KR101511865B1 - Driver assistance apparatus and controlling method for the same - Google Patents

Abstract

According to an embodiment of the present invention, an adaptive cruise control apparatus comprises: a communication device receiving driving information of an adjacent vehicle including information about a speed and a steering angle of the adjacent vehicle; a location detection module identifying a current location; a speed detection module identifying the speed of a vehicle; a position detection module identifying a progress direction of a vehicle; and a controller drawing driving information of a relevant vehicle from the information acquired by the location detection module, the speed detection module, and the position detection module, estimating a change in the distance between the two vehicles based on the driving information of the relevant vehicle and the driving information of the adjacent vehicle.

Description

[0001] The present invention relates to an adaptive cruise control apparatus and a control method thereof,

BACKGROUND OF THE INVENTION 1. Field of the Invention [0002] The present invention relates to a driving assistance system and a control method thereof, and more particularly, to a driving assistance system and a control method thereof for receiving driving information of another vehicle from another vehicle and assisting safe driving.

The driver assistance system is designed to alert the driver of the risk of an accident through visual, auditory and tactile elements by detecting the dangerous condition of the advanced sensor, 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).

An object to be solved by one embodiment of the present invention is to receive driving information of an adjacent other vehicle and predict a change in distance between the vehicle and the other vehicle.

A problem to be solved by one embodiment of the present invention is to derive driving information of a neighboring other vehicle and driving information of the vehicle and collect the two pieces of information to continuously grasp a distance between the two vehicles, Enabling cruise control.

Another object of an embodiment of the present invention is to provide safe driving on the basis of driving information of other vehicles.

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.

According to an aspect of the present invention, there is provided an adaptive cruise control apparatus including: a communication device for receiving adjacent vehicle driving information including speed and steering angle information of an adjacent vehicle; A position detection module for detecting the current position; A speed sensing module for sensing the speed of the vehicle; A posture detection module for detecting a traveling direction of the vehicle; And a controller for deriving the vehicle operation information from the information detected by the position detection module, the speed detection module, and the posture detection module, and for predicting a change in the distance between the two vehicles based on the vehicle operation information and the adjacent vehicle operation information And the controller obtains the distance, the relative speed, and the relative acceleration between the vehicle and the adjacent vehicle that has transmitted the adjacent vehicle driving information.

The adaptive cruise control apparatus and the control method thereof according to an embodiment of the present invention may have one or more of the following effects.

The adaptive cruise control apparatus and the control method thereof according to an embodiment of the present invention can receive dangerous situation by receiving driving information of another vehicle and predicting how the movement of the other vehicle will change in the future.

The adaptive cruise control apparatus and the control method thereof according to an embodiment of the present invention can receive travel information from a plurality of vehicles adjacent to the vehicle to observe the behavior of all the vehicles in which interference may occur and prevent accidents.

1 and 2 are views showing a running state between a vehicle equipped with an adaptive cruise control device of the embodiment of the present invention and another vehicle adjacent thereto,
3 is a block diagram showing the configuration of an adaptive cruise control apparatus according to an embodiment of the present invention;
4 is a flowchart showing a control method of an adaptive cruise control apparatus 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 be apparent from the following detailed description of embodiments thereof taken in conjunction with the accompanying drawings. However, it is to be understood that the present invention is not limited to the disclosed embodiments, but may be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. It is intended that the disclosure of the present invention be limited only by the terms of the appended claims.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, the present invention will be described with reference to the drawings for explaining an adaptive cruise control apparatus and a control method thereof according to embodiments of the present invention.

1 and 2 are diagrams showing a running state between a vehicle including an adaptive cruise control device according to an embodiment of the present invention and another vehicle adjacent thereto.

Referring to Figs. 1 and 2, the adaptive cruise control apparatus of one embodiment can receive adjacent vehicle driving information, which is information on each driving state from other vehicles adjacent to the vehicle.

The adaptive cruise control device can receive nearby vehicle driving information from an adjacent vehicle. The adaptive cruise control device may be mounted on a motor vehicle. The adaptive cruise control device can receive the adjacent vehicle driving information from the other vehicle O adjacent to the vehicle T. [

The adaptive cruise control device can receive the adjacent vehicle driving information from other vehicles located within a predetermined distance from the vehicle T. [ The adaptive cruise control device can acquire information on the position, speed, acceleration, or steering angle of the other vehicle based on the received adjacent vehicle driving information.

The adaptive cruise control device can grasp the current position of the vehicle T in question. The adaptive cruise control device can grasp the speed of the vehicle T in question. The adaptive cruise control device can grasp the traveling direction of the vehicle T in question. The adaptive cruise control device can derive the vehicle driving information based on the current position, speed, or attitude detection module of the vehicle.

The adaptive cruise control device can receive a signal requesting the vehicle's driving information from the other vehicle (O). The adaptive cruise control device can transmit the vehicle driving information to another vehicle. The adaptive cruise control device shares information with the adaptive cruise control device of the other vehicle to minimize the possibility of an accident between them.

The adaptive cruise control device can predict a change in the distance between the two vehicles based on the driving information of the vehicle and the adjacent vehicle driving information. The adaptive cruise control device can obtain the distance, the relative speed and the relative acceleration between the vehicle and the adjacent vehicle that transmitted the vehicle proximity information.

The adjacent vehicle driving information may include information on the position speed, acceleration, and steering angle of the adjacent vehicle. The vehicle driving information may include information about the position, speed, acceleration, and steering angle of the vehicle.

When the adaptive cruise control apparatus receives a plurality of adjacent vehicle driving information, the adaptive cruise control apparatus can identify the adjacent vehicle that is likely to collide with the vehicle. The adaptive cruise control apparatus can prioritize the position of the adjacent vehicle with the highest possibility of collision and adjust the speed of the vehicle. The adaptive cruise control device can predict a travel route of a vehicle that may collide with the vehicle.

The adaptive cruise control device can adjust the speed of the vehicle so that the distance between the vehicle and the adjacent vehicle satisfies the allowable distance range. The adaptive cruise control device can adjust the speed of the vehicle so as to secure a safety distance from a plurality of adjacent vehicles.

3 is a block diagram showing the configuration of an adaptive cruise control device according to an embodiment of the present invention.

The adaptive cruise control apparatus according to an embodiment of the present invention includes a controller 110 that performs various operations, a memory 120 that writes or erases information by the controller 110, The acceleration input module 10, the braking input module 20, the vision module 30, the radar module 40, the speed sensing module 50, the attitude sensing module 60, the position sensing module 70, However, the constituent elements are not essential, and the scope of the present invention is based on the claims.

The controller 110 may perform various functions for the adaptive cruise control device and may execute or perform various software programs and / or sets of instructions stored in the memory 120 for processing data. The controller 110 may process the signal based on the information stored in the memory 120.

The controller 110 includes an acceleration input module 10, a brake 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 140 and the power / braking module 130 according to the processed result. The controller 110 may include a CAN (Controller Area Network) for data communication with each module.

Memory 120 may include a high speed random access memory. The memory 120 may also include non-volatile memory, such as, but not limited to, one or more magnetic disk storage devices, flash memory devices, or other non-volatile solid state memory devices.

For example, the memory 120 may include, but is not limited to, Electronically Erasable and Programmable Read Only Memory (EEP-ROM). In the EEP-ROM, information can be written and erased by the controller 110 during the operation of the controller 110. [ The EEP-ROM may be a storage device in which information stored in the EEP-ROM is held without being erased even when power is turned off to stop the power supply.

The memory 120 may store various programs or data in cooperation with the controller 110. The memory 120 may store programs necessary for the driving assistance device to control the speed of the vehicle. The controller 110 can derive driving information of the vehicle based on the program stored in the memory 120 or control the speed of the vehicle.

The controller 110 can derive the vehicle driving information based on the information detected by the position sensing module 70, the speed sensing module 50, and the attitude sensing module 80. [ The controller 110 can predict a change in the distance between the two vehicles based on the vehicle driving information and the adjacent vehicle driving information.

The controller 110 can obtain the distance, the relative speed and the relative acceleration between adjacent vehicles that have transmitted the vehicle driving information with the vehicle. The adjacent vehicle driving information may include information on the position, speed, acceleration, and steering angle of the adjacent vehicle. The relative speed may be a value obtained by subtracting the speed of the other vehicle from the speed of the vehicle concerned. The relative acceleration is a value obtained by subtracting the acceleration of the other vehicle from the acceleration of the vehicle.

When the communication device 150 receives a plurality of adjacent vehicle driving information, the controller 110 can identify an adjacent vehicle that may possibly collide with the vehicle. The controller 110 can determine whether there is a possibility of collision with another vehicle. The controller 110 predicts a change in the distance between the vehicle and the adjacent vehicle so as to grasp the possibility of collision.

The controller 110 can predict a driving route of a vehicle that may collide with the vehicle among the other vehicles that have transmitted the adjacent vehicle driving information. The controller 110 can adjust the speed of the vehicle using the power / braking module 130 so that the distance between the vehicle and the adjacent vehicle satisfies the allowable distance range.

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 130 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 110. The controller 110 controls the power / braking module 130 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 130 to accelerate the vehicle.

The brake 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 130 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 small capacity 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 acceleration input module 10 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 110. [ The controller 110 controls the power / braking module 130 according to the input braking signal to decelerate or stop the vehicle. The braking input module 20 can directly control the power / braking module 130 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 rotational speed of the wheel of the vehicle or senses the rotational 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 detection module 50 outputs the sensed speed value of the vehicle to the controller 110.

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 110. [ The posture sensing module 60 can sense the traveling direction of the vehicle. The posture sensing module 60 may include a YAW axis sensor. For example, the YAW axis sensor determines whether or not to rotate about the z axis among the x axis as the traveling direction of the vehicle, the y axis to the left of the traveling direction of the vehicle, and the z axis perpendicular to the x axis and the y axis It can be judged.

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 position sensing module 70 may include DGPS (Differential GPS). When the DGPS (Differential GPS) is included, the position sensing module 70 corrects the elements causing the error by using the already known reference point coordinates as the position measurement method of the relative positioning method, A method of locating a location in which a user can recognize a location can be performed.

The position sensing module 70 can correct error factors such as satellite orbit error, satellite clock error, ionospheric error, troposphere error, multipath error, and receiver error.

The position sensing module 70 can grasp the position of the vehicle and ascertain the speed of the vehicle through the change of the position.

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.

The vision module 30 can distinguish roads, and can photograph various objects on the road, recognize them, and distinguish them. The vision module 30 recognizes the shape of the object O to distinguish whether the object O is a vehicle or a simple object. In the case of a vehicle, the vision module 30 can discriminate whether it is a passenger car, a truck or a two-wheeled vehicle.

The vision module 30 can recognize the lane on the road and can distinguish whether the lane 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 between the lane and the lane through the recognized lane. The vision module 30 can recognize the lane in which the vehicle in which the vision module 30 is installed is running. In addition, the vision module 30 can recognize on which lane the recognized object O is located or whether the recognized object O lies on the lane.

The recognition and the discrimination of the object O can be performed in the vision module 30 itself or in the controller 110 through the image photographed by the vision module 30. The vision module 30 may recognize the lane and accordingly establish a relationship with the adjacent vehicle, but this is only one embodiment, and in other embodiments, the vision module 30 may be omitted.

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 may detect the distance, position, direction, speed, and the like to a target vehicle, which is a specified object among various objects, and refer to the running, but this is only one embodiment. In another embodiment, Module 40 may be omitted.

The warning module 140 is a device for giving a warning to a driver who drives the vehicle, and can warn a variety of visual, auditory, and tactile warning according to the embodiment. The warning module 140 may display a warning on the instrument panel of the driver's seat, head-up display, navigation, integrated information display device, and the like. The warning module 140 can warn the user through the speaker of the vehicle. The warning module 140 can warn the driver by vibrating the steering wheel of the vehicle or tightening the seat belt.

The warning module 140 may operate under the control of the controller 110 to alert the driver.

The power / braking module 130 is a device for accelerating, decelerating or stopping the vehicle. The power / braking module 130 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 130 may include brakes and / or retarders that generate braking forces or reduce rotation of the engine and / or motor.

The power / braking module 130 may operate under the control of the controller 130 or may be operated by the acceleration input module 10 or the braking input module 20.

The communication device 150 can communicate with the other vehicle. The communication device 150 can transmit and receive the driving information with the other vehicle. The communication device 150 can request the driving information from the other vehicle. When the communication device 150 receives the signal requesting the driving information from the other vehicle, the communication device 150 can transmit the driving information of the vehicle to the other vehicle. The communication device 150 can communicate with other vehicles by using various communication methods, and is not limited to any one communication method.

4 is a flowchart showing a control method of an adaptive cruise control apparatus according to an embodiment of the present invention.

Referring to FIG. 4, an adaptive cruise control device control method according to an embodiment of the present invention includes receiving (S410) adjacent vehicle driving information, which is information on the operation of an adjacent vehicle, (S420) of outputting the driving information, and a step S430 of predicting a change in the distance between the two vehicles based on the adjacent vehicle driving information and the vehicle driving information.

The method of controlling an adaptive cruise control apparatus according to an embodiment of the present invention includes steps S440, S450, S460, S460, S460, S460, ).

In the step S410 of receiving the adjacent vehicle driving information, which is information on the operation of the adjacent vehicle, the adaptive cruise control device may receive the driving information from other vehicles adjacent to the vehicle. The adjacent vehicle driving information may include information on the position (latitude, longitude), speed, acceleration, and steering angle of the adjacent vehicle.

The step S420 of checking the driving state of the vehicle and outputting the vehicle driving information may output the driving information based on the information about the position, the speed, the acceleration and the steering angle of the vehicle. When the other vehicles request the driving information to the vehicle, the derived driving information can be transmitted.

The step S430 of predicting the change in the distance between the two vehicles based on the adjacent vehicle driving information and the vehicle driving information predicts the speed through the change of the position and the position of the vehicle, It is possible to predict a change in the distance between the vehicle and the other vehicle based on the change in the position.

In the step S440 of recognizing the other vehicle having a high possibility of collision, it is possible to predict a change in the distance between the vehicle and the plurality of other vehicles, and to grasp the possibility of collision with each of the plurality of other vehicles. In some cases, the adaptive cruise control system can identify the vehicle most likely to be impulsive.

Step S450 of predicting the change of the path of the other vehicle can predict the change of the path of the one or more other vehicles. In some cases, it is possible to predict a change in the path of another vehicle that is likely to collide.

Adjusting the speed of the vehicle (S460) may adjust the speed of the vehicle in a direction that lowers the possibility of collision with another vehicle. For example, the step of adjusting the speed of the vehicle may adjust the speed in a direction that avoids collision with a potential other vehicle. In some cases, the adaptive cruise control device can control the steering angle of the vehicle in order to avoid collision with other vehicles.

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.

110: controller
120: Memory
130: Power / Brake Module
140: Warning module
150: Communication device

Claims (12)

A communication device for receiving adjacent vehicle driving information including the speed and steering angle information of an adjacent vehicle;
A position detection module for detecting the current position;
A speed sensing module for sensing the speed of the vehicle;
A posture sensing module for sensing a variation of at least one of a pitch axis, a yaw axis, and a roll axis set in the vehicle and recognizing a traveling direction of the vehicle; And
Wherein the control unit derives the vehicle driving information based on the information detected by the position sensing module, the speed sensing module, and the posture sensing module, and based on the vehicle driving information and the adjacent vehicle driving information, And a controller for predicting the change,
And the controller obtains the distance, the relative speed and the relative acceleration between the vehicle and the adjacent vehicle that has transmitted the adjacent vehicle driving information. The method according to claim 1,
Wherein the adjacent vehicle driving information includes information on a position, a speed, an acceleration, and a steering angle of the adjacent vehicle, and a variation of at least one of a pitch axis, a yaw axis, and a roll axis. The method according to claim 1,
When the communication device receives a plurality of the adjacent vehicle driving information,
And an adaptive cruise control device for recognizing an adjacent vehicle having a possibility of collision with the vehicle. The method of claim 3,
Wherein the controller predicts a driving route of a vehicle that is likely to collide with the vehicle among the other vehicles that have transmitted the adjacent vehicle driving information. The method according to claim 1,
Wherein the controller adjusts the speed of the vehicle so that the distance between the vehicle and the adjacent vehicle satisfies an allowable distance range. The method according to claim 1,
When the communication device receives a signal requesting the driving information from another vehicle,
And the controller transmits the vehicle driving information to the communication device. Receiving adjacent vehicle driving information, which is information on the driving of the adjacent vehicle;
Determining the operating state of the vehicle and outputting the vehicle driving information; And
And estimating a change in the distance between the two vehicles based on the adjacent vehicle driving information and the vehicle driving information,
Wherein the adjacent vehicle driving information includes at least one of a position, a speed, an acceleration, and a steering angle of the adjacent vehicle, and a variation of at least one of a pitch axis, a yaw axis, and a roll axis. 8. The method of claim 7,
Wherein the vehicle driving information includes at least one of a position, a speed, an acceleration, a steering angle of the vehicle, and a variation of at least one of a pitch axis, a yaw axis, and a roll axis. 8. The method of claim 7,
When a plurality of the adjacent vehicle driving information is received,
And determining a neighboring vehicle that is likely to collide with the vehicle. 10. The method of claim 9,
Further comprising: predicting a change in a path of a vehicle likely to collide with the vehicle. 8. The method of claim 7,
Predicting a change in distance between the two vehicles,
The relative speed and the relative acceleration between the two vehicles. 8. The method of claim 7,
And adjusting the speed of the vehicle so that the distance between the vehicle and the adjacent vehicle satisfies an allowable distance range.

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