KR101318910B1 - Apparatus for sensing, measuring conflicting predicting time and outputting signal on behind vehicle - Google Patents

Abstract

PURPOSE: A device for sensing vehicles behind, measuring a predicting time of the collision, and outputting a signal is provided to prevent the collision and to improve the protection by measuring and evaluating an operational point of an active heat support unit. CONSTITUTION: A device for sensing vehicles behind, measuring a predicting time of the collision, and outputting a signal comprises a computer, a rear vehicle measuring device (100), a headrest measuring device (200), and a speed measuring device (300). The computer calculates relative velocity and distance of the vehicle behind with a vehicle and displays a signal inputted from each device. The rear vehicle measuring device is mounted at a bumper or a trunk of the vehicle. The rear vehicle measuring device includes a laser sensor (120) measuring the relative velocity and distance of the vehicle behind with the vehicle in the driving. The headrest measuring device includes a jig in a pillar type between a front seat and a rear seat of the vehicle. The headrest measuring device is installed in order that the height is controlled. The speed measuring device is formed to control a gap of nuts. [Reference numerals] (120) Laser sensor; (220) Photo sensor; (240) Wire sensor; (260) Current probe; (400) Notebook; (S20) Measure the relative velocity and distance of the vehicle behind with the vehicle in the driving; (S40) Time when a head rest is operated; (S60) Measure the velocity of the driving vehicle; (S80) TTC (Time to Collision) (calculation)

Description

Apparatus for Sensing, Measuring Conflicting Predicting Time and Outputting Signal on behind Vehicle}

BACKGROUND OF THE INVENTION 1. Field of the Invention [0001] The present invention relates to a trailing vehicle detection, collision prediction time measurement and signal output device of a host vehicle. In particular, the bumper or the trunk portion of the rear of a vehicle is provided with a laser sensor for rear sensing, and the relative distance and the relative speed of the approaching vehicle are approached. Calculate and install the encoder sensor on the wheel of the vehicle to add the vehicle speed to measure the rear collision prediction time and the column type sensor on the rear seat of the vehicle to display the collision safety device, ie active active headrest signal. The present invention relates to a trailing vehicle detection, a collision prediction time measurement, and a signal output device.

Conventional seatbacks, seat belts and active head restraints are widely used on the basis of their safety. In addition, in order to predict the collision of the rear vehicle, a conventional laser sensor is provided as a construction means for the rear collision detection device for detecting and outputting the distance and the speed detection effectiveness of the rear vehicle and the obstacle approaching in real time. have. In the laser sensor, a locking range according to driving conditions is set according to the sensing range performance of the sensor. However, in a situation in which the rear detection is not smooth compared to the front in the driving environment, a blind spot occurs in the sudden approach to the left and right sides by the lane change or the approach on the curved road.

Accordingly, Korean Patent Application Publication No. 2012-0036909 of the present applicant has a detection unit for rear sensing on a bumper or a trunk part of the rear of a vehicle to calculate a distance and relative speed of an approaching rear vehicle to predict a rear collision accident and collide with it. The present invention discloses a device and a method for detecting and colliding a trailing vehicle that can mitigate a collision shock of a passenger or a passenger by transmitting a signal to a safety device, that is, a seatback or an active head support.

The present invention is a further improvement of the prior patent publication No. 2012-0036909 of the present applicant.

Republic of Korea Patent Publication No. 2012-0036509

The present invention has been conceived in the background as described above, having a laser sensor for rear sensing in the bumper or trunk portion of the rear of the vehicle and calculates the relative distance and relative speed of the approaching rear vehicle and the encoder sensor on the vehicle wheel wheel of the vehicle Device to measure the rear collision prediction time by adding a vehicle speed and a post-sensor in the rear seat of the vehicle to detect the collision safety device, that is, to detect the trailing vehicle displaying the active active headrest signal, and to measure the collision prediction time. The purpose is to provide a signal output device.

In order to achieve the above object, a trailing vehicle detection, a collision prediction time measurement and a signal output device according to an embodiment of the present invention detect a vehicle that follows a vehicle, measure a collision prediction time, and operate a safety device such as a headrest. A device for displaying the time of a viewpoint,

A computer for calculating the relative speed and relative distance between the host vehicle and the following vehicle and displaying a signal input from each device;

A rear vehicle measuring apparatus mounted on a bumper or a trunk of a vehicle and having an assembly structure using an aluminum material, the rear vehicle measuring apparatus including a laser sensor measuring a relative distance and a relative speed between a traveling vehicle and a trailing vehicle;

It consists of a pillar-shaped jig between the front and rear seats of the vehicle, and it is possible to adjust the height. It is a photo sensor and a wire sensor for measuring the position of the headrest and the amount of current. And a control board including a current probe, the control board receiving a signal from the sensors and transmitting a signal to the computer. And

Implemented to be mounted on the bolt of the wheel of the vehicle for easy assembly on the vehicle, designed to adjust the gap of the nut, designed to withstand damping of the vehicle, and encoder to measure the speed of the vehicle Trailing vehicle speed detection, collision prediction time measurement and signal output device, characterized in that it comprises a vehicle speed measurement device that can measure the vehicle speed based on the 200 pulses input from the encoder and the diameter of the wheel of the vehicle; To provide.

According to another embodiment of the present invention, a method for detecting a vehicle following a host vehicle, measuring a collision prediction time, and displaying a time of operation of a safety device such as a headrest,

Three sensors mounted on the bumper of the vehicle are boosted to DC 220V through DC / DC conversion from the vehicle's power supply and stepped down to 12V again and supplied with 12V DC power to detect a trailing vehicle within 30m behind the vehicle Outputting an analog signal by removing a noise component from a signal converter from a current amount signal received from a sensor varying according to the signal;

When outputted as digital signal through Analog-Digital conversion from DAQ (DATA Acquisition), the program calculates the relative speed and relative distance of the following vehicle and displays it on the computer's display.The photo sensor, current probe, and wire sensor are head When the position and current amount change until the operation of the rest is continuously measured, and the position and current amount data during the operation of the headrest are transmitted to the control board in analog form, the control board converts the digital signal and receives the data from the three sensors. Transmitting the first received signal among the signals to the computer, the computer displaying on the display;

When the encoder of the own vehicle measuring device outputs a pulse number, that is, 200 pulses according to the encoder rotation speed according to the wheel rotation when the vehicle runs, the 200 pulses are input to the control board, and the control board outputs the number of pulses output from the encoder and the vehicle. Calculating and displaying the host vehicle speed according to the wheel diameter on the display of the computer; And

Detecting, by the computer, a TTC based on the relative speed and relative distance of the trailing vehicle measured and calculated by the sensor and the host vehicle speed from the encoder and the control board, and displaying the TTC on the display. It also provides collision prediction time measurement and signal output method.

According to the present invention, by detecting a trailing vehicle and measuring the relative speed and relative distance of the trailing vehicle, the collision prediction time of the trailing vehicle is displayed, and the operation time of the active head support is further measured and evaluated. It can be expected to provide an anti-collision or protection device.

1 is a block diagram of a trailing vehicle detection, collision prediction time measurement, and signal output apparatus according to an embodiment of the present invention.
2 is a flowchart illustrating the operation of the following vehicle detection, collision prediction time measurement and dangerous signal transmission device of the present invention.
3 and 4 show an operation flowchart of a program applied to the present invention.
5 is a screen for displaying the TTC, the own vehicle speed, the relative distance and relative speed of the trailing vehicle and the operation time of the headrest on the implementation screen of the device of the present invention.

Hereinafter, a trailing vehicle detection, a collision prediction time measurement, and a signal output device according to an embodiment of the present invention will be described in detail with reference to the accompanying drawings. In the drawings, the same or similar reference numerals are given to the same or similar portions.

 1 is a block diagram of a trailing vehicle detection, collision prediction time measurement, and signal output apparatus according to an embodiment of the present invention.

As shown in the figure, the apparatus of the present invention is largely composed of a rear vehicle measuring apparatus 100, a headrest measuring apparatus 200, a host vehicle speed measuring apparatus 300 and a notebook PC (400). When the notebook PC is implemented in an office-like environment, the notebook PC may be a general desktop computer. Also, the notebook PC is not limited to the notebook and any of the notebook PCs having similar or equivalent functions may be, for example, an industrial PCSK Rs232 or a DAQ board. It may also be implemented as a mounted device.

The rear vehicle measuring apparatus 100 is an assembly-type structure using an aluminum material, and includes a laser sensor 120 that measures a relative distance and a relative speed between a vehicle and a following vehicle while driving, and measures the rear vehicle. The device 100 is mounted on a bumper or trunk of a vehicle, and when mounted on a trunk, a permanent magnet may be used, and when mounted on a bumper, the device 100 may be mounted using a bolt on a vehicle license plate, but is not limited thereto. . The laser sensor 120 here uses a laser sensor, but is not limited thereto. The measurement distance was able to measure from 0.5mm to 30m, but is not limited thereto. In addition, the rear vehicle measuring apparatus 100 is implemented to be mounted on all vehicles regardless of the vehicle type, such as large, medium, small, etc. Also, the laser sensor 120 is designed so as not to be affected by vehicle vibration and damping. Although not shown in the drawings, a Kalman filter and a low pass filter were used to remove noise.

The laser sensor 120 is three, when one sensor detects the first target and the second target when the measurement of the rear object, such as a trailing vehicle, the distance between the two targets 30cm or more If the gap is a program that is not recognized as an object is embedded in the notebook PC (400). That is, when the following vehicle is a passenger car, when the one sensor recognizes the center portion of the bumper of the trailing vehicle and the other sensor recognizes the edge portion of the bumper, the distance between the bumper and the distance of the bumper in the center portion of the bumper The distance between the car on both edges is different. In this case, the object is recognized only when the difference between the two targets, namely, the center of the bumper and the edge, is within 30 cm, so that trees or other objects are not recognized as moving vehicles.

The program is also programmed to allow correction of the sensor position. The error caused by the distortion is compensated for to obtain accurate measurement data.

The headrest measuring device 200 is composed of a jig (zig) in the form of a column between the front seat and the rear seat of the vehicle, the jig of the pillar shape is to be able to adjust the height. Although not shown, the headrest measuring apparatus 200 may include a photo sensor, a wire sensor, and a current probe, and may receive signals from the sensors to receive the notebook PC ( It includes a control board for transmitting a signal to 400, and can be installed in all vehicles except for a vehicle without a rear seat such as a truck.

The wire sensor detects particle displacement or speed by a wire and sends it as an electrical signal. It is installed in the form of surrounding the active headrest and detects the displacement and the like until the active headrest is operated. The detected amount of current is transmitted to the control board.

The photosensor may be a commercially available BTF sensor, but is not limited thereto, and the detection spot may be positioned by applying a red LED visible light, and may be a transmissive type, diffuse background suppression (BGS) reflective type, or diffuse reflective type. Can be in mold The detection distance of the BTS sensor is 5 ~ 30mm, the minimum detection object is 0.2mm. The photo sensor emits light beams to the headrests and receives the light beams to measure the position of the headrests until the headrests are operated, and transmits the positions of the headrests when the headrests are operated.

The current probe is composed of a current measuring probe and a meter and detects a change in the current of the headrest to measure the amount of current until the active headrest is operated, and transmits the current amount of the headrest to the control board when the headrest is operated. .

The host vehicle speed measuring apparatus 300 includes an encoder for measuring the speed of the host vehicle, and is implemented to be mounted on a bolt of a wheel of the vehicle so as to be easily assembled to the vehicle, and designed to adjust the gap of the nut. In addition, the host vehicle speed measuring apparatus 300 is designed to withstand the damping of the vehicle, and the vehicle speed measurement of the host vehicle calculates the host vehicle speed based on 200 pulses input from the encoder 320 and the diameter of the wheel of the vehicle. . In the above, the encoder 320 uses an encoder having a resolution of 200 pulses, but is not necessarily limited thereto.

Referring to the drawings, the relative distance and the relative speed with the rear vehicle coming from the laser sensor 120 mounted on the bumper of the vehicle is measured (S20), the photo sensor 220, the wire sensor 240 and the current From the probe 260, the control board transmits the signal which has been received most quickly among the measured position and current amount of the headrest received until the headrest operation (S40).

And the encoder 320 of the host vehicle speed measuring device 300 measures the speed of the host vehicle and transmits it to the control board. The control board transmits the first input signal among the photo sensor 220, the wire sensor 240, and the current probe 260 to the notebook PC 400, and the notebook PC 400 displays the first input signal. A relative speed, relative distance, and own vehicle speed of the rear vehicle based on signals received from the rear vehicle measurement apparatus 100 and the host vehicle speed measurement apparatus 300 and displayed by the program; Calculate the estimated collision time).

2 is a flowchart illustrating the operation of the following vehicle detection, collision prediction time measurement and dangerous signal transmission device of the present invention.

As shown in the figure, the sensors 1, 2, 3 (120) mounted on the bumper of the vehicle are stepped up from the vehicle power supply 500 to DC 220V through DC / DC conversion and stepped down to 12V again to supply 12V DC power. The noise component of the signal converter 140, specifically, a Kalman filter or a low-pass filter, detects a trailing vehicle within 30 m of the rear of the vehicle, and receives a current amount signal from the sensor 120 that changes according to the sensing distance. When outputting the analog signal by removing the (S100) DAQ (DATA Acquisition; 160) to output the digital signal through the A / D conversion (S120) by calculating the relative speed and relative distance of the following vehicle by the program of the present invention Display on the PC 400 (S140).

Meanwhile, when the control board 280 of the headrest measuring device 200 supplies power to the photosensor 220, the current probe 260, and the wire sensor 240, the photosensor 220 and the current probe 260. ), And the wire sensor 240 continuously measures the position and current amount change until the operation is performed in anticipation of the TTC based on the data obtained by the headrest (not shown) through its GPS. When the position and current amount data during operation is transmitted to the control board 280 in the analog form (S180, S200), the control board 280 is converted into a digital signal and received first among the signals received from the three sensors When the signal is transmitted to the PC 400, the PC 400 displays on the display (S220).

In addition, when the encoder 320 outputs a pulse number, that is, 200 pulses according to the encoder rotation speed according to the wheel rotation when the vehicle runs, the 200 pulses are input to the control board 280 and the control board 280 may The host vehicle speed is calculated and displayed on the PC 400 according to the number of pulses output from the encoder 320 and the vehicle wheel diameter (S240, S260, and S280).

The PC 400 displays a TTC, that is, an estimated collision time, based on the relative speed and relative distance of the trailing vehicle measured and calculated from the sensor 120 and the host vehicle speed from the encoder 320 and the control board 280 (S160). ).

3 and 4 show an operation flowchart of a program applied to the present invention.

First, create a DB of the test date of the device of the present invention and open the DB file (S300, S320). Then, a low data is displayed on the grid and the laser sensor 120 is loaded, and the sensing distance is 20 m, the minimum distance is 0 m, the maximum distance is 20 m. The minimum speed VelocityMin is 0 km, the maximum speed VelocityMax is 50 km, and the sensing time SensingTime is set to 3 seconds (S340 and S360).

Then set the Float X axis to 0-10, and in the Float Y axis setting # 1,

Set the minimum distance (DistMin)-(maximum distance (DistMax)-minimum distance (DistMin))

In Float Y axis setting # 2,

It is set as the minimum distance (VelloMin)-(the maximum distance (VelloMax)-the minimum distance (VelloMin)) (S360).

Then, the sensor reading screen is loaded (S400).

In this case, the predefined order is called.

First, the timer is turned on (100mSec), and a gain and a channel are set to set floating B / D (S420 and S440). Then, the analog input voltage (V), the distance (m) and the speed (Km / H) are read to read the sensor value (S460). Next, the host vehicle speed is measured and stored in a file (S480, S500).

After the step sensor reading screen loading step (S400), it is determined whether the measurement mode (Measure Mode) or view mode (S520).

In the view mode, the date DB is selected, the data grid is double-clicked or the graph view is clicked to display the measurement row data graph representations (S660, S680, and S700).

 In the measurement mode, the sensing distance is measured by the sensor 120 (50m / Sec), and the relative speed is measured (S540). Subsequently, the host vehicle speed is measured and it is checked whether the measurement distance is smaller than the detection interval (S560, S580).

If the measured distance is smaller than the sensing interval, the sensing distance is measured and the relative speed is returned to the measuring stage. If the measurement distance is not smaller than the detection interval, it is determined that the measurement of the relative speed and the relative distance of the following vehicle is correct and the operation of the headrest is measured (S600).

Subsequently, the shortest distance and the maximum speed of the trailing vehicle are stored in the DB, and the measurement row data file is generated (S620 and S640).

5 is a screen for displaying the TTC, the own vehicle speed, the relative distance and relative speed of the trailing vehicle and the operation time of the headrest on the implementation screen of the device of the present invention.

According to the present invention described above, by detecting a vehicle following the vehicle, by measuring the relative speed and the relative distance of the trailing vehicle to display the prediction time of the collision of the trailing vehicle to the vehicle, and measure the operation time of the active head support As a result, an effect of providing an improved collision prevention or protection device can be expected.

So far, the following description has been given of a trailing vehicle detection, a collision prediction time measurement, and a signal output device according to an embodiment of the present invention with reference to the drawings, but the above description is for illustrative purposes, and it should be understood that the present invention is not limited thereto. Rather, the scope of the present invention is defined by the following appended claims rather than the foregoing description, and the claims of the present invention are intended to cover all changes or modifications derived from the meaning and scope and equivalent concepts thereof. It should be construed as being included in the scope of the invention.

100: rear vehicle measuring device 120: laser sensor
140: signal converter 160: DAQ
200: headrest measuring device 220: photo sensor
240: wire sensor 260: current probe
280: control board 300: vehicle speed measuring device
320: encoder 400: notebook PC
500: vehicle power 600: display power

Claims (8)

A device that detects a vehicle following a vehicle, measures a collision prediction time, and displays a time at which a safety device such as a headrest is operated.
A computer for calculating the relative speed and relative distance between the host vehicle and the following vehicle and displaying a signal input from each device;
A rear vehicle measuring apparatus mounted on a bumper or a trunk of a vehicle and having an assembly structure using an aluminum material, the rear vehicle measuring apparatus including a laser sensor measuring a relative distance and a relative speed between a traveling vehicle and a trailing vehicle;
It consists of a pillar-shaped jig between the front and rear seats of the vehicle, and it is possible to adjust the height. It is a photo sensor and a wire sensor for measuring the position of the headrest and the amount of current. And a control board including a current probe, the control board receiving a signal from the sensors and transmitting a signal to the computer. And
Implemented to be mounted on the bolt of the wheel of the vehicle for easy assembly on the vehicle, designed to adjust the gap of the nut, designed to withstand damping of the vehicle, and encoder to measure the speed of the vehicle Trailing vehicle speed detection, collision prediction time measurement and signal output device, characterized in that it comprises a vehicle speed measurement device that can measure the vehicle speed based on the 200 pulses input from the encoder and the diameter of the wheel of the vehicle; .
The method according to claim 1,
The rear vehicle measuring device may use a permanent magnet when mounted on a trunk, and when mounted to a bumper, a trailing vehicle detection, collision prediction time measurement and signal output device, which may be mounted using bolts of a vehicle license plate. .
The method according to claim 1,
Measuring distance of the laser sensor can be measured from 0.5mm to 30m, and the rear vehicle measuring device is implemented to be mounted on all vehicles, regardless of the vehicle type, such as large, medium, small, etc., the vehicle vibration and damping Designed to be unaffected and the laser sensor comprises a Kalman Filter and a Low pass Filter to remove noise, characterized in that the following vehicle detection, collision prediction time measurement and signal output device.
The method according to claim 1,
The laser sensor is three, when one sensor detects the first target, and the second target when the measurement of the rear object such as a trailing vehicle, the gap between the two targets is more than 30cm gap In this case, a program that is not recognized as an object is embedded in the computer, and the program is also programmed to correct the sensor position, and is implemented to obtain accurate measurement data by compensating for errors due to distortion. Trailing vehicle detection, collision prediction time measurement and signal output.
The method according to claim 1,
The encoder of the own vehicle speed measuring device measures the speed of the own vehicle and transmits it to the control board, and the control board transmits the first signal of the photo sensor, the wire sensor and the current probe to the computer, and the computer The first input signal is displayed on the display board, and the relative speed, relative distance, and own vehicle speed of the rear vehicle are calculated based on the signals from the rear vehicle measuring device and the host vehicle speed measuring device, and the TTC (Time to Collision; detection of a trailing vehicle, collision prediction time measurement and signal output.
The method according to claim 1,
The wire sensor detects the displacement or velocity of particles by a line and sends it as an electrical signal. The wire sensor is installed in the form of surrounding the active headrest and detects the displacement and the like until the active headrest is operated to operate the headrest. Transfers the detected amount of current to the control board,
The photosensor can be applied to commercially available red LED visible light, the position of the detection spot can be confirmed, and can be of the transmission type, diffuse BGS (Background Suppress) reflection type, or diffuse reflection type, the detection distance is 5 ~ 30mm And the minimum detection object is 0.2mm, and the photo sensor measures the position until the headrest is operated by emitting the light beam to the headrest and receiving the return beam, and transmitting the position of the headrest when the headrest is operated. To;
The current probe is composed of a current measuring probe and a meter to detect a change in the current of the headrest to measure the amount of current until the active headrest is operated, and transmits the current amount of the headrest to the control board when the headrest is operated. Trailing vehicle detection, collision prediction time measurement and signal output device characterized in that.
A method of detecting a vehicle following a vehicle, measuring a predicted collision time, and displaying a time of operation of a safety device such as a headrest,
Three sensors mounted on the bumper of the vehicle are boosted to DC 220V through DC / DC conversion from the vehicle's power supply and stepped down to 12V again and supplied with 12V DC power to detect a trailing vehicle within 30m behind the vehicle Outputting an analog signal by removing a noise component from a signal converter from a current amount signal received from a sensor varying according to the signal;
When outputted as digital signal through Analog-Digital conversion from DAQ (DATA Acquisition), the program calculates the relative speed and relative distance of the following vehicle and displays it on the computer's display.The photo sensor, current probe, and wire sensor are head When the position and current amount change until the operation of the rest is continuously measured, and the position and current amount data during the operation of the headrest are transmitted to the control board in analog form, the control board converts the digital signal and receives the data from the three sensors. Transmitting the first received signal among the signals to the computer, the computer displaying on the display;
When the encoder of the own vehicle measuring device outputs a pulse number, that is, 200 pulses according to the encoder rotation speed according to the wheel rotation when the vehicle runs, the 200 pulses are input to the control board, and the control board outputs the number of pulses output from the encoder and the vehicle. Calculating and displaying the host vehicle speed according to the wheel diameter on the display of the computer; And
Detecting, by the computer, a TTC based on the relative speed and relative distance of the trailing vehicle measured and calculated by the sensor and the host vehicle speed from the encoder and the control board, and displaying the TTC on the display. , Collision prediction time measurement and signal output method.
A method of operating a program that detects a vehicle following a vehicle, measures a predicted collision time, and displays the time of an operation of a safety device such as a headrest,
Create DB of test date, open DB file, display low data on grid, load laser sensor 120 setting value, SensingDistance is 20m, MinimumMin Is 0m, the maximum distance (DistanceMax) is 20m, the minimum speed (VelocityMin) is 0km, the maximum speed (VelocityMax) is 50km, and the sensing time (SensingTime) is set to 3 seconds;
Set the Float X axis to 0-10, set the minimum distance (DistMin)-(maximum distance (DistMax)-minimum distance (DistMin)) for the first Float Y axis setting, and for the second Float Y axis setting, Minimum distance (VelloMin)-(maximum distance (VelloMax)-minimum distance (VelloMin));
It loads the sensor reading screen, which calls a predefined sequence, turns on the timer (100mSec), sets the gain and channel to set the floating B / D, and reads the sensor value. Reading the input voltage (V), distance (m) and speed (Km / H), then measuring the host vehicle speed and storing it in a file;
Check the measurement mode or view mode, and in view mode, select the date DB, double-click on the data grid, or click on the graph view to measure the raw data graph. In the case of the measurement mode, the sensor 120 measures the sensing distance by the sensor 120 (50 m / sec), measures the relative speed, measures the own vehicle speed, and checks whether the measuring distance is smaller than the sensing interval. and;
If the measured distance is smaller than the sensing section, the sensing distance is measured.If the measuring distance is not smaller than the sensing section, it is determined that the relative speed and the relative distance of the following vehicle are correct, and the headrest is operated. A method of operating a trailing vehicle detection, collision prediction time measurement and signal output program, characterized by storing the shortest distance and the maximum speed of the trailing vehicle in a DB and generating a measurement raw data file.

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