (AccelEn) value.

도 4에서 ①번 조건은 가속 금지를 결정하는 모듈이며, 선행차와의 차간시간(Timegap=상대거리/현재차속)이 운전자 설정 차간시간(Headway)-히스테리시스(HeadwayLoHys)값보다 작거나(상대거리가 요구거리보다 가까운 것을 의미) 상대속도가 일정 히스테리시스(RelSpdLoHys)값보다 작을 때(선행차에 접근 의미) 가속은 금지된다.In Fig. 4, condition ① is a module for determining acceleration prohibition, and the time difference between the preceding vehicle (Timegap = relative distance / current vehicle speed) is smaller than the driver set Headway-Hysteresis (HeadwayLoHys) value (relative distance). Acceleration is prohibited when the relative velocity is less than a constant hysteresis (RelSpdLoHys).

도 4에서 ②번 조건은 가속 허용을 결정하는 모듈이며, 상대속도가 운전자 성향 분석 모듈에서 결정된 일정값보다 클 때 가속이 허용되고, 이 때 당연히 상대거리가 요구 거리보다 더 멀리 있어야 가능하다.In Figure 4, condition ② is a module for determining the acceleration allowance, the acceleration is allowed when the relative speed is greater than a predetermined value determined in the driver propensity analysis module, in this case it is possible that the relative distance is farther than the required distance.

아울러 본 발명에 있어서는 선행차와의 차간시간이 일정값보다 클 때 가속이 허용되고, 이 때 당연히 선행차와의 상대속도는 일정값 이상이어야 한다.In addition, in the present invention, acceleration is allowed when the inter-vehicle time with the preceding vehicle is greater than a certain value, and of course, the relative speed with the preceding vehicle should be above a certain value.

가속 허용 조건과 가속 불가 조건 외에 다른 조건이 존재하지만 한번 가속이 허용되면 가속불가 조건이 될 때까지 계속 가속을 허용함으로써 섬세한 제어가 가능하게 된다.There are other conditions besides the allowable acceleration condition and the non-acceleration condition, but once acceleration is allowed, detailed control is possible by allowing the acceleration continuously until the acceleration is impossible.

가속 불가 조건을 단순하게 설정하고, 가속 허용 조건을 강화함으로써 안전성을 강화할 수 있는 계기가 될 수 있다.By simply setting the non-acceleration condition and strengthening the acceleration tolerance condition, it can be an opportunity to enhance safety.

실제 적용예를 들어보면, 80kph로주행시 60kph 선행차를 검지하면, 가속불가 조건(①)에 의해 선행차와 접근상대속도 평균값(RelSpdLoHys) 이상의 속도차이가 나지 않도록 자차가 주행하게 된다.For example, if the vehicle detects a 60kph preceding vehicle when driving at 80kph, the host vehicle will run so that a speed difference greater than the mean value RelSpdLoHys is greater than the preceding vehicle due to the non-acceleration condition (①).

즉, 접근상대속도 평균값(RelSpdLoHys) =10kph이면, 자차는 70kph로 선행차에 접근하다가 서서히 감속하여 60kph를 유지하게 된다.That is, if the average value of the relative speed of approach (RelSpdLoHys) = 10 kph, the host vehicle approaches the preceding vehicle at 70 kph and gradually decelerates to maintain 60 kph.

또한 선행차와 자차가 각각 60kph로 주행하다가 선행차가 가속할 때 자차가 즉시 가속하는 것이 아니라 상대속도와 차간시간(Timegap)이 일정값 이상일 때만 가속하게 된다.In addition, when the preceding vehicle and the host vehicle run at 60kph, respectively, when the preceding vehicle accelerates, the host vehicle does not accelerate immediately but accelerates only when the relative speed and the timegap are above a certain value.

즉, 감속은 즉시 수행되지만 가속은 일정값 이상일 경우에만 허용을 하게 되며, 일단 한번 가속이 허용되면 가속 불가 조건이 적용될 때까지 계속적으로 감가속 제어를 하게 된다.That is, deceleration is performed immediately, but acceleration is allowed only when a certain value or more. Once acceleration is allowed, deceleration and deceleration control is continuously performed until the non-acceleration condition is applied.

이상에서와 같이 본 발명은 운전자의 선행차와의 거리 유지 경향을 모니터링하는 데에서 한걸음 더 나아가 운전자가 선행차에 접근하는 경향과 선행차가 가속시 운전자가 추종하기 위해서 가속하는 경향을 추출하여 차간거리 제어 시스템에 적용할 수 있도록 한 것으로, 이러한 운전자 특성의 적용하게 되면 자차가 고속으로 주행시 저속으로 주행하는 차량을 검지할 경우 보다 안전하게 선행차를 추종할 수 있게 되며, 또한 이러한 가속허용 및 불가를 통해서 선행차에 접근할 때 불필요한 가속후 감속 제어 성향을 해결함으로써 운전자의 위험을 줄일 뿐 아니라 연료비 절감 성능 및 불필요한 엑츄에이터 작동을 줄일 수 있게 된다.As described above, the present invention takes a step further in monitoring a driver's tendency to maintain a distance from the preceding vehicle, and extracts a tendency for the driver to approach the preceding vehicle and an acceleration to follow the driver when the preceding vehicle accelerates. When applied to the control system, the application of such driver characteristics makes it possible to follow the preceding vehicle more safely when the own vehicle detects a vehicle traveling at a low speed when driving at a high speed. By eliminating unnecessary post-acceleration deceleration control tendencies when approaching a preceding vehicle, it not only reduces the driver's risk, but also reduces fuel cost performance and unnecessary actuator operation.

아울러 선행차가 감가속을 반복할 경우 기존 기술은 선행차와 동일하게 불필요하게 감가속을 수행하게 되어 승차감 저하뿐만 아니라 운전자가 위험에 빠질 수도 있었으나 본 발명에 의하면 선행차의 잦은 감가속에도 자차의 승차감을 저하시키지 않도록 제어할 수 있게 된다.In addition, when the preceding vehicle repeats deceleration, the existing technology performs deceleration unnecessarily as in the preceding vehicle, so that the driver may be in danger as well as the ride deterioration. It can be controlled so as not to deteriorate.

이처럼 본 발명은 차간거리 제어 측면에서 보다 양호한 안정성을 확보할 수 있게 될 뿐만 아니라 불필요한 엑츄에이터의 동작을 최소화함으로써 운전자의 승차감 향상과 안정성 향상에 크게 기여할 수 있게 되는 등의 효과를 얻을 수 있게 된다.As described above, the present invention not only secures better stability in terms of inter-vehicle distance control, but also minimizes unnecessary operation of the actuator, thereby making it possible to greatly contribute to driver's riding comfort and stability.

Claims (6)

운전자에 의해 설정된 설정차속과 현재 차속과의 차이를 최소화하기 위한 가속도를 계산하여 운전자 승차감을 고려하여 제한된 값으로 출력하는 속도제어 모듈; A speed control module that calculates an acceleration for minimizing the difference between the set vehicle speed set by the driver and the current vehicle speed and outputs a limited value in consideration of the driver's riding comfort; 운전자가 설정한 요구거리 또는 시간(Headway)과 차속의 곱에 의해 계산된 요구거리와 상대거리가 같도록 하는 동시에 선행차와의 상대속도가 0이 되도록 요구가속도를 계산하는 거리제어 모듈;A distance control module configured to calculate a demand acceleration so that a relative distance with a preceding vehicle is equal to 0 and a relative distance calculated by a product of a required distance or time set by the driver (Headway) and the vehicle speed is equal to zero; 그리고 상대거리와 현재차속을 이용하여 차간시간(Timegap) 계산을 수행하고, 가속허용여부(AccelEn) 신호를 출력하는 가속 조건 탐지 모듈(Acceleration Condition Detection Module);을 구비하며,And an acceleration condition detection module for performing a timegap calculation using the relative distance and the current vehicle speed and outputting an acceleration allow signal. 기본적으로 가속도값이 DecelLmt~0이 되도록 가속을 제한하고,By default, the acceleration is limited so that the acceleration value is DecelLmt ~ 0. 상기 가속 조건 탐지 모듈에서 가속을 허용하는 신호(AccelEn=ON)가 출력될 때 가속도 제한값을 최대제어감속도(DecelLmt)~최대제어가속도(AccelLmt)로 설정하여 가속이 가능하도록 스위칭함으로써 거리제어 요구가속도를 출력하며,When the acceleration condition detection module outputs a signal to allow acceleration (AccelEn = ON), the acceleration limit value is set to the maximum control deceleration (DecelLmt) to the maximum control acceleration (AccelLmt) to switch the acceleration to be possible. Outputs 계산된 차속제어 요구가속도와 거리제어 요구가속도 중 작은 값을 최종 요구가속도로 출력하여 제동 엑츄에이터와 가속 엑츄에이터에 의해 가속도 제어를 수행하는 것을 특징으로 하는 차간거리 제어시스템.An inter-vehicle distance control system, characterized in that the acceleration control is performed by the braking actuator and the acceleration actuator by outputting a smaller value between the calculated vehicle speed control request acceleration and the distance control request acceleration as the final demand acceleration. 제1항에 있어서, 자동 제어가 아닌 운전자가 주행하는 일반 상황에서 운전자 성향을 수집하여 가속 조건 탐지 모듈(Acceleration Condition Detection Module)에 전달하는 운전자 성향 수집장치를 구비하는 것을 특징으로 하는 차간거리 제어시스템.2. The inter-vehicle distance control system according to claim 1, further comprising a driver propensity collecting device which collects the driver propensity and transmits the propensity to an acceleration condition detection module in a general situation where the driver is driving, not the automatic control. . 제2항에 있어서, 운전자 성향 수집장치에서 추출하여 가속 조건 탐지 모듈에 전달하는 요소는 접근상대속도 평균값(RelSpdLoHys)과 운전자 가속 시점(HeadwayHIHys)인 것을 특징으로 하는 차간거리 제어시스템.The system of claim 2, wherein the elements extracted by the driver propensity collecting device and transmitted to the acceleration condition detection module are an approach relative speed average value (RelSpdLoHys) and a driver acceleration time (HeadwayHIHys). 제3항에 있어서, 선행차에 접근할 때의 상대속도를 계속적으로 모니터링하여 평균값을 추출하되, 계산된 상대속도의 평균값을 상대속도평균총합에 반영하여 접근상대속도 평균값(RelSpdLoHys)=기본상대속도+(기본상대속도-평균상대속도)*상수의 계산에 의해 접근상대속도 평균값(RelSpdLoHys)으로 출력하는 것을 특징으로 하는 차간거리 제어시스템.4. The method of claim 3, wherein the average speed is extracted by continuously monitoring the relative speed when approaching the preceding vehicle, and the average value of the relative relative speed (RelSpdLoHys) = the basic relative speed is reflected by reflecting the calculated average value of the relative speed in the total relative speed average. A distance control system characterized in that output by the average value of the relative relative speed (RelSpdLoHys) by the calculation of the + (basic relative speed-average relative speed) * constant. 제3항에 있어서, 선행차와 일정거리를 유지하여 주행 중 선행차가 가속할 때 자차(제어차량)가 가속하는 시점을 선행차와의 차간시간(Timegap=상대거리/자차속도)으로 환산하여 운전자 성향 수집장치에 적용하되, 운전자 가속 시점(HeadwayHIHys)=기본값+{기본값-(최종 차간시간-초기 차간시간)}*상수를 통해서 운전자 가속 시점(HeadwayHiHys)값을 출력하는 것을 특징으로 하는 차간거리 제어시스템.The driver of claim 3, wherein the driver's vehicle (control vehicle) accelerates when the preceding vehicle accelerates while maintaining a constant distance from the preceding vehicle in terms of a time gap (relative distance / vehicle speed) with the preceding vehicle. Applied to the propensity collector, driver acceleration time (HeadwayHIHys) = default + {default-(final vehicle time-initial vehicle time)} * constant vehicle distance control, characterized in that to output the driver acceleration time (HeadwayHiHys) value system. 운전자에 의해 설정된 설정차속과 현재 차속과의 차이를 최소화하기 위한 가속도를 계산하여 운전자 승차감을 고려하여 제한된 값으로 출력하는 속도제어 모듈; A speed control module that calculates an acceleration for minimizing the difference between the set vehicle speed set by the driver and the current vehicle speed and outputs a limited value in consideration of the driver's riding comfort; 운전자가 설정한 요구거리 또는 시간(Headway)과 차속의 곱에 의해 계산된 요구거리와 상대거리가 같도록 하는 동시에 선행차와의 상대속도가 0이 되도록 요구가속도를 계산하는 거리제어 모듈;A distance control module configured to calculate a demand acceleration so that a relative distance with a preceding vehicle is equal to 0 and a relative distance calculated by a product of a required distance or time set by the driver (Headway) and the vehicle speed is equal to zero; 그리고 상대거리와 현재차속을 이용하여 차간시간(Timegap) 계산을 수행하고, 가속허용여부(AccelEn) 신호를 출력하는 가속 조건 탐지 모듈(Acceleration Condition Detection Module);을 구비하며,And an acceleration condition detection module for performing a timegap calculation using the relative distance and the current vehicle speed and outputting an acceleration allow signal. 기본적으로 가속도값이 DecelLmt~0이 되도록 가속을 제한하고,By default, the acceleration is limited so that the acceleration value is DecelLmt ~ 0. 상기 가속 조건 탐지 모듈에서 가속을 허용하는 신호(AccelEn=ON)가 출력될 때 가속도 제한값을 최대제어감속도(DecelLmt)~최대제어가속도(AccelLmt)로 설정하여 가속이 가능하도록 스위칭함으로써 거리제어 요구가속도를 출력하며,When the acceleration condition detection module outputs a signal to allow acceleration (AccelEn = ON), the acceleration limit value is set to the maximum control deceleration (DecelLmt) to the maximum control acceleration (AccelLmt) to switch the acceleration to be possible. Outputs 계산된 차속제어 요구가속도와 거리제어 요구가속도 중 작은 값을 최종 요구가속도로 출력하여 제동 엑츄에이터와 가속 엑츄에이터에 의해 가속도 제어를 수행하는 차간거리 제어시스템에 있어서,In the inter-vehicle distance control system that performs the acceleration control by the braking actuator and the acceleration actuator by outputting the smaller of the calculated vehicle speed control request acceleration and distance control request acceleration as the final request acceleration, 선행차와의 차간시간(Timegap=상대거리/현재차속)이 운전자 설정 차간시간(Headway)-히스테리시스(HeadwayLoHys)값보다 작거나 상대속도가 일정 히스테리시스(RelSpdLoHys)값보다 작을 때 가속을 금지하고, 상대속도가 운전자 성향 분석 모듈에서 결정된 일정값보다 클 때와 선행차와의 차간시간이 일정값보다 클 때 가속을 허용하는 것을 특징으로 하는 차간거리 제어시스템의 차간거리 제어방법.Acceleration is prohibited when the distance between the preceding vehicle (Timegap = relative distance / current vehicle speed) is less than the driver set Headway-Hysteresis value or the relative speed is less than the certain value of RelSpdLoHys. A method for controlling the inter-vehicle distance control system of an inter-vehicle distance control system, wherein the vehicle is allowed to accelerate when the speed is greater than a predetermined value determined by the driver propensity analysis module and when the inter-vehicle time with the preceding vehicle is greater than the predetermined value.
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CN102826092A (en) * 2011-06-17 2012-12-19 现代摩比斯株式会社 Intelligent cruise control system and inter-vehicle distance control method using system
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