KR101511862B1 - Driver assistance systems and controlling method for the same - Google Patents

Abstract

The present invention relates to a driver assistance system comprising: a radar module mounted on a vehicle, detecting an object in front of the vehicle and obtaining information of the object; a speed detection module detecting a driving speed of the vehicle; an airbag module including an airbag which protects a passenger of the vehicle when the vehicle collides; and a controller calculating an expected time to collide with the object based on the driving speed of the vehicle, and controlling the airbag to be unfolded based on the expected collision time.

Description

Technical Field [0001] The present invention relates to an automatic emergency braking device including an airbag deployment function and a control method thereof,

The present invention relates to an automatic emergency braking apparatus including an airbag deployment function and, more particularly, to an automatic emergency braking apparatus including an airbag deployment function for deploying an airbag based on an object ahead of a vehicle detected by a radar and a collision prediction time To a braking device and a control method thereof.

The driver assistance system is a safety device that detects the danger and notifies the driver of the risk of an accident through visual, auditory and tactile factors, as well as a vehicle safety device that actively performs speed reduction or braking for avoiding frontal collision to be. In addition, the driving assistance system can perform lane departure warning, blind spot monitoring, and improved rearward surveillance.

The driving assist system is divided into various types according to its functions. The Forward Collision Warning System (FCW) is a system that provides visual, auditory, and tactile warning to drivers for the purpose of avoiding collision with the forward vehicle by detecting the vehicle in the same direction ahead of the driving lane to be.

The Advanced Emergency Braking System (AEBS) detects the possibility of collision with an automobile located in front of the driving lane and warns the driver. If the driver does not respond or it is determined that a collision is inevitable, It is a system for automatically decelerating the vehicle for the purpose of making it possible.

The Adaptive Cruise Control (ACC) automatically detects the vehicle in the same direction in front of the driving lane according to the driver's setting conditions and automatically accelerates or decelerates according to the speed of the vehicle and maintains the safety distance And automatically runs at the target speed.

In addition, the driving assistance system includes a lane departure warning system (LDWS), a lane keeping assist system (LKAS), blind spot detection (BSD), and a rear collision warning system Rear-end Collision Warning System, RCW).

Meanwhile, in general, various safety devices are provided to protect the driver and the passenger in preparation for an unexpected situation that may occur at any moment. For example, the driver and passengers sitting in the front seat of the vehicle are directly protected There is an airbag device.

In this airbag apparatus, when a collision occurs in the vehicle, a compression gas is instantaneously injected into the airbag by the impact force, and the airbag is inflated at a high speed to wrap the front of the driver and front passenger of the front seat, It protects from the object.

Generally, an airbag device deploys an airbag when a collision of an automobile is detected by using an impact sensor, but there is a problem that an airbag is not deployed due to misdetection of a shock sensor and power-off in the event of a collision.

In order to solve the above problems, an object of the present invention is to provide an automatic emergency braking device including an airbag deployment function for deploying an airbag based on a collision prediction time with an object ahead of the vehicle detected by a radar, and a control method thereof .

The problems of the present invention are not limited to the above-mentioned problems, and other problems not mentioned can be clearly understood by those skilled in the art from the following description.

In order to achieve the above object, an automatic emergency braking device including an airbag deployment function according to an embodiment of the present invention includes a radar module mounted on an automobile and detecting an object in front of the automobile and acquiring information on the object, An airbag module including an airbag for protecting an occupant of the automobile in the event of a collision of the vehicle, a speed estimation module for calculating a collision prediction time with the object based on the information of the object and the traveling speed of the automobile And a controller for controlling the deployment of the airbag based on the collision prediction time.

The details of other embodiments are included in the detailed description and drawings.

According to the automatic emergency braking device including the airbag deployment function of the present invention and the control method thereof, one or more of the following effects can be obtained.

First, there is an advantage that the airbag can be deployed even when the collision sensor can not detect the collision of the vehicle.

Secondly, there is an advantage that the airbag can be deployed even when the power of the vehicle is cut off at the time of a collision.

Third, when a collision is expected even after emergency braking, the airbag is deployed according to the degree of collision, which is advantageous for safety of the passenger.

The effects of the present invention are not limited to the effects mentioned above, and other effects not mentioned can be clearly understood by those skilled in the art from the description of the claims.

1 is a block diagram of a driving assistance system according to an embodiment of the present invention.
2 is a diagram illustrating the operation of a vision module and a radar module of a driving assistance system according to an embodiment of the present invention.
3 is a configuration diagram of an automatic emergency braking device including an airbag deployment function according to an embodiment of the present invention.
4 is a flowchart according to an embodiment of the present invention.
5 is a flowchart according to an embodiment of the present invention.
6 is a flowchart according to an embodiment of the present invention.

BRIEF DESCRIPTION OF THE DRAWINGS The advantages and features of the present invention and the manner of achieving them will become apparent with reference to the embodiments described in detail below with reference to the accompanying drawings. The present invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the invention to those skilled in the art. To fully disclose the scope of the invention to those skilled in the art, and the invention is only defined by the scope of the claims. Like reference numerals refer to like elements throughout the specification.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS The present invention will now be described with reference to the accompanying drawings, which illustrate an automatic emergency braking system including an airbag deployment function according to embodiments of the present invention and a control method thereof.

The suffix "module" and "part" for constituent elements used in the following description are given or mixed in consideration of ease of specification, and do not have their own meaning or role.

FIG. 1 is a block diagram of a driving assistance system according to an embodiment of the present invention, and FIG. 2 is a diagram illustrating an operation of a vision module and a radar module of a driving assist system according to an embodiment of the present invention.

The driving assist system according to an embodiment of the present invention includes an acceleration input module 10, a brake input module 20, a vision module 30, a radar module 40, a velocity sensing module 50, 60, a position sensing module 70, a controller 100, a memory 150, a warning module 110, and a power / braking module 120.

The acceleration input module 10 is a user's operation device for increasing the speed of the vehicle. The acceleration input module 10 increases the power of the power / braking module 120 to increase the speed of the vehicle. Generally, the acceleration input module 10 increases the speed of the vehicle by increasing the rotation of the vehicle engine. The acceleration input module 10 is generally provided as an accelerator pedal in the form of a pedal below the driver's seat of the vehicle.

Acceleration input module 10 may be inputted with an acceleration degree in accordance with a user's operation. If the acceleration input module 10 is an accelerator pedal, the degree of acceleration may be input according to the pedal pressure.

When the user operates the acceleration input module 10, the acceleration input module 10 outputs an acceleration signal including the degree of acceleration to the controller 100. The controller 100 controls the power / braking module 120 according to the input acceleration signal to accelerate the vehicle. According to the embodiment, the acceleration input module 10 can directly control the power / braking module 120 to accelerate the vehicle.

The braking input module 20 is a user's operating device for reducing the speed of the vehicle or for stopping the vehicle. The braking input module 20 reduces the power of the power / braking module 120 or generates a braking force to decelerate or stop the vehicle. Generally, the braking input module 20 operates a brake that applies a frictional force to a disk of a wheel of a vehicle to reduce the speed of the vehicle. Depending on the embodiment, the braking input module 20 may directly reduce the rotation of the vehicle engine or operate a reduction device such as a retarder. The braking input module 20 is generally provided as a brake pedal in the form of a pedal below the driver's seat of the vehicle.

The braking input module 20 can be inputted with the degree of deceleration according to the operation of the user. If the braking input module 20 is a brake pedal, the degree of deceleration may be inputted according to the pedal pressure.

When the user operates the braking input module 20, the braking input module 20 outputs the braking signal including the degree of deceleration to the controller 100. The controller 100 controls the power / braking module 120 according to the input braking signal to decelerate or stop the vehicle. The braking input module 20 may directly control the power / braking module 120 to decelerate or stop the vehicle.

The speed sensing module 50 senses the current speed of the vehicle. The speed sensing module 50 senses the rotation speed of the wheels of the vehicle or senses the rotation speed of the output shaft of the transmission connected to the engine of the vehicle to calculate the current speed of the vehicle. The speed sensing module 50 may include a speed sensor for sensing a rotation speed and a processor for calculating a current speed value of the vehicle.

The speed sensing module 50 outputs the sensed speed value of the vehicle to the controller 100.

The posture sensing module 60 senses the posture variation of the vehicle. The posture sensing module 60 senses a variation of at least one of a pitch axis, a yaw axis, and a roll axis, and senses a yaw rate in the present embodiment. That is, in the present embodiment, the attitude sensing module 60 senses the yaw rate of the vehicle and senses the degree of rotation of the vehicle. The attitude detection module 60 may include a gyro sensor or an acceleration sensor for detecting the attitude change, a processor for calculating the variation value, and the like.

The attitude detection module (60) outputs the detected attitude variation value of the vehicle to the controller (100).

The position sensing module 70 senses the position of the vehicle. The position sensing module 70 is a receiver of a global positioning system (GPS), which receives a distance and a signal from a satellite and calculates the position of the vehicle. According to the embodiment, the position sensing module 70 can replace the speed sensing module 50 by calculating the speed of the vehicle.

The vision module 30 is a device for recognizing an object outside the vehicle by photographing an image outside the vehicle and discriminating the type of the object. The vision module 30 is generally disposed at the front end of the vehicle to capture an image of the front of the vehicle.

As shown in FIG. 2 (a), the vision module 30 can distinguish the road R and recognize various objects O on the road R to recognize and distinguish the objects. The vision module 30 can recognize whether the object O is a vehicle, a person, or a simple object by recognizing the shape of the object O. In the case of a vehicle, the vision module 30 can discriminate whether it is a passenger car, a truck or a two-

The vision module 30 can recognize the lane L on the road R and can distinguish whether the lane L is a general lane, a center line, a curb line, or a divided lane. In addition, the vision module 30 can recognize and distinguish a curb or a walk on the road.

The vision module 30 can recognize the lane N between the lane L and the lane L through the recognized lane L. [ The vision module 30 can recognize the lane N in which the subject vehicle H equipped with the vision module 30 is running. In addition, the vision module 30 may recognize which lane N the recognized object O is located on, or whether the recognized object O lies on the lane L.

The recognition and identification of the object O can be performed in the vision module 30 itself or in the controller 100 through the image captured by the vision module 30. [

The vision module 30 has a constant field of view. As shown in Fig. 2 (a), the vision module 30 photographs the objects O in the clock F. Fig. According to the embodiment, the vision module 30 can change the photographing direction up and down and / or right and left. That is, the vision module 30 can change the center of the clock F up and down and / or right and left.

The vision module 30 may include a camera that captures an image, a processor that processes the captured image, and a memory that stores data. According to the embodiment, the vision module 30 may include a driving device capable of changing the photographing direction of the camera.

The vision module 30 may output photographed image data to the controller 100 or output information of the recognized and discriminated object O to the controller 100. [

The radar module 40 is a device that emits an electromagnetic wave to a specific object O and then receives an electromagnetic wave reflected from the object O to sense the distance, position, direction, speed, etc. with the object O. The radar module 40 is generally disposed at the front end of the vehicle to calculate the distance to a specific object O in front of the vehicle, and the like. According to an embodiment, the radar module 40 may be a lidar that fires a laser at the object O.

The radar module 40 detects the distance, position, direction, speed, and the like to the target vehicle T, which is a specified one among various objects O as shown in FIG. 2 (b). The target vehicle T is generally selected from the data detected by the radar module 40 and the vision module 30 as the object O to be tracked by the controller 100 and is generally set to the radar module 40 and the vision module 30. [ Is an object O recognized as a vehicle at a distance closest to the front of the subject vehicle H on the lane N in which the subject vehicle H is installed.

The radar module 40 may include a radar that emits electromagnetic waves, a processor that processes information about the electromagnetic waves received by the radar, and a memory that stores data.

The radar module 40 outputs information such as the distance to the object O, the position, the direction, and the velocity to the controller 100.

The warning module 110 is a device for giving a warning to a driver who drives the vehicle, and can warn the driver visually, audibly, and tactually according to the embodiment. The warning module 110 may display a warning on the dash panel of the driver's seat, a head-up display, a navigation system, an integrated information display device, and the like. The warning module 110 can make a warning through the speaker of the vehicle. The warning module 110 can warn the driver by vibrating the steering wheel of the vehicle or tightening the seat belt.

The warning module 110 may operate according to the control of the controller 100 to alert the driver.

The power / braking module 120 is a device that accelerates, decelerates, or stops the vehicle. The power / braking module 120 may include an engine and / or a motor that generates a rotational force to rotate the wheels of the vehicle, and a transmission that changes the rotation ratio of the engine and / or the motor. The power / brake module 120 may include brakes and / or retarders that generate braking forces or reduce rotation of the engine and / or motor.

The power / braking module 120 may operate under the control of the controller 100 or may be operated by the acceleration input module 10 or the braking input module 20.

The controller 100 includes an acceleration input module 10, a brake input module 20, a vision module 30, a radar module 40, a velocity sensing module 50, a position sensing module 60, and a position sensing module 70 And controls the warning module 110 and the power / braking module 120 according to the processed result. The controller 100 may include a CAN (Controller Area Network) for data communication with each module. On the other hand, the scope of the present invention is not limited to the communication using the CAN (Controller Area Network), and the communication method used in the automobile network is included in the scope of the present invention.

Memory 150 stores programs, instructions, and data. The controller 100 stores data in the memory 150 or calls programs, commands, or data stored in the memory 150. [

3 is a configuration diagram of an automatic emergency braking device including an airbag deployment function according to an embodiment of the present invention.

3, an automatic emergency braking system including an airbag deployment function includes a radar module 40, a speed sensing module 50, an acceleration sensing module 210, an airbag module 220, a warning module 110, a power / And may include a braking module 120.

The radar module 40 is mounted on the vehicle. The radar module 40 detects an object in front of the automobile and acquires information about an object in front of the automobile. Here, the acquired information may be distance, position, direction, and speed with respect to an object in front of the automobile.

The radar module 40 emits an electromagnetic wave to the preceding vehicle, and receives electromagnetic waves reflected from an object in front of the automobile to sense distance, position, direction, speed, etc. with the object. The radar module 40 transmits information about the detected leading vehicle to the controller 100.

The speed sensing module 50 senses the traveling speed of the automobile. The speed sensing module 50 senses the rotation speed of the wheels of the vehicle or senses the rotation speed of the output side of the transmission connected to the engine of the vehicle to calculate the current traveling speed of the vehicle. The speed sensing module 50 transmits the sensed traveling speed of the automobile to the controller 100.

The acceleration sensing module 210 is mounted on a vehicle. The acceleration sensing module 210 senses the driving acceleration of the vehicle. The acceleration sensing module 210 transmits, for example, an acceleration signal to the controller 100 with respect to the depreciation speed due to an impact upon an automobile collision.

The airbag module 220 deploys the airbag under the control of the controller 100 on the basis of the collision detection time of the automobile or the collision prediction time. The airbag module 220 may include a collision detection sensor, an airbag control unit (ACU), and an airbag device.

The collision detection sensor senses the collision of the vehicle and transmits the impact amount to the ACU. The ACU controls the deployment of the airbag and controls the deployment of the airbag when the impact is above the reference value. An airbag device protecting an occupant of a vehicle in the event of an automobile collision under the control of the ACU deploys the airbag.

The airbag module 220 is communicably connected to the controller 100. The airbag module 220 receives the control signal of the controller 100 and deploys the airbag when the airbag deployment condition is satisfied based on the predicted collision time with an object in front of the automobile.

The warning module 110 detects the possibility of collision with an object in front of the automobile and outputs a warning message to the driver. The warning message may be a visual, auditory, or tactile message. The warning module 110 outputs a warning message under the control of the controller 100 based on the predicted collision time with an object ahead of the vehicle calculated by the controller 100. [

The power / braking module 120 detects the possibility of collision with an object in front of the automobile and automatically decelerates or stops the automobile when it is determined that a collision is inevitable. The power / braking module 120 decelerates or stops the vehicle under the control of the controller 100 based on the predicted collision time with an object ahead of the vehicle calculated by the controller 100.

The controller 100 receives information on the object ahead of the vehicle detected by the radar module 40. [ The controller 100 receives information on the traveling speed of the vehicle sensed by the speed sensing module 50.

The controller 100 calculates a time to collision (TTC) with the object based on the information of the object ahead of the car received from the radar module 40 and the traveling speed of the vehicle sensed by the speed sensing unit 50 .

Generally, the collision prediction time with an object in front of the vehicle is obtained based on the relative distance between the object ahead and the relative speed with respect to the object ahead of the object detected by the radar module 40. In other words,

The collision prediction time with an object in front of the automobile can be calculated.

The controller 100 controls the deployment of the airbag based on the collision prediction time.

According to the embodiment, when the predicted collision time between an automobile and an object ahead of the vehicle detected in a radar is equal to or less than a first reference time and a relative speed between an automobile and an object ahead of the vehicle is equal to or greater than a first reference relative speed, Transmits a control signal to the airbag module 220 to control the deployment of the airbag. At this time, the airbag module 220 receives the control signal of the controller 100 and develops the airbag. Here, the first reference time may be a time set by an experiment in an automobile manufacturer. The first reference relative speed may be a time set by an experiment in an automobile manufacturer. For example, assume that the first reference time is 5 seconds and the first reference relative speed is 8 m / sec. It is assumed that the relative distance to the object ahead is 40 m and the relative speed of the car is 10 m / sec. In this case, the collision prediction time is 40/10 = 4 seconds according to equation (1). The controller 100 transmits a control signal to the airbag module 220 so that the airbag is not transmitted to the airbag module 220 because the relative speed with respect to the forward object is higher than the first reference relative speed of 8 m / To be expanded.

According to the embodiment, the controller 100 receives information on the driving acceleration of the vehicle from the acceleration sensing module 210. Wherein the predicted collision time between the vehicle and an object ahead of the vehicle detected by the radar is equal to or less than a second reference time and the relative speed between the vehicle and an object ahead of the vehicle is equal to or greater than a first reference relative speed, The controller 100 transmits a control signal to the airbag module 220 to control the deployment of the airbag.

At this time, the airbag module 220 receives the control signal of the controller 100 and develops the airbag (S350). Here, the second reference time may be a time set by an experiment in an automobile manufacturer. The first reference relative speed may be a time set by an experiment in an automobile manufacturer. The first reference acceleration may be the time set by experiment in an automobile manufacturer. For example, assume that the second reference time is 3 seconds, the first reference relative velocity is 8 m / sec, and the first reference acceleration is -3 m /. It is assumed that the relative distance to the object in front is 25 m and the speed of the car is 10 m / sec. In this case, the collision prediction time is 25/10 = 2.5 seconds according to Equation (1). The collision prediction time is 3 seconds, which is the first reference relative speed, and the relative speed with respect to the forward object is 8 m / sec or more, which is the first reference relative speed, and the acceleration of the vehicle is -4 m / The controller 100 controls the airbag module 220 to transmit a control signal to control the deployment of the airbag.

The controller 100 controls the warning module 110. The controller 100 controls the warning module 110 to output a warning message based on the calculated collision prediction time. That is, when the collision prediction time is equal to or less than the first reference time, the controller 100 controls the warning module 110 to output a warning message. At this time, the first reference time may be a time set by the automobile manufacturer. For example, if the first reference time is set to 5 seconds, the warning module 110 does not operate if the collision prediction time calculated by the controller 100 is 7 seconds. If the collision prediction time calculated by the controller 100 reaches 4 seconds after the vehicle approaches the front object, the warning module 110 outputs a warning message under the control of the controller 100. The warning message may be a visual, auditory, or tactile message as described above.

The controller 100 controls the power / brake module 120. The controller 100 controls the power / braking module 120 to decelerate or stop the vehicle based on the calculated collision prediction time. That is, when the collision prediction time is equal to or less than the second reference time, the controller 100 controls the power / braking module 120 to decelerate or stop the vehicle. At this time, the second reference time may be a time set by the automobile manufacturer. For example, assuming that the second reference time is set to 3 seconds, the power / braking module 120 does not operate when the collision prediction time calculated by the controller 100 is 5 seconds. If the collision prediction time calculated by the controller 100 reaches 2 seconds, the power / braking module 120 decelerates or stops the vehicle under the control of the controller 100.

On the other hand, the automobile may include an automatic emergency braking device including the above-described airbag deployment function. Here, the automobile may be an internal combustion engine automobile, an electric automobile or a hybrid automobile.

4 is a flowchart according to an embodiment of the present invention.

4, the radar module 40 is mounted on a vehicle. The radar module 40 detects an object in front of the automobile and acquires information about an object in front of the automobile. Here, the acquired information may be distance, position, direction, and speed with respect to an object in front of the automobile.

The radar module 40 emits an electromagnetic wave to the preceding vehicle, and receives electromagnetic waves reflected from an object in front of the automobile to sense distance, position, direction, speed, etc. with the object. The radar module 40 transmits information about the detected leading vehicle to the controller 100.

The controller 100 receives information on the object ahead of the vehicle detected by the radar module 40 (S310).

The speed sensing module 50 senses the traveling speed of the automobile. The speed sensing module 50 senses the rotation speed of the wheels of the vehicle or senses the rotation speed of the output side of the transmission connected to the engine of the vehicle to calculate the current traveling speed of the vehicle. The speed sensing module 50 transmits the sensed traveling speed of the automobile to the controller 100.

The controller 100 receives the traveling speed information sensed by the speed sensing module 50 (S320).

The controller 100 calculates a time to collision (TTC) with the object based on the information of the object ahead of the car received from the radar module 40 and the traveling speed of the vehicle sensed by the speed sensing unit 50 (S330).

Generally, the collision prediction time with an object in front of the vehicle is obtained based on the relative distance between the object ahead and the relative speed with respect to the object ahead of the object detected by the radar module 40. That is, the collision prediction time with an object ahead of the automobile can be calculated from Equation (1).

The controller 100 judges whether the airbag is to be deployed based on the collision prediction time. That is, the controller 100 determines whether the collision prediction time between the automobile and the object ahead of the vehicle detected in the radar is equal to or less than the first reference time and the relative speed between the vehicle and the object ahead is greater than or equal to the first reference relative speed S340). Here, the first reference time may be a time set by an experiment in an automobile manufacturer. The first reference relative speed may be a time set by an experiment in an automobile manufacturer.

When the predicted collision time with an object ahead of the vehicle detected by the radar of the vehicle is less than a first reference time and the relative speed between the vehicle and an object ahead of the vehicle is equal to or greater than a first reference relative speed, the controller 100 controls the airbag module 220 To control the deployment of the airbag. At this time, the airbag module 220 receives the control signal of the controller 100 and develops the airbag (S350).

For example, assume that the first reference time is 5 seconds and the first reference relative speed is 8 m / sec. It is assumed that the relative distance to the object ahead is 40 m and the speed of the car is 10 m / sec. In this case, the collision prediction time is 40/10 = 4 seconds according to equation (1). The controller 100 transmits a control signal to the airbag module 220 so that the airbag is not transmitted to the airbag module 220 because the relative speed with respect to the forward object is higher than the first reference relative speed of 8 m / To be expanded.

5 is a flowchart according to an embodiment of the present invention.

Referring to FIG. 5, the controller 100 receives information about an object ahead of the vehicle detected by the radar module 40 (S410).

The controller 100 receives the traveling speed information sensed by the speed sensing module 50 (S420).

The controller 100 calculates a time to collision (TTC) with the object based on the information of the object ahead of the car received from the radar module 40 and the traveling speed of the vehicle sensed by the speed sensing unit 50 (S430).

The steps S410 through S430 are the same as the steps S310 through S330 described with reference to FIG. 4, so that the detailed description of steps S410 through S430 is omitted.

The controller 100 judges whether the airbag is to be deployed based on the collision prediction time. That is, the controller 100 determines that the collision prediction time between the automobile and the object ahead of the vehicle detected in the radar is equal to or less than the second reference time and the relative speed between the automobile and the forward object is equal to or greater than the first reference relative speed, It is determined whether the acceleration is equal to or less than the first reference acceleration (S440). Here, the second reference time may be a time set by an experiment in an automobile manufacturer. The first reference relative speed may be a time set by an experiment in an automobile manufacturer. The first reference acceleration may be the time set by experiment in an automobile manufacturer.

Wherein the predicted collision time between the vehicle and an object ahead of the vehicle detected by the radar is equal to or less than a second reference time and the relative speed between the vehicle and an object ahead of the vehicle is equal to or greater than a first reference relative speed, The controller 100 transmits a control signal to the airbag module 220 to control the deployment of the airbag. At this time, the airbag module 220 receives the control signal of the controller 100 and develops the airbag (S450).

For example, assume that the second reference time is 3 seconds, the first reference relative velocity is 8 m / sec, and the first reference acceleration is -3 m / sec ^ 2. It is assumed that the relative distance to the object in front is 25 m and the speed of the car is 10 m / sec. In this case, the collision prediction time is 25/10 = 2.5 seconds according to Equation (1). Since the collision prediction time is 3 seconds, which is the first reference relative speed, and the relative speed with respect to the forward object is not less than 8 m / sec, which is the first reference relative speed, and the acceleration of the car is -4 m / sec ^ The controller 100 transmits a control signal to the airbag module 220 to control the deployment of the airbag since the first reference acceleration is -3 m / sec ^ 2 or less.

6 is a flowchart according to an embodiment of the present invention.

Referring to FIG. 6, the controller 100 receives information about an object ahead of the vehicle detected by the radar module 40 (S510).

The controller 100 receives the traveling speed information sensed by the speed sensing module 50 (S520).

The controller 100 calculates a time to collision (TTC) with the object based on the information of the object ahead of the car received from the radar module 40 and the traveling speed of the vehicle sensed by the speed sensing unit 50 (S530).

The steps S510 to S530 are the same as the steps S310 to S330 described with reference to FIG. 4, so that the detailed description of the steps S510 to S530 is omitted.

The controller 100 determines whether the collision prediction time is shorter than a first reference time (S540).

If the collision prediction time is less than the first reference time, the controller 100 controls the warning module 110 to output a warning message (S550). At this time, the first reference time may be a time set by the automobile manufacturer. For example, if the first reference time is set to 5 seconds, the warning module 110 does not operate if the collision prediction time calculated by the controller 100 is 7 seconds. If the collision prediction time calculated by the controller 100 reaches 4 seconds after the vehicle approaches the front object, the warning module 110 outputs a warning message under the control of the controller 100. The warning message may be a visual, auditory, or tactile message as described above.

The controller 100 determines whether the collision prediction time is shorter than a second reference time (S560).

If the collision prediction time is less than the second reference time, the controller 100 controls the power / braking module 120 to decelerate or stop the vehicle (S570). At this time, the second reference time may be a time set by the automobile manufacturer. For example, assuming that the second reference time is set to 3 seconds, the power / braking module 120 does not operate when the collision prediction time calculated by the controller 100 is 5 seconds. If the collision prediction time calculated by the controller 100 reaches 2 seconds, the power / braking module 120 decelerates or stops the vehicle under the control of the controller 100.

At this point, it will be appreciated that the combinations of blocks and flowchart illustrations in the process flow diagrams may be performed by computer program instructions. These computer program instructions may be loaded into a processor of a general purpose computer, special purpose computer, or other programmable data processing apparatus, so that those instructions, which are executed through a processor of a computer or other programmable data processing apparatus, Thereby creating means for performing functions. These computer program instructions may also be stored in a computer usable or computer readable memory capable of directing a computer or other programmable data processing apparatus to implement the functionality in a particular manner so that the computer usable or computer readable memory The instructions stored in the block diagram (s) are also capable of producing manufacturing items containing instruction means for performing the functions described in the flowchart block (s). Computer program instructions may also be stored on a computer or other programmable data processing equipment so that a series of operating steps may be performed on a computer or other programmable data processing equipment to create a computer- It is also possible for the instructions to perform the processing equipment to provide steps for executing the functions described in the flowchart block (s).

In addition, each block may represent a module, segment, or portion of code that includes one or more executable instructions for executing the specified logical function (s). It should also be noted that in some alternative implementations, the functions mentioned in the blocks may occur out of order. For example, two blocks shown in succession may actually be executed substantially concurrently, or the blocks may sometimes be performed in reverse order according to the corresponding function.

Here, the term " module " used in this embodiment means a hardware component such as software or an FPGA or an ASIC, and the module performs certain roles. However, a module is not limited to software or hardware. A module may be configured to reside on an addressable storage medium and configured to play back one or more processors. Thus, by way of example, a module may include components such as software components, object-oriented software components, class components and task components, and processes, functions, attributes, procedures, Microcode, circuitry, data, databases, data structures, tables, arrays, and variables, as will be appreciated by those skilled in the art. The functionality provided within the components and modules may be combined into a smaller number of components and modules or further separated into additional components and modules. In addition, the components and modules may be implemented to play back one or more CPUs in a device or a secure multimedia card.

While the present invention has been particularly shown and described with reference to exemplary embodiments thereof, it is to be understood that the invention is not limited to the disclosed exemplary embodiments, but, on the contrary, It should be understood that various modifications may be made by those skilled in the art without departing from the spirit and scope of the present invention.

40: Radar module
50: Speed sensing module
100: controller
110: Warning Module
120: Power / Brake Module
210: acceleration detection module
220: airbag module

Claims (12)

A radar module mounted on a vehicle and detecting an object in front of the automobile and acquiring information on the object;
A position sensing module for sensing the position of the vehicle;
An airbag module including an airbag that protects an occupant of the automobile when the automobile collides; And
And a controller for calculating a collision prediction time with the object based on the information of the object and the traveling speed of the automobile calculated from the position sensing module and controlling the deployment of the airbag based on the collision prediction time Automatic emergency braking system with airbag deployment function. The method according to claim 1,
Wherein the controller controls the airbag to be deployed when the collision prediction time is equal to or less than a first reference time and the relative speed with an object ahead of the vehicle measured by the speed sensing module is equal to or greater than a first reference relative speed,
Wherein the airbag module includes an airbag deployment function for deploying the airbag under the control of the controller. The method according to claim 1,
Further comprising an acceleration sensing module mounted on the automobile and sensing a driving acceleration of the automobile,
When the collision prediction time is equal to or less than a second reference time and the relative speed with respect to an object ahead of the vehicle measured by the speed sensing module is equal to or greater than a first reference relative speed and the sensed acceleration is equal to or less than a first reference acceleration, The air bag is controlled to be deployed,
Wherein the airbag module includes an airbag deployment function for deploying the airbag under the control of the controller. The method according to claim 1,
Further comprising a warning module for warning a driver of the automobile under a control of the controller of a collision with the preceding object,
If the collision prediction time is less than or equal to the first reference time,
And the controller includes an airbag deployment function for controlling the warning module to output a warning message. 5. The method of claim 4,
Wherein the warning message comprises an airbag deployment function that is a visual, audible or tactile message. The method of claim 1, wherein
Further comprising a power / braking module for accelerating, decelerating or stopping the automobile under the control of the controller,
If the collision prediction time is equal to or less than the second reference time,
And the controller includes an airbag deployment function for automatically braking the vehicle by controlling the power / braking module. Receiving information on an object ahead of the vehicle detected by a radar module mounted on the vehicle;
Calculating a collision prediction time with the object based on the information of the object and the traveling speed;
Determining whether an airbag is deployed to protect an occupant of the vehicle when the vehicle collides with the collision prediction time; And
And deploying the airbag,
Wherein the traveling speed includes an airbag deployment function calculated based on a position of the automobile detected by the position sensing module. 8. The method of claim 7,
Wherein the determining step comprises:
Wherein the collision prediction time is less than a first reference time,
And an airbag deployment function for determining whether a relative speed with respect to an object ahead of the vehicle is equal to or greater than a first reference relative speed. 8. The method of claim 7,
Further comprising receiving driving acceleration information of the automobile detected by an acceleration sensing module mounted on the automobile,
Wherein the determining step comprises:
The collision prediction time is equal to or less than a second reference time,
The relative speed with the object in front of the automobile is not less than the first reference relative speed,
And an airbag deployment function for determining whether the sensed acceleration is equal to or less than a first reference acceleration. 8. The method of claim 7,
Determining whether the collision prediction time is less than or equal to a first reference time; And
If the collision prediction time is less than or equal to the first reference time,
Further comprising the step of outputting a warning message to the driver of the automobile on collision with the object. 11. The method of claim 10,
Wherein the warning message is a visual, audible or tactile message. 8. The method of claim 7,
Determining whether the collision prediction time is less than or equal to a second reference time; And
If the collision prediction time is equal to or less than the second reference time,
Further comprising the step of automatically braking the vehicle. ≪ Desc / Clms Page number 24 >

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