KR101725423B1

KR101725423B1 - Vehicle control apparatus and control method thereof

Info

Publication number: KR101725423B1
Application number: KR1020150124067A
Authority: KR
Inventors: 이성훈
Original assignee: 주식회사 만도
Priority date: 2015-09-02
Filing date: 2015-09-02
Publication date: 2017-04-11
Also published as: KR20170027451A

Abstract

A vehicle control apparatus and a control method thereof are disclosed. A vehicle control apparatus and a control method thereof according to an embodiment of the present invention include an input unit for receiving a first current distance value and a current curvature value of a first current object detected by a sensing device, It is determined whether or not the inputted first current distance value is not within the first reference distance value range already set. If the first current distance value is not within the first reference distance value range, it is judged whether the current curvature value is not within the preset reference curvature value range ; A driving unit for driving the steering device in accordance with a target steering angle value of the vehicle that is set according to a current curvature value if the current curvature value is not within a reference curvature value range; And a controller receiving the first current distance value and the current curvature value, transmitting a determination command to the determination unit, and transmitting a driving command to the driving unit.

Description

[0001] The present invention relates to a vehicle control apparatus and a control method thereof,

The present invention relates to a vehicle control apparatus and a control method thereof.

In general, a conventional vehicle collision avoidance apparatus is provided to detect a current object during driving and to prevent collision with a current object.

However, since the conventional vehicle collision avoiding apparatus has a limitation in quickly operating the steering apparatus for preventing collision with an object, there is a limit in preventing further collision with an object.

Therefore, in recent years, an improved vehicle control apparatus and a control method thereof capable of preventing collision with a current object have been continuously studied.

Recently, an improved vehicle control apparatus and its control method capable of preventing the occurrence of a traffic accident further by inducing driver's attention driving and suppressing anxiety about the present driving state have been continuously studied .

An embodiment of the present invention is to provide a vehicle control apparatus and a control method thereof capable of preventing a collision with a first current object in advance and preventing occurrence of a traffic accident in advance.

In addition, an embodiment of the present invention is to provide a vehicle control apparatus and a control method thereof that can prevent a collision with a second current object in advance, thereby preventing the occurrence of a traffic accident.

In addition, the embodiment of the present invention is intended to provide a vehicle control apparatus and a control method thereof that can induce driver's attention driving and prevent the occurrence of a traffic accident more in advance.

In addition, an embodiment of the present invention is intended to provide a vehicle control apparatus and a control method thereof capable of suppressing anxiety about the present running state.

According to an aspect of the present invention, there is provided an image processing apparatus including an input unit for receiving a first current distance value and a current curvature value of a first current object detected by a sensing apparatus; It is determined whether or not the inputted first current distance value is not within the first reference distance value range already set. If the first current distance value is not within the first reference distance value range, it is judged whether the current curvature value is not within the preset reference curvature value range ; A driving unit for driving the steering device in accordance with a target steering angle value of the vehicle that is set according to a current curvature value if the current curvature value is not within a reference curvature value range; And a controller receiving the first current distance value and the current curvature value, transmitting a determination command to the determination unit, and transmitting a driving command to the driving unit.

According to another aspect of the present invention, there is provided an information processing apparatus including an input unit for receiving a first current distance value, a current curvature value of a first current object, and a steering angle value of a present vehicle detected by a sensing apparatus; It is determined whether or not the inputted first current distance value is not within the first reference distance value range already set. If the first current distance value is not within the first reference distance value range, it is judged whether the current curvature value is not within the preset reference curvature value range ; If the current curvature value is not within the reference curvature value range, the current curvature steering angle value is calculated according to the current curvature value. If the current curvature steering angle value is larger than the current steering angle value of the current vehicle, the current curvature steering angle value and the steering angle value A collision avoidance angle value that is a difference value between the collision avoidance angle values; A driving unit for driving the steering device in accordance with the calculated collision avoidance angle value; And a control unit for receiving a first current distance value and a current curvature value and a current steering angle value of the current vehicle, transmitting a determination command to the determination unit, transmitting a calculation command to the calculation unit, and transmitting a drive command to the driver There is a number.

At this time, if the current curvature value is not within the reference curvature value range, it may further include an identification unit for identifying the current collision risk situation.

In addition, if the calculated current curvature steering angle value is greater than the steering angle value of the present vehicle, it may further include an identification unit for identifying the current collision risk situation.

The input unit may further receive a second current distance value and a current entry velocity value of the current vehicle, the second current object entering a side lane further sensed by the sensing device; If the second current distance value is within the second reference distance value range, the determination unit determines whether the input current velocity value of the current vehicle is within a predetermined reference entry velocity value Further determine if the range is; The driving unit may further drive the speed adjusting device to adjust the current speed in accordance with the target speed adjusting value set based on the entry speed value of the current subject vehicle if the entry speed value of the present vehicle is in the reference entry speed value range .

In addition, if the entry speed value of the current vehicle is in the reference entry speed value range, it may further include an identification unit that identifies the current collision risk situation.

In addition, the control unit may further include an identification unit for identifying the current speed when the current speed is adjusted.

When the current speed is adjusted, the control unit may further include an identification unit for identifying that the current speed is adjusted.

In addition, the first current object may include at least one of an outer wall and an obstacle.

The second current object may also include at least one of other vehicles, motorcycles, bicycles, and people and animals.

In addition, the sensing device may operate on a circle-turning garage road.

According to still another aspect of the present invention, there is provided a method of detecting an object, comprising: a first input step of receiving a first current distance value from a first current object sensed by a sensing device; A first determining step of determining whether the inputted first current distance value is not within a first reference distance value range that is already set; A second input step of receiving a current curvature value of a first current object sensed by a sensing device if the first current distance value is not within a first reference distance value range; A second determination step of determining whether the input current curvature value is not within a preset reference curvature value range; And a first driving step of driving the steering device in accordance with the target steering angle value of the vehicle that is set according to the current curvature value, if the current curvature value is not within the reference curvature value range.

According to still another aspect of the present invention, there is provided a method of detecting an object, comprising: a third input step of receiving a first current distance value from a first current object sensed by a sensing device; A third determination step of determining whether the inputted first current distance value is not within a first reference distance value range set in advance; A fourth input step of receiving the current curvature value of the first current object sensed by the sensing device and the current steering angle value of the current vehicle if the first current distance value is not within the first reference distance value range; A fourth determination step of determining whether the input current curvature value is not within a predetermined reference curvature value range; If the current curvature value is not within the reference curvature value range, the current curvature steering angle value is calculated according to the current curvature value. If the calculated current curvature steering angle value is larger than the current steering angle value of the current vehicle, the current curvature steering angle value and the current steering angle value A calculation step of calculating a collision avoidance angle value that is a difference value; And a second driving step of driving the steering apparatus in accordance with the calculated collision avoidance angle value.

The vehicle control apparatus and the control method thereof according to the embodiment of the present invention can prevent the collision with the first current object beforehand and prevent the occurrence of a traffic accident in advance.

Further, the vehicle control apparatus and the control method thereof according to the embodiment of the present invention can prevent the collision with the second current object in advance, and prevent the occurrence of a traffic accident in advance.

Further, the vehicle control apparatus and the control method thereof according to the embodiment of the present invention can induce the driver to perform cautionary driving, thereby preventing the occurrence of a traffic accident more in advance.

Further, the vehicle control apparatus and the control method thereof according to the embodiment of the present invention can suppress anxiety about the present running state.

1 is a block diagram showing a state in which a vehicle control device according to a first embodiment of the present invention is connected to a sensing device and a steering device.
Fig. 2 is a block diagram showing an example of the vehicle control apparatus shown in Fig. 1. Fig.
3 is a flowchart showing an example of a vehicle control method of a vehicle control apparatus according to the first embodiment of the present invention.
4 is a block diagram showing an example of a vehicle control apparatus according to a second embodiment of the present invention.
5 is a diagram illustrating a process of driving the steering apparatus in the driving unit shown in FIG.
FIG. 6 is a diagram illustrating a process of calculating a collision avoiding angle value based on a current curvature steering angle value and a steering angle value of a present vehicle in the calculating unit shown in FIG. 4;
7 is a flowchart showing an example of a vehicle control method of a vehicle control apparatus according to a second embodiment of the present invention.
8 is a block diagram showing an example of a vehicle control apparatus according to a third embodiment of the present invention.
9 is a flowchart showing an example of a vehicle control method of a vehicle control apparatus according to a third embodiment of the present invention.
10 is a block diagram showing an example of a vehicle control apparatus according to a fourth embodiment of the present invention.
11 is a flowchart showing an example of a vehicle control method of a vehicle control apparatus according to a fourth embodiment of the present invention.
12 is a flowchart showing another example of the vehicle control method of the vehicle control device according to the fourth embodiment of the present invention.
13 is a block diagram showing a state in which a vehicle control device according to a fifth embodiment of the present invention is connected to a sensing device, a steering device, and a speed adjusting device.
14 is a block diagram showing an example of the vehicle control apparatus shown in Fig.
15 is a flowchart showing an example of a vehicle control method of a vehicle control device according to a fifth embodiment of the present invention.
16 is a block diagram showing an example of a vehicle control apparatus according to a sixth embodiment of the present invention.
17 is a flowchart showing an example of a vehicle control method of a vehicle control apparatus according to the sixth embodiment of the present invention.
18 is a block diagram showing an example of a vehicle control apparatus according to a seventh embodiment of the present invention.
19 is a flowchart showing an example of a vehicle control method of the vehicle control device according to the seventh embodiment of the present invention.
20 is a flowchart showing another example of a vehicle control method of the vehicle control device according to the seventh embodiment of the present invention.
FIG. 21 is a flowchart showing still another example of a vehicle control method of a vehicle control device according to a seventh embodiment of the present invention. FIG.
22 is a block diagram showing an example of a vehicle control apparatus according to an eighth embodiment of the present invention.
23 is a flowchart showing an example of a vehicle control method of a vehicle control device according to an eighth embodiment of the present invention.
24 is a flowchart showing another example of the vehicle control method of the vehicle control device according to the eighth embodiment of the present invention.
25 is a flowchart showing still another example of a vehicle control method of the vehicle control device according to the eighth 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 is a block diagram showing a state in which a vehicle control apparatus according to a first embodiment of the present invention is connected to a sensing apparatus and a steering apparatus, and FIG. 2 is a block diagram showing an example of a vehicle control apparatus shown in FIG. 1 .

1 and 2, a vehicle control apparatus 100 according to a first embodiment of the present invention includes an input unit 102, a determination unit 104, a driving unit 106, and a control unit 108.

The input unit 102 receives the first current distance value and the current curvature value of the first current object detected by the sensing apparatus 10.

Here, the sensing device 10 may include a conventional distance sensing sensor (not shown) for sensing a current distance value, which may be operated on a circle parking path, And may include a conventional curvature sensing sensor (not shown).

At this time, the first current object may include at least one of an outer wall and an obstacle (not shown).

The determination unit 104 determines whether the first current distance value input to the input unit 102 is not within the first reference distance value range set in advance under the control of the control unit 108. If the first current distance value is greater than the first reference distance value, If the distance value is not within the range, the control unit 108 determines whether the current curvature value is not within the preset reference curvature value range.

For example, the determination unit 104 can determine whether the first current distance value input to the input unit 102 is smaller than a first reference distance value that is set, under control of the control unit 108, If the first reference distance value is smaller than the first reference distance value, the control unit 108 can determine whether the current curvature value is greater than the preset reference curvature value.

If the determination unit 104 determines that the current curvature value is not within the reference curvature value range, the driving unit 106 may control the steering unit 30 to move the steering unit 30 in accordance with the target steering angle value of the vehicle, And drives it according to the control.

For example, when the determination unit 104 determines that the curvature value is greater than the reference curvature value, the driving unit 106 controls the steering unit 30 to move to the control unit 108 ) According to the control of the control unit.

The control unit 108 receives the first current distance value and the current curvature value output from the input unit 102, transmits a determination command to the determination unit 104, and transmits a driving command to the driving unit 106.

At this time, the input unit 102, the determination unit 104, the driving unit 106, and the control unit 108 control the overall operation of the main computer applied to the vehicle, not shown, (Electric Control Unit) (not shown) for driving the electric motor 30.

Although not shown, the input unit 102, the determination unit 104, the driving unit 106, and the control unit 108 include a processor, a memory, and an input / output device in a single chip to control the overall operation, (Micro Control Unit, not shown) for driving the steering device 30 in accordance with the value of the vehicle speed.

The input unit 102, the determination unit 104, the driving unit 106, and the control unit 108 are not limited to this, and may be configured to control the overall operation of the vehicle and to drive the steering device 30 in accordance with the determination, input, All of the control means, the determination means, the input means, and the drive means that can be provided.

Here, the input unit 102, the determination unit 104, the driving unit 106, and the control unit 108 may be integrally provided in an ECU (not shown) or an MCU (not shown) May be provided to an MCU (not shown).

A vehicle control method for controlling a vehicle using the vehicle control device 100 according to the first embodiment of the present invention will now be described with reference to FIG.

3 is a flowchart showing an example of a vehicle control method of the vehicle control apparatus according to the first embodiment of the present invention.

3, the vehicle control method 300 of the vehicle control apparatus 100 (FIG. 2) according to the first embodiment of the present invention includes a first input step S302, a first determination step S304, An input step S306, a second determining step S308, and a first driving step S310.

First, in a first input step S302, a first current distance value with respect to a first current object sensed by the sensing apparatus 10 (FIG. 2) is input to the input unit 102 (FIG. 2).

Thereafter, the first determination step S304 determines whether the first current distance value input to the input unit 102 in Fig. 2 is not within the first reference distance value range already set in the determination unit 104 in Fig. 2 2) 108 of FIG. 2).

For example, the first determination step S304 may determine whether the first current distance value input to the input unit 102 in FIG. 2 is smaller than the first reference distance value already set in the determination unit 104 in FIG. 2 (104 in Fig. 2) according to the control of the controller 108 of Fig.

Thereafter, if the first current distance value is determined not to be within the first reference distance value range in the determination unit 104 in FIG. 2, 1 The current curvature value of the current object is input to the input unit (102 in Fig. 2).

For example, if the first current distance value is smaller than the first reference distance value in the determination unit (104 in FIG. 2), the second input step (S306) The current curvature value of the current object can be received from the input unit (102 in FIG. 2).

Then, the second determination step (S308) determines whether the current curvature value input to the input unit (102 in FIG. 2) is not within the reference curvature value range already set in the determination unit (104 in FIG. 2) (104 in Fig. 2) in accordance with the control of the control unit.

For example, the second determination step S308 determines whether the current curvature value input to the input unit 102 in FIG. 2 is larger than the reference curvature value already set in the determination unit 104 in FIG. 2 It can be judged by the judging section (104 in Fig. 2) according to the control.

Thereafter, if the current curvature value is determined not to be within the reference curvature value range in the determination unit 104 in FIG. 2, the first drive step S310 is performed. (FIG. 2) according to the control of the control unit (108 in FIG. 2) in accordance with the target steering angle value of the steering angle sensor (FIG.

If the current curvature value is larger than the reference curvature value in the determination unit 104 in FIG. 2, the first drive step S310 may determine whether the current curvature value of the vehicle The steering device (30 in Fig. 2) can be driven by the driving part (106 in Fig. 2) under the control of the control part (108 in Fig. 2) in accordance with the target steering angle value.

The vehicle control apparatus 100 and the control method 300 thereof according to the first embodiment of the present invention include the input unit 102, the determination unit 104, the driving unit 106, and the control unit 108, The first input step S302, the first determining step S304, the second inputting step S306, the second determining step S308, and the first driving step S310 are performed.

Accordingly, in the vehicle control apparatus 100 and the control method 300 thereof according to the first embodiment of the present invention, if the current curvature value of the first current object is not within the reference curvature value range during driving, It is possible to prevent the collision with the first current object in advance and prevent the occurrence of a traffic accident beforehand.

FIG. 4 is a block diagram showing a vehicle control apparatus according to a second embodiment of the present invention, and FIG. 5 is a diagram illustrating a process of driving the steering apparatus in the driving unit shown in FIG.

FIG. 6 is a diagram illustrating a process of calculating a collision avoidance angle value based on a current curvature steering angle value and a steering angle value of a current vehicle in the calculation unit shown in FIG.

4 to 6, the vehicle control device 400 according to the second embodiment of the present invention includes an input unit 402, a determination unit 404, a calculation unit 405, a driving unit 406, and a control unit 408 ).

The input unit 402 outputs a first current distance value to the first current object A sensed by the sensing apparatus 10 and a current curvature value of the first current object A and a steering angle value

).

Here, the sensing device 10 may include a conventional distance sensing sensor (not shown) for sensing a current distance value, which may be operated on a circle parking path, And may include a conventional curvature detection sensor (not shown). The steering angle value of the present vehicle V1

(Not shown) for sensing a steering angle sensor (not shown).

At this time, the first current object A may include at least one of an outer wall and an obstacle (not shown).

The determination unit 404 determines whether the first current distance value input to the input unit 402 is not within the first reference distance value range that is set in advance according to the control of the controller 408. If the first current distance value is greater than the first reference distance value, If the distance value is not within the range, the control unit 408 determines whether the current curvature value is within the preset reference curvature value range.

For example, the determination unit 404 can determine whether the first current distance value input to the input unit 402 is smaller than a first reference distance value that is set according to the control of the controller 408, The controller 408 determines whether the current curvature value is larger than the reference curvature value.

If the determining unit 404 determines that the current curvature value is not within the reference curvature value range, the calculating unit 405 calculates the current curvature steering angle value

) According to the control of the control unit 408, and outputs the calculated current curvature steering angle value (

) Is the steering angle value of the present vehicle V1

), The current curvature steering angle value (

) And the steering angle value of the present vehicle V1 (

), Which is a difference value between the collision avoidance angle values

) Under the control of the control unit 408. [

For example, when the determination unit 404 determines that the current curvature value is greater than the reference curvature value, the calculation unit 405 calculates the current curvature steering angle value

) Is the steering angle value of the present vehicle V1

), The current curvature steering angle value (

) And the steering angle value of the present vehicle V1 (

), Which is a difference value between the collision avoidance angle values

Can be calculated under the control of the control unit 408. [

The driving unit 406 receives the collision avoidance angle value (

The control unit 408 drives the steering device 30 in accordance with the control signal from the control unit 408.

The control unit 408 compares the first current distance value and the current curvature value output from the input unit 402 with the steering angle value of the present vehicle V1

And transmits a determination command to the determination unit 404, a calculation command to the calculation unit 405, and a drive command to the driving unit 406. [

At this time, although not shown, the input unit 402, the determination unit 404, the calculation unit 405, the driving unit 406, and the control unit 408 control the overall operation with the main computer applied to the vehicle, And collision avoidance angle value (

(Electric control unit) (not shown) for driving the steering device 30 in accordance with the steering angle (steering angle).

The input unit 402, the determination unit 404, the calculation unit 405, the driving unit 406, and the control unit 408 may include a processor, a memory, and an input / output device in a single chip Judgment and input and calculation and collision avoidance angle value (

To a conventional MCU (Micro Control Unit) (not shown) for driving the steering device 30 in accordance with the vehicle speed.

In addition, the input unit 402, the determination unit 404, the calculation unit 405, the driving unit 406, and the control unit 408 are not limited to this, and may be configured to control the overall operation of the vehicle, (

All of the control means, determination means, input means, calculation means, and driving means capable of driving the steering apparatus 30 in accordance with the control signal.

Here, the input unit 402, the determination unit 404, the calculation unit 405, the driving unit 406, and the control unit 408 can be integrally provided to the ECU (not shown) or the MCU (not shown) May be provided to an ECU (not shown) or an MCU (not shown).

A vehicle control method for controlling the vehicle using the vehicle control device 400 according to the second embodiment of the present invention will now be described with reference to FIG.

7 is a flowchart showing an example of a vehicle control method of the vehicle control apparatus according to the second embodiment of the present invention.

Referring to FIG. 7, the vehicle control method 700 of the vehicle control apparatus 400 (FIG. 4) according to the second embodiment of the present invention includes a third input step S702, a third determination step S704, Input step S706, fourth determining step S708, calculating step S712, S714, and second driving step S716.

First, the third input step S702 receives the first current distance value from the first current object (A in FIG. 4) sensed by the sensing device 10 (FIG. 4) from the input unit 402 (FIG. 4).

Thereafter, the third determination step S704 determines whether or not the first current distance value input to the input unit 402 (see FIG. 4) is not within the first reference distance value range that is already set, according to the control of the control unit 408 (404 in FIG. 4).

For example, the third determination step S704 determines whether the first current distance value input to the input unit 402 (FIG. 4) is smaller than the first reference distance value that has been already set, under the control of the control unit 408 (FIG. 4) (404 in FIG. 4).

Thereafter, if the first current distance value is determined not to be within the first reference distance value range in the determination unit (404 in FIG. 4), the fourth input step (S706) The current curvature value of the current object (A in Fig. 4) and the steering angle value of the present vehicle (V1 in Fig. 5)

(402 in Fig. 4).

After that, the fourth determination step S708 determines whether or not the current curvature value input to the input unit (402 in FIG. 4) is not within the preset reference curvature value range by the control unit (408 in FIG. 4) 404). &Lt; / RTI >

For example, the fourth determination step S708 determines whether the current curvature value input to the input unit 402 (see FIG. 4) is greater than the preset reference curvature value by the control unit 408 (FIG. 4) 404).

If the current curvature value is not within the reference curvature value range in the determination unit (404 in FIG. 4), the calculation steps S712 and S714 determine the current curvature steering angle value

4) in accordance with the control of the control unit (408 in Fig. 4) (S712). The calculated current curvature steering angle value

) Of the present vehicle (V1 in Fig. 5)

), The current curvature steering angle value

) And the steering angle value of the present vehicle (V1 in Fig. 5)

), Which is a difference value between the collision avoidance angle values

(405 in Fig. 4) under the control of the control unit (408 in Fig. 4) (S714).

For example, if the current curvature value is larger than the reference curvature value in the determination unit (404 in FIG. 4), the calculation steps S712 and S714 may calculate the current curvature steering angle value

) Of the present vehicle (V1 in Fig. 5)

), The current curvature steering angle value

) And the steering angle value of the present vehicle (V1 in Fig. 5)

), Which is a difference value between the collision avoidance angle values

(405 in Fig. 4) under the control of the control unit (408 in Fig. 4) (S714).

Thereafter, the second driving step S716 sets the collision avoidance angle value calculated from the calculating unit (405 in Fig. 4)

(FIG. 4) 406 in accordance with the control of the control unit 408 (FIG. 4).

The vehicle control apparatus 400 and the control method 700 thereof according to the second embodiment of the present invention may include an input unit 402, a determination unit 404, a calculation unit 405, a driving unit 406, The third input step S702, the third determining step S704, the fourth inputting step S706, the fourth determining step S708, the calculating step S712, S714, and the second driving step S716).

Therefore, in the vehicle control device 400 and the control method 700 thereof according to the second embodiment of the present invention, if the current curvature value of the first current object A is not within the reference curvature value range during driving, Each value (

The collision with the first current object A can be prevented beforehand, and the occurrence of a traffic accident can be prevented in advance.

FIG. 8 is a block diagram showing a vehicle control apparatus according to a third embodiment of the present invention, and FIG. 9 is a flowchart showing an example of a vehicle control method of the vehicle control apparatus according to the third embodiment of the present invention.

FIG. 10 is a block diagram showing a vehicle control apparatus according to a fourth embodiment of the present invention, and FIG. 11 is a flowchart showing an example of a vehicle control method of the vehicle control apparatus according to the fourth embodiment of the present invention, 12 is a flowchart showing another example of the vehicle control method of the vehicle control device according to the fourth embodiment of the present invention.

8 and 10, the vehicle control apparatuses 800 and 1000 according to the third and fourth embodiments of the present invention are similar to the vehicle control apparatuses 100 and 102 of FIG. 2 The input unit 802 and the determination unit 804 and the determination unit 804 and the calculation unit 1005 as well as the driving units 806 and 1006 and the control units 808 and 1008 in the same manner as the control unit 400 of FIG.

The input units 802 and 1002 and the determination units 804 and 1004 and the calculation unit 1005 and the driving units 806 and 1006 of the vehicle control apparatuses 800 and 1000 according to the third and fourth embodiments of the present invention, The functions of the control units 808 and 1008 and the organic connection relationship therebetween are the same as those of the input unit (102 in Fig. 2, Fig. 4 in Fig. 4) of the vehicle control apparatus 100 2), a control unit (108 in Fig. 2, 408 in Fig. 4), a determination unit (104 in Fig. 2, 404 in Fig. 4) ), And the organic connection relationship therebetween, and therefore, respective additional descriptions thereof will be omitted below.

Here, the vehicle control apparatuses 800 and 1000 according to the third and fourth embodiments of the present invention may further include the identification units 810 and 1010.

That is, if the determination units 804 and 1004 determine that the curvature value is not within the reference curvature value range, the identifiers 810 and 1010 can identify the current collision risk situation under the control of the control units 808 and 1008 have.

For example, when the determination units 804 and 1004 determine that the current curvature value is larger than the reference curvature value, the identifiers 810 and 1010 can identify the current collision risk status under the control of the control units 808 and 1008 have.

Further, the identifying unit 1010 determines the current curvature steering angle value (see FIG. 6

) Of the present vehicle (V1 in Fig. 5)

, It is possible to identify that the current collision risk situation is under the control of the control unit 1008. [

Although not shown, the identification units 810 and 1010 include at least one of an alarm (not shown), a speaker (not shown), and a light emitting member (not shown) provided for the driver to identify the information or state of the vehicle It is possible to identify the present collision risk situation through at least one of an alarm operation of an alarm (not shown), a voice operation of a speaker (not shown), and a light emitting operation of a light emitting member (not shown).

Although not shown, the identification units 810 and 1010 may include a HMI (Human Machine Interface) module (not shown) and a HUD (Head-UP Display), which are installed to interface with a user and a machine, ) Module (not shown) to identify the current collision risk situation through at least one of the HMI message display operation of the HMI module (not shown) and the HUD message display operation of the HUD module (not shown) have.

A vehicle control method for controlling a vehicle using the vehicle control apparatuses 800 and 1000 according to the third and fourth embodiments of the present invention will now be described with reference to FIG. 9, FIG. 11, and FIG.

9, the vehicle control method 900 of the vehicle control apparatus (800 of FIG. 8) according to the third embodiment of the present invention is similar to the vehicle control method 900 of the vehicle control apparatus (100 of FIG. 2) The first input step S902, the first determining step S904, the second inputting step S906, the second determining step S908, and the first driving step S910 are performed in the same manner as the vehicle control method (300 of FIG. 3) ).

The first input step S902, the first determining step S904, and the second inputting step S906 of the vehicle control method 900 of the vehicle control apparatus (800 of FIG. 8) according to the third embodiment of the present invention, ), The second determination step S908, and the first driving step S910, and the organic connection relationship therebetween are the same as those of the vehicle control method (100 of FIG. 2) of the vehicle control apparatus (S302 in FIG. 3), a first determination step (S304 in FIG. 3), a second input step (S306 in FIG. 3), a second determination step (S308 in FIG. 3) The function for the driving step (S310 in FIG. 3) and the organic connection relation between them are identical to each other, and therefore, respective further explanations thereof will be omitted below.

11 and 12, the vehicle control method 1100, 1200 of the vehicle control apparatus (1000 of FIG. 10) according to the fourth embodiment of the present invention is the same as the vehicle control method 1100, 1200 of the vehicle control apparatus The third inputting step S1102 and S1202, the third judging step S1104 and S1204, the fourth inputting step S1106 and S1206, and the fourth judging Steps S1108 and S1208, calculation steps S1112, S1114, S1212, and S1214, and a second driving step S1116 and S1216.

The third inputting steps S1102 and S1202 and the third judging step S1104 and S1204 of the vehicle control method 1100 and 1200 of the vehicle control apparatus 1000 of FIG. 10 according to the fourth embodiment of the present invention, The functions for the fourth input step S1106 and S1206, the fourth determining step S1108 and S1208 and the calculating steps S1112, S1114, S1212 and S1214 and the second driving step S1116 and S1216 and the organic connection therebetween 7) of the vehicle control method (700 of FIG. 7) of the vehicle control apparatus 400 (FIG. 4) according to the second embodiment, the third determination step (S704 of FIG. 7) Functions for the fourth input step (S706 in Fig. 7), the fourth determining step (S708 in Fig. 7), the calculating step (S712 and S714 in Fig. 7) and the second driving step (S716 in Fig. 7) Respectively, and therefore, respective further explanations thereof will be omitted below.

Here, the vehicle control method 900, 1100 of the vehicle control apparatus (800 of FIG. 8, 1000 of FIG. 10) according to the third and fourth embodiments of the present invention further includes a first identification step (S909, S1109) I can do it.

For example, the first identifying step S909 may be performed after the second determining step S908 and before the first driving step S910.

Alternatively, although not shown, the first identifying step S909 may be performed in synchronization with the first driving step (not shown).

As another example, the first identifying step (S1109) may be performed after the fourth determining step (S1108) and before the calculating step (S1112).

As another example, although not shown, the first identifying step S1109 can be performed in synchronization with the calculating step (not shown).

If the current curvature value is not within the reference curvature value range in the determination unit (804 in FIG. 8, 1004 in FIG. 10), the first identification step S909 and S1109 808 and 1008 in Fig. 10), the identification unit (810 in Fig. 8, 1010 in Fig. 10) can be identified.

For example, if the current curvature value is greater than the reference curvature value in the determination unit (804 in FIG. 8, 1004 in FIG. 10), the first identification step S909 and S1109 808 and 1008 in Fig. 10), the identification unit (810 in Fig. 8, 1010 in Fig. 10) can be identified.

In addition, the vehicle control method 1200 of the vehicle control apparatus (1000 of FIG. 10) according to the fourth embodiment of the present invention may further include a second identification step (S1213).

For example, the second identification step S1213 may be performed between the calculation steps S1212 and S1214.

Alternatively, although not shown, the second identification step S1213 may be performed in synchronization with the calculation step (not shown).

The second discrimination step S1213 is a step of discriminating the current curvature steering angle value calculated from the calculating unit (1005 in Fig. 10)

) Of the present vehicle (V1 in Fig. 5)

10), it can be identified in the identification unit (1010 in FIG. 10) under the control of the control unit (1008 in FIG. 10).

The vehicle control apparatus 800 and the control method 900 thereof according to the third embodiment of the present invention may include an input unit 802, a determiner 804, a driver 806, a controller 808, The first input step S902, the first determining step S904, the second inputting step S906, the second determining step S908, the first identifying step S909, and the first driving step S910).

The vehicle control apparatus 1000 and the control methods 1100 and 1200 according to the fourth embodiment of the present invention include an input unit 1002, a determination unit 1004, a calculation unit 1005, a driving unit 1006, (S1102, S1202), a third determination step (S1104, S1204), a fourth input step (S1106, S1206), a fourth determination step (S1108, S1208), and a first identification step (S1112, S1114, S1212, S1214), a second identification step (S1213), and a second drive step (S1116, S1216).

Therefore, in the vehicle control apparatus 800 and the control method 900 thereof according to the third embodiment of the present invention, if the current curvature value of the first current object is not within the reference curvature value range during driving, It is possible to prevent the collision with the first current object in advance and prevent the occurrence of a traffic accident beforehand.

The vehicle control apparatus 1000 and the control methods 1100 and 1200 according to the fourth embodiment of the present invention are configured such that if the current curvature value of the first current object A is not within the reference curvature value range during driving, Collision avoidance angle value (

Furthermore, the vehicle control apparatuses 800 and 1000 and the control methods 900, 1100, and 1200 according to the third and fourth embodiments of the present invention can identify the current collision risk situation.

Therefore, the vehicle control apparatuses 800 and 1000 and the control methods 900, 1100, and 1200 according to the third and fourth embodiments of the present invention can recognize that the driver is in a current risk of collision, So that the occurrence of a traffic accident can be prevented more effectively.

FIG. 13 is a block diagram showing a state in which the vehicle control apparatus according to the fifth embodiment of the present invention is connected to the sensing apparatus, the steering apparatus, and the speed regulating apparatus, FIG. 14 is a block diagram showing the vehicle control apparatus shown in FIG. 15 is a flowchart showing an example of a vehicle control method of the vehicle control device according to the fifth embodiment of the present invention.

FIG. 16 is a block diagram showing a vehicle control apparatus according to a sixth embodiment of the present invention, and FIG. 17 is a flowchart showing an example of a vehicle control method of the vehicle control apparatus according to the sixth embodiment of the present invention.

14 and 16, the vehicle control apparatuses 1300 and 1600 according to the fifth and sixth embodiments of the present invention are similar to those of the vehicle control apparatuses 100 and 200 of Figs. 1604 and 1606 as well as the driving units 1306 and 1606 and the control units 1308 and 1608 in the same manner as the input unit 130 of FIG.

The input units 1302 and 1602 and the determination units 1304 and 1604 and the calculation unit 1605 and the driving units 1306 and 1606 of the vehicle control apparatuses 1300 and 1600 according to the fifth and sixth embodiments of the present invention, The functions of the control units 1308 and 1608 and the organic connection between them are the same as those of the input unit (102 in Fig. 2, Fig. 4 in Fig. 4) of the vehicle control apparatus 100 2), a control unit (108 in Fig. 2, 408 in Fig. 4), a determination unit (104 in Fig. 2, 404 in Fig. 4) ), And the organic connection relationship therebetween, and therefore, respective additional descriptions thereof will be omitted below.

The input units 1302 and 1602 of the vehicle control apparatuses 1300 and 1600 according to the fifth and sixth embodiments of the present invention enter the side lane (L1 in Fig. 5) The second current distance value with respect to the second current object (not shown), and the entry velocity value of the current child vehicle (V1 in FIG. 5).

At this time, the second current object (not shown) includes at least one of a vehicle (not shown), a motorcycle (not shown), a bicycle (not shown), a person (not shown) and an animal I can do it.

Here, the determination units 1304 and 1604 can determine whether the second current distance value input to the input units 1302 and 1602 is a second reference distance value range that is already set according to the control of the controllers 1308 and 1608, If the second current distance value is within the second reference distance value range, it is possible to determine whether the entry speed value of the present vehicle (V1 in FIG. 5) is a preset reference entry speed value range under the control of the control units 1308 and 1608 .

For example, the determination units 1304 and 1604 can determine whether the second current distance value input to the input units 1302 and 1602 is smaller than a second reference distance value that is set according to the control of the control units 1308 and 1608 If the second current distance value is smaller than the second reference distance value, the control unit 1308 or 1608 determines whether the entry speed value of the present vehicle (V1 in FIG. 5) is lower or faster than the preset reference entry speed value I can judge.

5) of the present vehicle (V1 in FIG. 5) is determined to be in the reference entry speed value range by the determining units 1304 and 1604, The control unit 1308 or 1608 may control the speed control unit 50 to adjust the current speed according to the target speed control value set based on the entry speed value of the control unit 1308 or 1608. [

For example, when the determination units 1304 and 1604 determine that the entry speed values of the present vehicle V1 (V1 in FIG. 5) are lower than the reference entry speed values, the driving units 1306 and 1606 determine that the present vehicle V1 The speed control device 50 can be driven under the control of the control units 1308 and 1608 so as to increase the current speed in accordance with the target speed control value set based on the entry speed value of the control unit 1308 or 1608.

On the other hand, when the judging units 1304 and 1604 judge that the entry speed values of the current vehicle V1 (V1 in Fig. 5) are higher than the reference entry speed values, the driving units 1306 and 1606 compare the present vehicle V1 The speed control device 50 may be driven under the control of the control units 1308 and 1608 so as to lower the current speed in accordance with the target speed control value set based on the entry speed value of the control unit 1308 or 1608.

At this time, the input units 1302 and 1602, the determination units 1304 and 1604, the calculation unit 1605, the drivers 1306 and 1606, and the controllers 1308 and 1608 are not shown, (Not shown) for further driving the speed regulating device 50 in accordance with the determination, input, calculation, and target speed control values.

The input units 1302 and 1602, the determination units 1304 and 1604, the calculation unit 1605, the driving units 1306 and 1606 and the control units 1308 and 1608 may include a processor, a memory, May be provided in a conventional MCU (Micro Control Unit) (not shown) for controlling the overall operation of the apparatus and further driving the speed regulating device 50 in accordance with the judgment, input, calculation and target speed regulating value.

The input units 1302 and 1602 and the determination units 1304 and 1604 and the calculation unit 1605 and the driving units 1306 and 1606 and the control units 1308 and 1608 are not limited to this, All of the control means, determination means, input means, calculation means, and drive means that can further drive the speed adjustment device 50 in accordance with the input, calculation, and target speed adjustment values.

Here, the input units 1302 and 1602, the determination units 1304 and 1604, the calculation unit 1605, the driving units 1306 and 1606, and the control units 1308 and 1608 integrally include an ECU (not shown) or an MCU (not shown) And may be provided to an ECU (not shown) or an MCU (not shown) in a separated manner.

A vehicle control method for controlling the vehicle using the vehicle control devices 1300 and 1600 according to the fifth and sixth embodiments of the present invention will now be described with reference to FIGS. 15 and 17. FIG.

15, the vehicle control method 1500 of the vehicle control device (1300 of FIG. 14) according to the fifth embodiment of the present invention is similar to the vehicle control method 1500 of the vehicle control device (100 of FIG. 2) The first inputting step S1502, the first judging step S1504, the second inputting step S1506, the second judging step S1508, and the first driving step S1510 ).

The first inputting step S1502, the first judging step S1504 and the second inputting step S1506 of the vehicle control method 1500 of the vehicle control apparatus (1300 of FIG. 14) according to the fifth embodiment of the present invention, The second determination step S1508 and the first drive step S1510 and the organic connection relationship therebetween are the same as those of the vehicle control method of the vehicle control apparatus 100 of FIG. (S302 in FIG. 3), a first determination step (S304 in FIG. 3), a second input step (S306 in FIG. 3), a second determination step (S308 in FIG. 3) The function for the driving step (S310 in FIG. 3) and the organic connection relation between them are identical to each other, and therefore, respective further explanations thereof will be omitted below.

17, the vehicle control method 1700 of the vehicle control apparatus (1600 of FIG. 16) according to the sixth embodiment of the present invention is similar to that of the vehicle control apparatus (400 of FIG. 4) The third inputting step S1702, the third determining step S1704, the fourth inputting step S1706, the fourth determining step S1708, and the calculating step S1712, S1714 And a second driving step S1716.

The third input step S1702, the third determination step S1704, and the fourth input step S1706 of the vehicle control method 1700 of the vehicle control apparatus (1600 of FIG. 16) according to the sixth embodiment of the present invention, The fourth determination step S1708 and the functions of the calculation steps S1712 and S1714 and the second drive step S1716 and the organic connection relationship therebetween are the same as those of the vehicle control apparatus 400 according to the second embodiment (S702 in Fig. 7), a third determination step (S704 in Fig. 7), a fourth input step (S706 in Fig. 7), and a fourth determination step 7) and the functions of the calculating step (S712 and S714 in Fig. 7) and the second driving step (S716 in Fig. 7) and the organic connection relation therebetween, It will be omitted.

Here, the vehicle control method 1500, 1700 of the vehicle control apparatus (1300 of Fig. 14, 1600 of Fig. 16) according to the fifth and sixth embodiments of the present invention includes the fifth input step (S1518, S1718) (S1520, S1720), a sixth input step (S1522, S1722), a sixth determination step (S1524, S1724), and a third drive step (S1526, S1726).

First, the fifth inputting step (S1518, S1718) is the second inputting step (S1518, S1718) of the second current object (not shown) entering the side lane The current distance value can be received from the input unit (1302, 1602 in Fig. 14 and Fig. 16).

Thereafter, the fifth determination step (S1520, S1720) determines whether the second current distance value input to the input unit (1302, 1602 in FIG. 14 and FIG. 16) 16 (1308, 1608), the determination unit (1304, 1604 in FIG. 14 and FIG.

For example, the fifth determination step (S1520, S1720) determines whether the second current distance value input to the input unit (1302, 1602 in FIGS. 14 and 16) is smaller than a second reference distance value 16 (1308, 1608), the determination unit (1304, 1604 in FIG. 14 and FIG.

Thereafter, the sixth inputting step (S1522, S1722) determines that the second current distance value is within the second reference distance value range in the judging unit (1304, 1604 in Fig. 14 and Fig. 16) The entrance speed value of the present vehicle (V1 in FIG. 5) sensed further in FIG. 16) can be inputted from the input unit (1302, 1602 in FIG. 14 and FIG.

Thereafter, the sixth determination step (S1524, S1724) determines whether the entry speed value of the present vehicle (V1 in Fig. 5) input to the input unit (1302, 1602 in Figs. 14 and 16) (1304 and 1604 in Fig. 14 and Fig. 16) according to the control of the control unit (1308 and 1608 in Fig. 14 and Fig. 16).

For example, the sixth determination step (S1524, S1724) determines whether the entry speed value of the present vehicle (V1 in Fig. 5) input to the input unit (1302, 1602 in Figs. 14 and 16) (1304, 1604 in Fig. 14 and Fig. 16) according to the control of the control section (1308, 1608 in Fig. 14 and Fig. 16).

Thereafter, the third driving steps S1526 and S1726 determine that the entry speed value of the present vehicle (V1 in Fig. 5) is in the reference entry speed value range in the deciding portion (1304 and 1604 in Figs. 14 and 16) (Fig. 14 and Fig. 16) to adjust the current speed in accordance with the target speed adjustment value set based on the entry speed value of the present vehicle (V1 in Fig. 5) 16, 1308, and 1608), the driving unit (1306, 1606 in Figs. 14 and 16) can be driven.

For example, in the third driving step S1526 and S1726, if the entry speed value of the present vehicle (V1 in FIG. 5) is judged to be lower than the reference entry speed value in the judgment unit (1304 and 1604 in FIG. 14 and FIG. 16) (Fig. 14 and Fig. 16) so as to increase the current speed in accordance with the target speed adjustment value set based on the entry speed value of the present vehicle (V1 in Fig. 5) (1306, 1606 in Fig. 14 and Fig. 16) according to the control of the switches 1308, 1608 of Fig.

On the other hand, in the third driving step S1526 and S1726, if the entry speed value of the present vehicle (V1 in Fig. 5) is judged to be higher than the reference entry speed value in the judgment unit (1304 and 1604 in Fig. 14 and Fig. 16) (Fig. 14 and Fig. 16) so as to lower the current speed in accordance with the target speed adjustment value set based on the entry speed value of the present vehicle (V1 in Fig. 5) (1306, 1606 in Fig. 14 and Fig. 16) according to the control of the switches 1308, 1608 of Fig.

The vehicle control apparatus 1300 and the control method thereof 1500 according to the fifth embodiment of the present invention include the input unit 1302, the determination unit 1304, the driving unit 1306, and the control unit 1308, The first input step S1502, the first determination step S1504, the second input step S1506, the second determination step S1508, the first drive step S1510, the fifth input step S1518, and the fifth determination The sixth input step S1522, the sixth determination step S1524, and the third drive step S1526 are performed.

The vehicle control apparatus 1600 and its control method 1700 according to the sixth embodiment of the present invention may include an input unit 1602, a determination unit 1604, a calculation unit 1605, a driving unit 1606, The third inputting step S1702, the third determining step S1704, the fourth inputting step S1706, the fourth determining step S1708, the calculating step S1712, S1714, and the second driving step S1716 And a fifth input step S1718, a fifth determination step S1720, a sixth input step S1722, a sixth determination step S1724, and a third drive step S1726.

Accordingly, in the vehicle control apparatus 1300 and the control method thereof 1500 according to the fifth embodiment of the present invention, if the current curvature value of the first current object is not within the reference curvature value range during driving, It is possible to prevent the collision with the first current object in advance and prevent the occurrence of a traffic accident beforehand.

When the current curvature value of the first current object A is not within the reference curvature value range during driving, the vehicle control device 1600 and the control method 1700 according to the sixth embodiment of the present invention calculate the calculated collision avoidance Each value (

The vehicle control apparatuses 1300 and 1600 and the control methods 1500 and 1700 according to the fifth and sixth embodiments of the present invention are arranged such that if the entry velocity value of the present vehicle V1 is in the reference entry velocity value range, It is possible to drive the speed adjusting device 50 in accordance with the target speed adjusting value set based on the entry speed value of the subject vehicle V1 so that the collision with the second current object can be prevented beforehand, It is possible to prevent the overheating.

FIG. 18 is a block diagram showing a vehicle control apparatus according to a seventh embodiment of the present invention, and FIG. 19 is a flowchart showing an example of a vehicle control method of the vehicle control apparatus according to the seventh embodiment of the present invention.

FIG. 20 is a flow chart showing another example of the vehicle control method of the vehicle control device according to the seventh embodiment of the present invention, and FIG. 21 is a flowchart showing another example of the vehicle control method of the vehicle control device according to the seventh embodiment of the present invention, Fig.

FIG. 22 is a block diagram showing an example of a vehicle control apparatus according to an eighth embodiment of the present invention, and FIG. 23 is a flowchart showing an example of a vehicle control method of the vehicle control apparatus according to the eighth embodiment of the present invention.

FIG. 24 is a flow chart showing another example of the vehicle control method of the vehicle control device according to the eighth embodiment of the present invention, and FIG. 25 is a flowchart showing another example of the vehicle control method of the vehicle control device according to the eighth embodiment of the present invention, Fig.

18 and 22, the vehicle control apparatuses 1800 and 2200 according to the seventh and eighth embodiments of the present invention are the vehicle control apparatuses according to the fifth and sixth embodiments (1300 in Fig. 14, Fig. 16 The input unit 1802 and the determination units 1804 and 2204 and the calculation unit 2205 as well as the driving units 1806 and 2206 and the control units 1808 and 2208 in the same manner as the control unit 1600 of FIG.

The input units 1802 and 2202 and the determination units 1804 and 2204 and the calculation unit 2205 and the drivers 1806 and 2206 of the vehicle control apparatuses 1800 and 2200 according to the seventh and eighth embodiments of the present invention, The functions of the control units 1808 and 2208 and the organic connection relationship therebetween are the same as those of the input unit of the vehicle control apparatus (1300 in Fig. 14, 1600 in Fig. 16) (1302 in Fig. 14 and Fig. 14 and 16) and a control unit (1308 and 1608 in Figs. 14 and 16), a determination unit (1304 and 1604 in Figs. 14 and 16) ), And the organic connection relationship therebetween, and therefore, respective additional descriptions thereof will be omitted below.

The vehicle control apparatuses 1800 and 2200 according to the seventh and eighth embodiments of the present invention may further include identification units 1810 and 2210. [

That is, when the determination units 1804 and 2204 determine that the entry speed value of the present vehicle (V1 in FIG. 5) is in the reference entry speed value range, the identifiers 1810 and 2210 indicate that the current collision risk situation is the control unit 1808 , 2208).

For example, when the determination unit 1804 or 2204 determines that the entry speed value of the present vehicle (V1 in FIG. 5) is lower or higher than the reference entry speed value, the identifiers 1810 and 2210 And can be identified according to the control of the control units 1808 and 2208. [

The identifiers 1810 and 2210 control the current speed by controlling the control units 1808 and 2208 when the current speed is adjusted by the speed adjuster 50 by driving the drivers 1806 and 2206 Can be identified.

When the current speed is adjusted in the speed regulating device 50 by driving the driving units 1806 and 2206, the identifiers 1810 and 2210 control the control of the controllers 1808 and 2208 . &Lt; / RTI >

At this time, the identification units 1810 and 2210 include at least one of an alarm (not shown), a speaker (not shown) and a light emitting member (not shown) provided for the driver to identify the information or state of the vehicle The present situation and current speed of adjusting the current collision risk situation and the current speed through at least one of an alarm operation of an alarm (not shown), a voice operation of a speaker (not shown), and a light emission operation of a light emitting member It is possible to identify at least one of the conditions that have been adjusted.

Although not shown, the identifiers 1810 and 2210 may include an HMI (Human Machine Interface) module (not shown) and a HUD (Head-UP Display), both of which are mounted to interfere with a user and a machine ) Module (not shown) to display the current crash risk situation and the current speed through at least one of the HMI message display operation of the HMI module (not shown) and the HUD message display operation of the HUD module (not shown) It is possible to identify at least one of the situation in which the current speed is adjusted and the condition in which the current speed is adjusted.

The vehicle control method for controlling the vehicle using the vehicle control devices 1800 and 2200 according to the seventh and eighth embodiments of the present invention will now be described with reference to FIGS. 19 through 21 and FIGS. 23 through 25. FIG.

19 to 21, the vehicle control methods 1900 to 2100 of the vehicle control device (1800 of FIG. 18) according to the seventh embodiment of the present invention are the same as those of the vehicle control device The first inputting step (S1902 to S2102), the first judging step (S1904 to S2104), the second inputting step (S1906 to S2106), and the second judging step Steps S 1908 to S2108 and the first driving step S1910 to S2110, the fifth inputting step S1918 to S2118 and the fifth determining step S1920 to S2120, the sixth inputting step S1922 to S2122, Steps S1924 through S2124 and a third driving step S1926 through S2126.

The first inputting step S1902 to S2102 and the first judging step S1904 to S2104 of the vehicle control method 1900 to 2100 of the vehicle control apparatus 1800 according to the seventh embodiment of the present invention The second inputting step S1906 to S2106, the second judging step S1908 to S2108, the first driving step S1910 to S2110, the fifth inputting step S1918 to S2118, the fifth judging step S1920 to S2120, The functions of the sixth inputting step S1922 to S2122 and the sixth determining step S1924 to S2124 and the third driving step S1926 to S2126 and the organic connection relation therebetween are the same as those of the vehicle control device (S1502 in Fig. 15), the first determination step (S1504 in Fig. 15), the second input step (S1506 in Fig. 15), and the second input step 15) and the first drive step (S1510 in Fig. 15) and the organic connection relation between them Since one, each discussed further description of it will be omitted below.

23 to 25, vehicle control methods 2300 to 2500 of the vehicle control device (2200 of FIG. 22) according to the eighth embodiment of the present invention are the same as those of the vehicle control device 1600 of FIG. 17), the third input step (S2302 to S2502), the third determination step (S2304 to S2504), the fourth input step (S2306 to S2506), and the fourth determination Steps S2308 to S2508 and calculation steps S2312 to S2512 and S2314 to S2514 and second driving steps S2316 to S2516 and fifth inputting steps S2318 to S2518 and fifth determining steps S2320 to S2520, 6 inputting steps S2322 to S2522, a sixth determining step S2324 to S2524, and a third driving step S2326 to S2526.

The third inputting steps S2302 to S2502 and the third determining step S2304 to S2504 of the vehicle control methods 2300 to 2500 of the vehicle control device 2200 of FIG. 22 according to the eighth embodiment of the present invention, The fourth input step S2306 to S2506, the fourth determination step S2308 to S2508 and the calculation steps S2312 to S2512, S2314 to S2514, the second drive step S2316 to S2516, and the fifth input step S2318 to S2518 ), The fifth determining step S2320 to S2520, the sixth inputting step S2322 to S2522, the sixth determining step S2324 to S2524, and the third driving step S2326 to S2526 and the organic connection therebetween 17) in the vehicle control method (1700 of FIG. 17) of the vehicle control apparatus 1600 of FIG. 16 according to the sixth embodiment (S1702 of FIG. 17) 17), the fourth determination step (S1708 in Fig. 17), the calculation step (S1712, S1714 in Fig. 17) 17), the fifth inputting step (S1718 in Fig. 17), the fifth judging step (S1720 in Fig. 17), the sixth inputting step (S1722 in Fig. 17) S1724) and the third drive step (S1726 in Fig. 17), and the organic connection relationship therebetween, so that respective further explanations thereof will be omitted below.

Here, the vehicle control methods 1900 and 2300 of the vehicle control apparatus (1800 and 2200 in Figs. 18 and 22) according to the seventh and eighth embodiments of the present invention further include a third identification step (S1925 and S2325) I can do it.

For example, the third identification step (S1925, S2325) can be performed after the sixth determination step (S1924, S2324) and before the third drive step (S1926, S2326).

Alternatively, although not shown, the third identifying step (S1925, S2325) can be performed in synchronization with the third driving step (not shown).

If it is determined that the entry speed value of the present vehicle (V1 in FIG. 5) is in the reference entry speed value range in the determination unit (1804, 2204 in FIGS. 18 and 22), the third identification step (S1925, S2325) (1810 and 2210 in Figs. 18 and 22) according to the control of the control unit (1808 and 2208 in Figs. 18 and 22).

For example, in the third identification step (S1925, S2325), the entry speed value of the current vehicle (V1 in FIG. 5) is lower or higher than the reference entry speed value in the determination unit (1804, 2204 in FIG. 18 and FIG. 22) If it is judged, it is possible to identify the current collision risk situation in the identification part (1810 and 2210 in FIGS. 18 and 22) under the control of the control part (1808 and 2208 in FIG. 18 and FIG. 22).

Further, the vehicle control methods 2000 and 2400 of the vehicle control apparatuses 1800 and 2200 of FIGS. 18 and 22 according to the seventh and eighth embodiments of the present invention further include a fourth identifying step (S2025 and S2425) There is a number.

For example, the fourth identifying step (S2025, S2425) can be performed after the sixth determining step (S2024, S2424) and before the third driving step (S2026, S2426).

As another example, although not shown, the fourth identifying step (S2025, S2425) can be performed in synchronization with the third driving step (not shown).

In the fourth identification step S2025 and S2425, when the current speed is adjusted in the speed adjusting device (50 in Figs. 18 and 22) by driving the driving portion (1806 and 2206 in Figs. 18 and 22) (1810 and 2210 in Figs. 18 and 22) under the control of the control unit (1808 and 2208 in Fig. 18 and Fig. 22).

Further, the vehicle control methods 2100 and 2500 of the vehicle control apparatuses 1800 and 2200 of FIGS. 18 and 22 according to the seventh and eighth embodiments of the present invention further include a fifth identification step S2127 and S2527 There is a number.

For example, the fifth identification step (S2127, S2527) may be performed after the third drive step (S2126, S2526).

When the current speed is adjusted in the speed adjusting device (50 in Figs. 18 and 22) by driving the driving part (1806, 2206 in Fig. 18 and Fig. 22), the fifth identifying step S2127, (1810 and 2210 in Figs. 18 and 22) according to the control of the control unit (1808 and 2208 in Figs. 18 and 22).

The vehicle control apparatus 1800 and the control methods 1900 to 2100 according to the seventh embodiment of the present invention are provided with an input unit 1802, a determiner 1804, a driver 1806, a controller 1808, The first inputting step S1902 to S2102, the first judging step S1904 to S2104, the second inputting step S1906 to S2106, the second judging step S1908 to S2108, The third inputting step S1920 through S2122 and the sixth determining step S1924 through S2124 and the third inputting step S1920 through S2120, the fifth inputting step S1918 through S2118, the fifth determining step S1920 through S2120, Steps S1926 through S2126, a third identification step S1925, a fourth identification step S2025, and a fifth identification step S2127.

The vehicle control device 2200 and the control methods 2300 to 2500 according to the eighth embodiment of the present invention may include an input unit 2202, a determination unit 2204, a calculation unit 2205, a driving unit 2206, (2208) and an identification unit (2210)

The third input step S2302 to S2502, the third determination step S2304 to S2504, the fourth input step S2306 to S2506, the fourth determination step S2308 to S2508, and the calculation step S2312 to S2512, S2314 to S2514 The second driving step S2316 to S2516, the fifth inputting step S2318 to S2518, the fifth determining step S2320 to S2520, the sixth inputting step S2322 to S2522 and the sixth determining step S2324 to S2524 And the third driving step S2326 to S2526, the third identifying step S2325, the fourth identifying step S2425, and the fifth identifying step S2527.

Therefore, the vehicle control apparatus 1800 and the control methods (1900 to 2100) according to the seventh embodiment of the present invention are configured such that when the current curvature value of the first current object is not within the reference curvature value range during driving, The steering apparatus 30 can be driven in accordance with the target steering angle value. Therefore, the collision with the first current object can be prevented beforehand, and the occurrence of a traffic accident can be prevented in advance.

The vehicle control device 2200 and the control methods 2300 to 2500 according to the eighth embodiment of the present invention are configured such that if the current curvature value of the first current object A is not within the reference curvature value range during driving, Collision avoidance angle value (

The vehicle control apparatuses 1800 and 2200 according to the seventh and eighth embodiments of the present invention and the control methods 1900 to 2100 and 2300 to 2500 according to the seventh and eighth embodiments of the present invention are configured so that the entry speed value of the present vehicle V1 is equal to the reference entry speed value , It is possible to drive the speed adjusting device 50 in accordance with the target speed adjusting value set on the basis of the entry speed value of the present vehicle V1 so that the collision with the second current object can be prevented in advance The occurrence of a traffic accident can be prevented in advance.

Furthermore, the vehicle control apparatuses 1800 and 2200 and the control methods thereof (1900 to 2100 and 2300 to 2500) according to the seventh and eighth embodiments of the present invention can be applied to a situation in which the present collision risk situation, It is possible to identify at least one of the conditions that have been adjusted.

Therefore, the vehicle control apparatuses 1800 and 2200 and the control methods thereof (1900 to 2100, 2300 to 2500) according to the seventh and eighth embodiments of the present invention allow the driver to control the present collision risk situation and the current speed, It is possible to recognize that at least one of the situations in which the speed adjustment is completed.

Accordingly, the vehicle control apparatuses 1800 and 2200 and the control methods 1900 to 2100 and 2300 to 2500 according to the seventh and eighth embodiments of the present invention can induce driver's attention driving, So that it is possible to prevent an uneasiness about the present running state.

Claims

A first current distance value of the first current object detected by the sensing device and a current curvature value of the first current object, a second current distance value between the first current object and the first current object detected by the sensing device, An input unit for inputting an entry speed value of the input unit;
Determining whether the first current distance value is not within a first reference distance value range that is already set, and if the first current distance value is not within the first reference distance value range, determining whether the current curvature value is within a predetermined reference curvature value range And determines whether the input second current distance value is within a second reference distance value range that is already set, and determines whether the current current distance value is within the second reference distance value range, A determination unit determining whether the value is a reference entry speed value range that is already set;
If the current curvature value is not in the reference curvature value range, drives the steering device in accordance with the target steering angle value of the vehicle that is already set according to the current curvature value, and if the entry velocity value of the current child vehicle is in the reference entry velocity value range A driving unit for driving the speed adjusting device to adjust the current speed according to the target speed adjusting value set based on the current entry speed value of the subject vehicle; And
A controller for receiving the first current distance value, the current curvature value, the second current distance value, and the entry velocity value of the current child vehicle, transmitting a judgment command to the judgment unit, and transmitting a driving command to the driving unit The vehicle control device comprising:

A first current distance value, a current curvature value of a first current object, and a current steering angle value of a present vehicle detected by a sensing device, and a second current object entering a side lane, An input unit for receiving a current distance value and an entry speed value of the present vehicle;
Determining whether the first current distance value is not within a first reference distance value range that is already set, and if the first current distance value is not within the first reference distance value range, determining whether the current curvature value is within a predetermined reference curvature value range And determines whether the input second current distance value is within a second reference distance value range that is already set, and determines whether the current current distance value is within the second reference distance value range, A determination unit determining whether the value is a reference entry speed value range that is already set;
Calculating a current curvature steering angle value according to the current curvature value if the current curvature value is not within the reference curvature value range and if the current curvature steering angle value is greater than the steering angle value of the present vehicle, A calculation unit for calculating a collision avoidance angle value that is a difference value between steering angle values of the present vehicle;
If the entry speed value of the current vehicle is in the reference entry speed value range, the control unit drives the steering apparatus in accordance with the calculated collision avoidance angle value, A driving unit for driving the speed adjusting device to adjust the speed; And
The current curvature value, the steering angle value of the current child vehicle, the second current distance value, and the entry velocity value of the current child vehicle, and transmits a judgment command to the judgment unit, And transmits a drive command to the drive unit, and transmits a drive command to the drive unit.

3. The method according to claim 1 or 2,
And an identification unit for identifying the current collision risk situation if the current curvature value is not within the reference curvature value range.

3. The method of claim 2,
And an identification unit for identifying a current collision risk situation if the calculated current curvature steering angle value is greater than a steering angle value of the present vehicle.

delete

3. The method according to claim 1 or 2,
Further comprising an identification unit for identifying a current collision risk situation if the entry speed value of the current vehicle is the reference entry speed value range.

3. The method according to claim 1 or 2,
Further comprising an identification unit for identifying the current speed when the current speed is adjusted.

3. The method according to claim 1 or 2,
Further comprising: an identification unit that identifies that the current speed is adjusted when the current speed is adjusted.

The method according to claim 1,
Wherein the first current object comprises at least one of an outer wall and an obstacle.

3. The method according to claim 1 or 2,
Wherein the second current object comprises at least one of the other vehicle, the motorcycle, the bicycle, and the person and the animal.

3. The method according to claim 1 or 2,
Wherein the sensing device operates on a circle-turning garage road.

A first input step of receiving a first current distance value with a first current object sensed by a sensing device;
A first determination step of determining whether the input first distance value is not within a predetermined first reference distance value range;
A second input step of receiving a current curvature value of a first current object sensed by the sensing device if the first current distance value is not within the first reference distance value range;
A second determination step of determining whether the input current curvature value is not within a preset reference curvature value range;
A first driving step of driving the steering device in accordance with a target steering angle value of the vehicle that is set according to the current curvature value, if the current curvature value is not within the reference curvature value range;
A fifth input step of receiving a second current distance value from a second current object entering the side lane detected by the sensing device;
A fifth determining step of determining whether the input second current distance value is a second reference distance value range that is already set;
A sixth input step of receiving the entry speed value of the current vehicle detected by the sensing device if the second current distance value is in the second reference distance value range;
A sixth determining step of determining whether the entry speed value of the current present vehicle is a preset reference entry speed value range; And
The control unit controls the current speed to be adjusted in accordance with the target speed adjustment value set based on the entry speed value of the current subject vehicle if the entry speed value of the current subject vehicle is in the reference entry speed value range, A vehicle control method comprising a driving step.

A third input step of receiving a first current distance value of the first current object detected by the sensing device;
A third determination step of determining whether the input first distance value is not within a predetermined first reference distance value range;
A fourth input step of receiving the current curvature value of the first current object sensed by the sensing device and the steering angle value of the current child vehicle if the first current distance value is not within the first reference distance value range;
A fourth determination step of determining whether the input current curvature value is not within a predetermined reference curvature value range;
Calculating a current curvature steering angle value according to the current curvature value if the current curvature value is not within the reference curvature value range and if the current curvature steering angle value is greater than the steering angle value of the present vehicle, A calculation step of calculating a collision avoiding angle value that is a difference value between steering angle values of the present vehicle;
A second driving step of driving the steering apparatus in accordance with the calculated collision avoidance angle value;
A fifth input step of receiving a second current distance value from a second current object entering the side lane detected by the sensing device;
A fifth determining step of determining whether the input second current distance value is a second reference distance value range that is already set;
A sixth input step of receiving the entry speed value of the current vehicle detected by the sensing device if the second current distance value is in the second reference distance value range;
A sixth determining step of determining whether the entry speed value of the current present vehicle is a preset reference entry speed value range; And
The control unit controls the current speed to be adjusted in accordance with the target speed adjustment value set based on the entry speed value of the current subject vehicle if the entry speed value of the current subject vehicle is in the reference entry speed value range, A vehicle control method comprising a driving step.