KR101128271B1

KR101128271B1 - Collision safety control device for vehicle

Info

Publication number: KR101128271B1
Application number: KR1020060127184A
Authority: KR
Inventors: 강형진; 김병주; 윤팔주
Original assignee: 주식회사 만도
Priority date: 2006-12-13
Filing date: 2006-12-13
Publication date: 2012-03-23
Also published as: KR20080054705A

Abstract

The present invention relates to a vehicle collision safety control device, in particular, the present invention predicts the possibility of collision with the front object by using the front detection to warn the collision in advance by the alarm screen and alarm sound and the electric seat belt, hydraulic braking Automatic drive of the unit and the motorized seat belt prevent collisions or reduce damage.

To this end, the present invention includes a front detection sensor, each vehicle motion sensor, a hydraulic device, a seat belt control device, a screen and an audio output unit, and an electronic control unit that performs overall vehicle collision safety control, and electronic control. The unit judges the collision risk of the vehicle based on the information detected by the front sensor and each motion sensor, and if the level is low based on the determined collision risk, the unit displays the danger situation accordingly. If the level is high, if the level is high, the hydraulic system is activated with a danger warning to automatically brake the vehicle, or if the collision is imminent and the level is the highest level, together with the seat belt for the driver's safety. It characterized in that the automatic winding control of the seat belt for driving the control device.

Description

Collision safety control device for vehicle

1 is a control block diagram of a vehicle collision safety control apparatus according to the present invention.

2 is a control flowchart of a vehicle collision safety control method according to the present invention.

3 is a control block diagram illustrating a process of automatically braking a vehicle using a hydraulic apparatus according to a collision risk of the vehicle.

FIG. 4 is a graph illustrating a control result of a vehicle deceleration according to the automatic braking of FIG. 3.

5 is a view for explaining a process of performing the warning control, braking control and seat belt control step by step according to the risk of collision of the vehicle.

6 is a graph for explaining a control process when the risk of collision of the vehicle with respect to the front object is 1 or less.

FIG. 7 is a graph for describing a control process when the driver's braking is at a late collision risk level 2 to 3;

FIG. 8 is a graph for explaining a control process in a situation where a collision risk level 4 or more that the driver cannot cope with.

[Description of the Reference Numerals]

10: electronic control unit 11: main controller

12: input interface 13: output interface

20: front sensor 21: brake pedal

22: accelerator pedal 23: steering angle sensor

24: master cylinder pressure 25: yaw rate sensor

26: longitudinal acceleration sensor 30: hydraulic device (valve and motor control unit)

40: screen and voice output unit 50: seat belt control device

51: seat belt 52: motor

The present invention relates to a vehicle collision safety control device, and more particularly, to a vehicle collision safety control device that warns a driver of a possibility of a collision of a vehicle and minimizes a driver's damage during a vehicle collision.

In general, when the vehicle ahead of the vehicle running on the road stops or parks to become an obstacle to detect and warn the driver, if there is a high possibility of collision, it is necessary to minimize the damage of the driver by automatically braking the vehicle.

The present invention is to meet this demand, the object of the present invention is to predict the possibility of collision with the front object by using the front sense to warn the driver, if the collision possibility is high by driving the brake and the seat belt automatically collision It is to provide a vehicle crash safety control device that can prevent or reduce the damage.

Vehicle collision safety control apparatus of the present invention for achieving the above object is a front detection sensor that can detect the relative speed and the relative distance of the object in front of the vehicle, each motion sensor for detecting the movement of the vehicle, the vehicle Hydraulic system that generates the braking force of the vehicle, Seat belt control unit that automatically drives the seat belt using the motor, Screen and voice output that informs the risk of collision in driving situation, Electronic that performs overall vehicle collision safety control And a control unit, wherein the electronic control unit determines the collision risk of the vehicle based on the information detected by the front sensor and each motion sensor, and if the level is low based on the determined collision risk, Warn the driver of the dangerous situation according to the screen and audio output unit, and if the level is high, with the dangerous situation warning When the hydraulic system is driven to automatically brake the vehicle, or if the collision is imminent and the level is the highest level, for the safety of the driver, the seat belt for driving the seat belt control device is automatically wound and controlled. do.

The electronic control unit may determine a target deceleration corresponding to the level degree on the basis of the determined collision risk, and perform deceleration control by comparing the current deceleration with the current deceleration of the vehicle.

The electronic control unit is characterized in that the automatic control of the seat belt on the basis of the winding degree corresponding to the level of the degree based on the determined risk of collision, the automatic seat belt control.

If necessary, the electronic control unit is characterized in that the automatic braking in cooperation with EBS, ABS, ESP.

Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the drawings.

The present invention calculates the risk of collision of the vehicle using the front sensor and warns the driver with a seatbelt, a screen and an audio output unit according to the magnitude of the value, and automatically in a situation of high collision possibility. Control the longitudinal deceleration of the vehicle to brake the vehicle. Therefore, the present invention can perform a function of increasing the brake pressure to assist the immature braking operation of the driver in a crash situation while the driver is not accurately aware of the danger of the obstacle ahead. The present invention also provides an electronic brake system (hereinafter referred to as EBS), an anti-lock brake system (hereinafter referred to as ABS), and a vehicle posture control system to maintain vehicle stability during control. Perform cooperative control with vehicle stability control systems such as the Electronic Stability Program (hereinafter referred to as ESP).

Vehicle collision safety control apparatus according to the present invention, as shown in Figure 1, the front sensor (Radar sensor) 20 that can detect the relative speed and relative distance of the object in front of the vehicle, and brake pedal (Brake) Pedal (21), Accel pedal (22), Steering sensor (23), Master cylinder pressure (M / cyl pressure) 24, Yaw rate sensor (25) Each movement sensor to grasp the movement (behavior) of the vehicle, such as the longitudinal acceleration sensor (Longitudinal G) 26 and the wheel speed sensor 27, and a hydraulic device that generates the braking force of the vehicle. (Hydraulic) (30), Motor (52) using the seatbelt control unit (50) to automatically drive the seatbelt (51), and the risk of collision in driving situations Informing display and sound unit 40, and electronic control unit (ECU) 10 for performing overall vehicle collision safety control And a. The electronic control unit 10 transmits a control command to the front interface sensor and an input interface 12 for receiving information from each motion sensor, the hydraulic device 30, and outputs a screen and an audio output unit ( 40 and the seatbelt control device 50, based on the information input through the output interface (13) for transmitting a control command through the CAN communication and the input interface (12) Main to output the control command to the hydraulic device 30, the screen and voice output unit 40 and the seat belt control device 50 through the output interface 13 to determine the risk of collision and to generate a control amount corresponding thereto. It consists of a main controller 11.

As shown in FIG. 1, the ECU 10 with the main controller 11 receives the forward sensing information from the input interface 11, and the driver decelerates the brake pedal and the master cylinder pressure. The determination is made by measuring the acceleration will and receiving the information by measuring the position of the accelerator pedal (or the engine throttle opening). In addition, the current speed, deceleration, and acceleration of the vehicle can be determined from the wheel speed sensor 27 of each wheel, and the behavioral stability of the vehicle can be determined. The output interface 13 issues a control command to control the brake of the vehicle to the hydraulic device 30 through the calculated information, and transmits the dangerous situation to the screen and the voice output unit 40 through CAN communication. Inform the driver of the degree of danger. In addition, the seat belt 51 is automatically driven through CAN communication to warn the driver, and the motor 52 is operated through the seat belt control device 50 so as to reduce damage even in a crash situation. For example, by driving the seat belt winding means such as seat belt retractor to perform the automatic winding control of the seat belt (51).

2 is a view showing a control flowchart of the vehicle collision safety control apparatus according to the present invention. Referring to FIG. 2, first, in step S100, the electronic control unit (ECU) 10 drives the vehicle from various sensors such as front sensing, wheel speed, steering angle, yaw rate, longitudinal acceleration, and master cylinder pressure mounted on the vehicle. Monitor the situation.

In addition, in step S101, the electronic control unit (ECU) 10 calculates the probability of collision with an object in front of the vehicle as a collision hazard level and waits for collision safety control. At this time, the electronic control unit (ECU) 10 determines the target deceleration preset according to the calculated level of the collision risk, and performs the warning, automatic braking, and the seat belt operation accordingly, respectively. The control command is output to the unit 40, the hydraulic device 30, and the seat belt control device 50.

At this time, if the driver interference determination result of step S102, the driver's additional braking intention is received through the amount and the change amount of the brake pedal and the master cylinder pressure, in step S103, the driver index is set and added to the collision risk calculation. Reflect it.

Therefore, when the collision risk is low according to the collision risk of the vehicle, the step S104 warns the driver of the possibility of collision of the vehicle through the screen and the audio output unit. In S105, the hydraulic system is automatically controlled to compensate for the driver's braking force. When the vehicle crash is almost imminent, in step S106, the hydraulic system is automatically controlled and the seat belt controller is automatically driven to automatically wind the seat belt. Minimize the driver's damage caused by the vehicle crash.

As shown in FIG. 3, the process of automatically braking the vehicle by using the hydraulic device according to the collision risk of the vehicle is performed by using a target deceleration calculator in the target deceleration calculator. The vehicle speed calculator estimates the current speed and deceleration of the vehicle from a wheel speed sensor of four wheels of the vehicle. In addition, the deceleration control unit controls the valve of the hydraulic unit 30 by using an error between the estimated target deceleration value and the deceleration value of the current vehicle. And a driving cycle and a control amount of the motor. In addition, the driving command for the hydraulic unit (30) determined by the deceleration control unit (Deceleration control unit) is a hydraulic unit (30) determined by the vehicle stability control functions EBS, ABS, TCS, ESP Perform cooperative control in connection with the drive command for.

As shown in FIG. 4, the vehicle deceleration control result controlled in the above manner is determined by a collision hazard level based on information input from the front sensor 20, and thus, target deceleration. It can be seen that the deceleration of the actual vehicle is to be followed as the value changes.

Collision hazard level (Collision hazard level) consists of a total of four stages, as shown in Figure 5, and with each type of collision risk warning that is alerted through the screen and sound output (Dispaly and sound) 40 It is set. The warning type is warning when collision risk is level 1, no warning when level 2, sound (low freq), level 3, blinking and medium frequency (blinking warning + sound (medium freq)). , Level 4, it is set to blinking and high frequency sound (Blinking warning + sound (High freq)).

In addition, for each of the four stages of the risk of collision, a target deceleration value (-0.2g to -0.8g) calculated for automatic brake control through the hydraulic device 30 is set. Accordingly, during automatic braking, the target deceleration can be determined according to the level degree corresponding to the collision risk, and the current deceleration can be reached at the determined target deceleration rate. Control.

In addition, the winding degree of the automatic seatbelt control is set for each of the four levels of the collision risk. That is, in the case of level 1 and level 2, the automatic seat belt control is not performed, and in the case of level 3, the seat belt is warped by a certain amount of light impact-warning, and in the case of level 4, the seat belt is The degree of fastening of the seat belt is set to protect the driver from collision by full retraction.

Therefore, as shown in FIG. 6, in a situation where the collision risk of the vehicle to the front object is at level 1 or less, no control is performed, and when the level is above 1, the driver is warned of a dangerous situation and the brake operation is automatically performed at a low target deceleration. This helps the driver to deal quickly with braking afterwards. As shown in FIG. 7, when the braking of the driver is late, the braking force of the driver may be compensated for according to the risk of collision of the front object through the front sensing to prevent the collision. In addition, as shown in FIG. 8, in a situation where the risk of collision that the driver cannot cope with is high, the seat belt is automatically wound completely and a high braking force is formed through the hydraulic device 30 to prevent a collision or damage due to a collision. To alleviate As such, during sudden braking control, slip occurs at the wheels of the vehicle, which adversely affects the stability of the vehicle, thereby cooperatively controlling it with active safety functions such as EBS, ABS, and ESP.

As described in detail above, the present invention predicts the possibility of collision with the front object by using the front sensing to warn the collision in advance by the alarm sound and the electric seat belt, and the automatic driving of the hydraulic braking device and the electric seat belt. It has the effect of preventing collisions or mitigating damage.

Claims

A front sensor for detecting the relative speed and the relative distance of an object in front of the vehicle,

Each motion sensor for detecting a movement of the vehicle,

Hydraulic device to generate a braking force of the vehicle,

Seat belt control device that automatically drives the seat belt using a motor,

Screen and voice output to inform you of the risk of collision in driving situation,

An electronic control unit for performing overall vehicle collision safety control,

The electronic control unit determines the collision risk of the vehicle in four stages based on the information detected by the front sensor and each motion sensor,

When the collision risk level is 1, the screen and the audio output unit do not warn the driver, and the seat belt control device does not control the seat belt.

When the collision risk level is 2, the voice output unit warns with low frequency sound, and the seat belt controller does not control the seat belt.

When the risk of collision is level 3, the screen and the audio output unit to be warned by the flashing and intermediate frequency sound, and the seat belt control device to control the winding of the seat belt at a predetermined rate,

When the collision risk level is 4, the screen and the audio output unit to be warned by the flashing and intermediate frequency sound, and the seat belt control device to control the maximum winding of the seat belt,

And if the collision risk level is greater than or equal to level 1, driving the hydraulic device to automatically brake the vehicle.
The method of claim 1, wherein the electronic control unit determines a target deceleration corresponding to the level of the vehicle, based on the determined collision risk, and compares it with the current deceleration of the vehicle to perform deceleration control. Vehicle collision safety control, characterized in that.
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