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

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

Distance control system and its distance control method {a vehicle interval control system and the drive disposition collection method

1 is a working block diagram of one embodiment of the present invention;

2 is a flowchart illustrating a driver approach relative speed of the present invention.

3 is a flowchart for calculating a driver acceleration time according to the present invention.

4 is an operation flowchart of an acceleration condition detection module for determining an acceleration allowance value (AccelEn) value;

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.

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.

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.

On the other hand, the problems with the prior art for controlling the distance to the preceding vehicle can be classified into two categories.

The first is how quickly or safely the driver keeps the desired distance when a slowing preceding vehicle is found.

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.

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.

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.

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.

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.

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.

1 is an operational block diagram of one embodiment of the present invention.

The inter-vehicle distance control method of the present invention is largely divided into speed control and distance control.

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.

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.

However, since the acceleration value is basically limited to DecelLmt ~ 0, the acceleration is restricted (③).

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).

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.

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.

2 is a flowchart illustrating a driver approach relative speed calculation according to the present invention.

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.

The conditions for applying the relative speed to the average value are as follows.

1) Leading vehicle speed <own vehicle speed

2) Initial distance from the preceding vehicle> Current speed * Constant value

3) Final distance from the preceding vehicle <current speed * constant value

4) Conditions 2) and 3) must be met within a certain time

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.

The extracted approach relative speed average value is RelSpdLoHys = basic relative speed + (basic relative speed-average relative speed) * constant

It is output as RelSpdLoHys by the calculation of.

3 is a flowchart illustrating a driver acceleration time calculation according to the present invention.

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.

The conditions applied at this time are as follows.

1) Initial relative distance <constant value

2) Initial | relative speed | <Constant value

3) 1) and 2) are satisfied at the same time-CalReady = ON

4) Leading vehicle speed> initial speed + constant value when condition 3) is satisfied

5) When the condition 4) is satisfied, own vehicle> initial speed + constant value

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.

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.

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.

4 is an operation flowchart of an acceleration condition detection module that actually determines an acceleration allow value (AccelEn) value.

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).

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.

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.

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.

By simply setting the non-acceleration condition and strengthening the acceleration tolerance condition, it can be an opportunity to enhance safety.

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).

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.

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.

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.

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.

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.

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)

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; 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; 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. By default, the acceleration is limited so that the acceleration value is DecelLmt ~ 0. 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 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. 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. . 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). 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. 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. 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; 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; 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. By default, the acceleration is limited so that the acceleration value is DecelLmt ~ 0. 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 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, 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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