KR101498921B1 - Vehicle control apparatus and vehicle control method using there of - Google Patents

Abstract

A vehicle control apparatus and a vehicle control method using the same are disclosed. According to an embodiment of the present invention, a vehicle control apparatus includes: a traveling pattern sensing unit configured to sense a travelling pattern of a vehicle; a front risk level determination unit configured to determine a front risk level of the vehicle depending on a result sensed by the traveling pattern sensing unit; a side risk level determination unit configured to determine a side risk level of the vehicle depending on the result sensed by the traveling pattern sensing unit; a warning zone setting unit configured to set a warning zone depending on a result determined by the side risk level determination unit; a warning zone entry determination unit configured to determine whether the vehicle enters the warning zone set by the warning zone setting unit; and a warning unit configured to warn a driver in the case that a front risk level is less than or equal to a reference value as a result determined by the front risk level determination unit, or that the vehicle enters a warning zone as a result determined by the warning zone entry determination unit. Therefore, the vehicle control apparatus may secure the safety and efficiency of vehicle control by warning of a risk level based on a travelling pattern of a driver during long-distance driving.

Description

[0001] VEHICLE CONTROL APPARATUS AND VEHICLE CONTROL METHOD [0002] USING THERE OF}

The present invention relates to a vehicle control device and a vehicle control method using the same, and more particularly, to a vehicle control device for resetting a lane departure warning area by using a traveling pattern of a traveling vehicle and a vehicle control method using the same.

The Lane Keeping Assist System (LKAS) is a system that provides lane information and vehicle position information from a lane detecting camera mounted on a vehicle, and generates a steering torque so that the vehicle does not deviate from the lane .

In general, the lane-keeping assist system senses an unintended lane departure and controls the lane keeping.

However, the existing lane maintenance assist system has a problem that the driver is frequently exposed to zigzag driving and dangerous situations when he / she is drowsy in drowsy driving and forward situation, and is exposed to an accident situation due to late warning and control.

In addition, there is a problem in that collision with a forward vehicle or an object can not be prevented when only lane keeping is assisted.

Korean Patent Publication No. 10-2013-0009158

Embodiments of the present invention include a vehicle control device that warns a driver of a forward risk of a vehicle by sensing a driving pattern of a driver, determines a side danger level of the vehicle, sets a warning area according to a risk level, And to provide a vehicle control method using the vehicle.

According to an aspect of the present invention, there is provided a vehicle control apparatus for assisting a lane keeping of a vehicle by determining lane departure of the vehicle during driving, the vehicle control apparatus comprising: a traveling pattern sensing unit for sensing a traveling pattern of the vehicle; A forward danger level determining unit for determining a forward danger level of the vehicle according to the detection result of the travel pattern detecting unit; A side risk level determining unit for determining a side risk level of the vehicle according to the detection result of the travel pattern detecting unit; A warning area setting unit for setting a warning area according to a result of the determination of the side danger level determination unit; A warning area entry determining unit for determining whether a vehicle enters the warning area set by the warning area setting unit; And a warning unit for warning the driver if the forward risk level is lower than the reference value or the vehicle enters the warning area as a result of the determination by the warning area entry determination unit as a result of the determination by the forward risk level determination unit .

The traveling pattern sensing unit may include a camera for acquiring a forward image and a lane image of the vehicle, a steering sensor for sensing a traveling direction of the vehicle, and a pedal stroke sensor for sensing a travel distance of the brake pedal.

The forward danger level determining unit may include a collision time computing unit that computes a collision time with the preceding vehicle using the forward image and a braking start determination unit that determines a braking start elapsed time of the driver based on the movement distance of the brake pedal . ≪ / RTI >

The forward risk level determining unit may determine the forward risk level according to the difference between the collision time calculated by the collision time calculating unit and the braking start elapsed time determined by the braking start determining unit.

The lateral risk level determination unit may include an abnormal driving determination unit that determines an abnormal driving of the vehicle using the driving direction and a continuous driving time calculation unit that calculates a continuous driving time of the vehicle.

The lateral risk level determining unit may determine the lateral risk level step by step as the continuous driving time calculated by the continuous driving time computing unit increases when the abnormal driving determination unit identifies the abnormal driving of the vehicle by the abnormal driving determination unit have.

The warning area setting unit sets the warning area corresponding to the stepwise determined level of danger level step by step, and the stepwise set warning area indicates a lane departure determination value of the lane departure The width can be set to be reduced.

When the abnormal driving level of the vehicle is confirmed by the abnormal driving level determination unit, the level of the lateral danger level is set to the first level and the level of the lateral risk level is increased as the continuous driving time calculated by the continuous driving time calculation unit increases. 2 level and the third level.

The warning area setting unit sets a first warning area, a second warning area, and a third warning area corresponding to the first level, the second level and the third level, and the width of the first warning area is a width The width of the second warning area is narrower than the width of the first warning area, and the width of the third warning area is narrower than the width of the second warning area.

According to another aspect of the present invention, there is provided a driving pattern detecting method for detecting a traveling pattern of a vehicle, A forward risk level determination step of determining a forward risk level of the vehicle according to the detection result detected in the traveling pattern detection step; A side risk level determination step of determining a side risk level of the vehicle according to the detection result of the traveling pattern detection step when there is no forward risk of the vehicle as a result of the determination in the forward risk level determination step; A warning area setting step of setting a plurality of warning areas according to a result of the determination of the side risk level; A warning area entry determination step of determining whether a vehicle enters the warning area set in the warning area setting step; And a warning step of warning the driver if the forward risk level is lower than the reference value or the result of the determination in the warning area entry determination step is that the vehicle enters the warning area as a result of the determination in the forward risk level determination step have.

According to another aspect of the present invention, there is provided a driving pattern detecting method for detecting a traveling pattern of a vehicle, A forward risk level determination step of determining a forward risk level of the vehicle according to the detection result detected in the traveling pattern detection step; A side risk level determination step of determining a side risk level of the vehicle in accordance with the detection result of the traveling pattern detection step when there is no forward risk of the vehicle as a result of the determination in the forward risk level determination step; A warning area setting step of setting a plurality of warning areas according to a result of the determination of the side risk level; A warning area entry determination step of determining whether a vehicle enters the warning area set in the warning area setting step; A warning step of warning the driver if the forward risk level is less than the reference value or the result of the determination in the warning area entry determination step as a result of the determination in the forward risk level determination step, and the vehicle enters the warning area; An alarm area resetting step of resetting the warning area after warning to the driver through the warning step; And a risk level initializing step of initializing the forward risk level and the side risk level to the risk level of the normal running state.

The embodiments of the present invention can ensure the safety and efficiency of the vehicle control by warning the degree of danger based on the driving pattern of the driver during long distance operation.

In addition, there is a safe effect to prevent the risk of accidents because it warns the driver by judging the forward risk level and the side risk level.

In addition, it is possible to warn the driver of the danger level according to the level of danger, thereby securing the safety and efficiency of the vehicle control.

1 is a block diagram of a vehicle control apparatus according to an embodiment of the present invention.
2 is a diagram showing a warning area of a vehicle control device according to an embodiment of the present invention.
3 is a flowchart of a vehicle control method according to an embodiment of the present invention.
4 is a flowchart of a vehicle control method according to another embodiment of the present invention.

Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings. The following embodiments are provided to fully convey the spirit of the present invention to a person having ordinary skill in the art to which the present invention belongs. The present invention is not limited to the embodiments shown herein but may be embodied in other forms. For the sake of clarity, the drawings are not drawn to scale, and the size of the elements may be slightly exaggerated to facilitate understanding.

1 and 2, a vehicle control apparatus according to an embodiment of the present invention includes a travel pattern detecting unit 110, a forward danger level determining unit 120, a side danger level determining unit 130, 140, a warning area entry determination unit 150, and a warning unit 160.

The forward risk level determining unit 120, the side risk level determining unit 130, the warning area setting unit 140, and the warning area entry determining unit 150 may be configured as a single controller C. [

The traveling pattern sensing unit 110 senses the traveling pattern of the vehicle 10. [

The traveling pattern sensing unit 110 includes a camera 111 for acquiring a forward image and a lane image of the vehicle 10, a steering sensor 112 for sensing a traveling direction of the vehicle, and a pedal stroke sensor (113).

The camera 111 can detect the vehicle position error on the road on which the vehicle 10 is traveling, curvature of the lane, attitude angle information with the lane, etc. mounted on the vehicle 10.

The positional error means a distance from the center lane of the lane (LC) with respect to the camera 111, the curvature of the lane means the curvature of the lane at the position of the camera 111, It means the angle the direction makes with the lane.

The forward danger level determining unit 120 determines the forward danger level of the vehicle 10 based on the detection result of the travel pattern detecting unit 110. [

The forward danger level determining unit 120 includes a collision time calculating unit 121 and a braking start determining unit 122. [

The collision time calculating means 121 calculates the collision time with the forward vehicle 20 or the forward object (not shown) using the forward image.

The collision time calculation means 121 can calculate the collision time using the distance between the vehicle and the vehicle 20 derived from the forward image and the relative speed between the vehicles.

The collision time calculating means 121 can calculate the collision time using the distance between the forward object (not shown) and the speed of the vehicle 10 derived through the forward image.

The collision time calculation can be started when the brake light of the front vehicle 20 is blinking or the distance from the front vehicle 20 is reduced.

The braking start determination means 122 uses the travel distance of the brake pedal to determine the braking start elapsed time of the driver.

The forward danger level determining unit 120 determines the forward danger level according to the difference between the collision time calculated by the collision time calculating unit 121 and the braking start elapsed time determined by the braking start determining unit 122. [

The forward danger level determination unit 120 compares the difference between the collision time calculated by the collision time calculation unit 121 and the braking start elapsed time determined by the braking start determination unit 122 with the reference time to determine the forward danger level It can be judged.

The forward danger level determining unit 120 may send the forward danger signal to the warning unit 160 when the difference between the collision time and the braking start elapsed time is less than the reference time.

For example, if the reference time is 5 seconds, the collision time calculated by the collision time calculation means 121 is 10 seconds, and the braking start elapsed time determined by the braking start determination means 122 is 3 When the seconds have elapsed, the forward danger level determining unit 120 may compare the 7 seconds, which is 10 seconds and 3 seconds, to 5 seconds to determine the forward danger level.

The reference time of the forward danger level determining unit 120 may increase stepwise as the continuous driving time of the vehicle described later increases.

When the reference time of the forward danger level determining unit 120 increases stepwise, the initial reference time of the forward danger level determining unit 120 may be changed according to the design of the vehicle control apparatus.

The forward danger level determining unit 120 may initialize the forward danger level when the vehicle 10 stops for a predetermined time or when the vehicle 10 is turned off.

The side danger level determining unit 130 determines the side danger level of the vehicle according to the detection result of the travel pattern sensing unit 110. [

The side danger level determination unit 130 includes an abnormality running determination unit 131 and a continuous running time calculation unit 132.

The abnormal driving determination unit 131 determines an abnormal driving of the vehicle 10 based on the driving direction detected by the driving pattern detection unit 110.

The abnormal driving determination means 131 can determine that the vehicle 10 is running abnormally when the vehicle 10 travels in a zigzag manner on the basis of the lane center LC.

The abnormal driving judging means 131 can judge the abnormal driving if the lane change is made without turning on the turn signal lamp.

The abnormal driving judging means 131 can judge the abnormal driving when the vehicle 10 suddenly brakes.

The continuous running time calculating means 132 calculates the continuous running time of the vehicle 10. [

The continuous running time means the time when the vehicle 10 continuously runs without being turned off.

The continuous running time may mean the time that the vehicle 10 continuously traveled without stopping for a certain period of time.

The continuous running time can be calculated based on the starting point of the vehicle 10 or the running point of time.

The side danger level determination unit 130 determines the side danger level using the determination result of the abnormal driving determination unit 131 and the continuous driving time calculated by the continuous driving time calculation unit 132.

When the abnormal driving determination unit 131 determines that the vehicle 10 is running abnormally, the side danger level determination unit 130 determines whether or not the side danger The level is judged step by step.

The side danger level determination unit 130 may initialize the side risk level when the vehicle 10 stops for a predetermined time or when the vehicle 10 is turned off.

The warning area setting unit 140 sets the warning areas L1, L2, and L3 according to the determination result of the side danger level determining unit 130. [

The warning area setting unit 140 sets the warning areas L1, L2, and L3 to warn the lane departure in accordance with the determination result of the side danger level determining unit 130.

The warning area setting unit 140 sets the warning areas L1, L2 and L3 corresponding to the side danger level determined step by step and sets the warning areas L1, The width L of the lane for judging the lane departure is set to decrease.

The warning area setting unit 140 can reset the warning areas L1, L2, and L3 as the continuous driving time increases.

The warning area entry determination unit 150 determines whether the vehicle 10 enters the warning areas L1, L2, and L3 set by the warning area setting unit 140. [

The warning unit 160 warns the driver when the forward risk level is lower than the reference value or the warning area entry determination unit 150 determines that the vehicle 10 has entered the warning area as a result of the determination by the forward risk level determination unit 120 .

The warning unit 160 includes a sound output means (not shown) for warning sound, a message output means (not shown) for warning with a message, a video output means (not shown) Not shown), and the like.

Hereinafter, a vehicle control apparatus according to an embodiment of the present invention will be described by dividing a side risk level into a first level, a second level, and a third level.

The side danger level determination unit 130 determines that the abnormal driving level is not confirmed as a result of the abnormal driving determination unit 131 and the continuous driving time of the vehicle 10 as a result of the continuous driving time calculation unit 132 is the first continuous driving If it is smaller than the time, the side risk level can be judged as the first level.

The side danger level determination unit 130 may determine the side danger level as the first level when the abnormal driving of the vehicle 10 is not confirmed regardless of the continuous driving time.

That is, the side danger level determining unit 130 may determine the side danger level as the first level when the vehicle 10 is in the normal running state.

When the abnormal driving level determination unit 130 determines that the abnormal driving is determined as a result of the abnormal driving determination unit 131 and the continuous driving time of the vehicle 10 as a result of the continuous driving time calculation unit 132 is equal to the first continuous driving time And is smaller than the second continuous running time set larger than the first continuous running time, the side danger level can be determined as the second level.

The side danger level determining unit 130 determines whether or not the abnormal driving is determined as a result of the abnormal driving determination unit 131 and the continuous driving time of the vehicle 10 as a result of the continuous driving time computing unit 132 is equal to the second continuous driving time , The side risk level can be judged as the third level.

When the side risk level determination unit 130 determines the side risk level as the first level, the second level, and the third level, the warning region setting unit 140 sets the first level, the second level, and the third level The first warning area L1, the second warning area L2 and the third warning area L3 are set.

The width of the first warning area L1 is narrower than the width L of the lane and the width of the second warning area L2 is narrower than the width of the first warning area L1, The width is set to be narrower than the width of the second warning area L2.

As the risk level increases, the width of the warning areas (L1, L2, L3) warning the departure of the lane decreases, so that even if the driver malfunctions, the vehicle control device can promptly respond to the driver and warn the driver.

Hereinafter, a vehicle control method according to an embodiment of the present invention will be described with reference to FIG.

The vehicle control method according to an embodiment of the present invention may include a driving pattern sensing step S110, a front danger level determination step S120, a side danger level determination step S130, a warning area setting step S140, Step S150 and warning step S160.

The traveling pattern sensing step (S110) senses the traveling pattern of the vehicle.

The forward danger level determination step (S120) determines the forward danger level of the vehicle according to the detection result detected in the traveling pattern sensing step (S110).

The forward risk level determination step S120 determines that there is no forward danger when the difference between the collision time and the braking start elapsed time is greater than the reference time.

The side risk level determination step S130 determines the side risk level of the vehicle in accordance with the detection result of the driving pattern detection step S110 when there is no forward risk of the vehicle as a result of the determination in the forward risk level determination step S120.

In the step of determining the side danger level (S130), when the abnormal driving of the vehicle is confirmed, the side danger level is determined step by step as the continuous driving time increases.

The side risk level determination step S130 may determine the side risk level as the first level, the second level, and the third level.

The first level may refer to the side risk level of the vehicle's normal driving condition.

The side risk level determination step S130 may determine that there is no side risk when the side risk level is the first level.

The warning area setting step S140 sets a warning area according to the result determined in the side danger level determination step S130.

When the side risk level is determined to be the first level, the second level and the third level in the side risk level determination step S130, the warning region includes a first warning region L1, a second warning region L1, (L2), and a third warning area (L3).

The width of the first warning area L1 is narrower than the width of the lane and the width of the second warning area L2 is narrower than the width of the first warning area L1, 2 warning area L2.

The warning area entry determination step S150 determines whether the vehicle enters the warning area set in the warning area setting step S140.

In the warning step S160, if the forward risk level is lower than the reference value or it is determined in the warning area entry determination step S150 as a result of the determination in the forward risk level determination step S120, the warning is given to the driver when the vehicle enters the warning area.

Hereinafter, a vehicle control method according to another embodiment of the present invention will be described with reference to FIG.

The vehicle control method according to another exemplary embodiment of the present invention may include a driving pattern sensing step S210, a forward risk level determination step S220, a side risk level determination step S230, a warning area setting step S240, Step S250, warning step S260, warning area resetting step S270 and risk level initialization step S280.

A step S210 of detecting a driving pattern of a vehicle control method according to another embodiment of the present invention, a step S220 of determining a forward risk level, a step S230 of determining a side risk level, a step S230 of setting a warning area, Step S250 and warning step S260 are steps of detecting a driving pattern of the vehicle control method S110, a front risk level determining step S120, a side risk level determining step S130, Since the configuration and operation are the same as those in the area setting step S140, the warning area entry determination step S150, and the warning step S160, detailed description thereof will be omitted.

The warning area resetting step S270 resets the warning area after warning to the driver through the warning step S260.

The warning area resetting step (S270) can reset the warning area as the continuous running time increases.

The risk level initialization step (S280) initializes the forward risk level and the side risk level to the risk level of the normal running condition.

The risk level initialization step (S280) may initialize the risk level if the vehicle has been idle for a period of time or the vehicle has been turned off.

110: traveling pattern detecting unit 120: forward danger level determining unit
130: side danger level determination unit 140: warning area setting unit
150: Warning area entry determination unit 160: Warning unit

Claims (11)

1. A vehicle control device for assisting in maintaining a lane of a vehicle by determining a lane departure of the vehicle being driven,
A traveling pattern detecting unit for detecting a traveling pattern of the vehicle;
A forward danger level determining unit for determining a forward danger level of the vehicle according to the detection result of the travel pattern detecting unit;
A side risk level determining unit for determining a side risk level of the vehicle according to the detection result of the travel pattern detecting unit;
A warning area setting unit for setting a warning area according to a result of the determination of the side danger level determination unit;
A warning area entry determining unit for determining whether a vehicle enters the warning area set by the warning area setting unit; And
And a warning unit for alerting the driver if the forward risk level is lower than a reference value or the vehicle enters the warning area as a result of the warning region entry determination unit as a result of the determination by the forward risk level determination unit. The method according to claim 1,
Wherein the traveling pattern sensing unit includes a camera for acquiring a forward image and a lane image of the vehicle, a steering sensor for sensing a traveling direction of the vehicle, and a pedal stroke sensor for sensing a travel distance of the brake pedal. 3. The method of claim 2,
The forward danger level determination unit includes a collision time calculation unit that calculates a collision time with the preceding vehicle using the forward image and a braking start determination unit that determines a braking start elapsed time of the driver based on the moving distance of the brake pedal . The method of claim 3,
Wherein the forward danger level determining unit determines the forward danger level based on a difference between the collision time calculated by the collision time calculating unit and the braking start elapsed time determined by the braking start determination unit. 3. The method of claim 2,
Wherein the lateral risk level determining unit includes an abnormal driving determination unit that determines an abnormal driving of the vehicle using the driving direction and a continuous driving time calculating unit that calculates a continuous driving time of the vehicle. 6. The method of claim 5,
Wherein the lateral risk level determining unit is configured to determine the lateral risk level step by step as the continuous running time calculated by the continuous running time calculating unit increases when the abnormal running of the vehicle is confirmed by the abnormal running determining unit, . The method according to claim 6,
Wherein the warning area setting unit sets the warning area corresponding to the stepwise determined side risk level stepwise,
Wherein the stepwise set warning area is set such that the width of the lane for determining lane departure is reduced as the lateral risk level of the vehicle increases. 6. The method of claim 5,
Wherein the lateral risk level determining unit determines that the abnormal driving level of the vehicle is detected by the abnormal driving level determining unit as the continuous driving time calculated by the continuous driving time calculating unit increases, And a third level. 9. The method of claim 8,
Wherein the warning area setting unit sets a first warning area, a second warning area and a third warning area corresponding to the first level, the second level and the third level,
Wherein the width of the first warning area is narrower than the width of the lane, the width of the second warning area is narrower than the width of the first warning area, and the width of the third warning area is narrower than the width of the second warning area The vehicle control device being configured to control the vehicle. A traveling pattern detecting step of detecting a traveling pattern of the vehicle;
A forward risk level determination step of determining a forward risk level of the vehicle according to the detection result detected in the traveling pattern detection step;
A side risk level determination step of determining a side risk level of the vehicle according to the detection result of the traveling pattern detection step when there is no forward risk of the vehicle as a result of the determination in the forward risk level determination step;
A warning area setting step of setting a plurality of warning areas according to a result of the determination of the side risk level;
A warning area entry determination step of determining whether a vehicle enters the warning area set in the warning area setting step; And
And a warning step of warning the driver if the forward risk level is less than the reference value as a result of the determination in the forward risk level determination step, or if the vehicle enters the warning area as a result of the determination in the warning area entry determination step. A traveling pattern detecting step of detecting a traveling pattern of the vehicle;
A forward risk level determination step of determining a forward risk level of the vehicle according to the detection result detected in the traveling pattern detection step;
A side risk level determination step of determining a side risk level of the vehicle according to the detection result of the traveling pattern detection step when there is no forward risk of the vehicle as a result of the determination in the forward risk level determination step;
A warning area setting step of setting a plurality of warning areas according to a result of the determination of the side risk level;
A warning area entry determination step of determining whether a vehicle enters the warning area set in the warning area setting step;
A warning step of warning the driver if the forward risk level is less than the reference value or the result of the determination in the warning area entry determination step as a result of the determination in the forward risk level determination step, and the vehicle enters the warning area;
An alarm area resetting step of resetting the warning area after warning to the driver through the warning step; And
And a risk level initializing step of initializing the forward risk level and the side risk level to the risk level of the normal running state.

Images