KR101794838B1 - Active safety system for a personal mobility vehicle - Google Patents
Active safety system for a personal mobility vehicle Download PDFInfo
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- KR101794838B1 KR101794838B1 KR1020160027086A KR20160027086A KR101794838B1 KR 101794838 B1 KR101794838 B1 KR 101794838B1 KR 1020160027086 A KR1020160027086 A KR 1020160027086A KR 20160027086 A KR20160027086 A KR 20160027086A KR 101794838 B1 KR101794838 B1 KR 101794838B1
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- moving means
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- 238000000034 method Methods 0.000 claims abstract description 40
- 230000001133 acceleration Effects 0.000 claims description 14
- 230000035484 reaction time Effects 0.000 claims description 6
- 230000004888 barrier function Effects 0.000 claims 1
- 238000010586 diagram Methods 0.000 description 10
- 238000004422 calculation algorithm Methods 0.000 description 7
- 238000005516 engineering process Methods 0.000 description 3
- 230000014509 gene expression Effects 0.000 description 2
- 230000005484 gravity Effects 0.000 description 2
- 230000005283 ground state Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
- B60W30/09—Taking automatic action to avoid collision, e.g. braking and steering
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G5/00—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
- A61G5/04—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs motor-driven
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G5/00—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
- A61G5/10—Parts, details or accessories
- A61G5/1005—Wheelchairs having brakes
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/18—Conjoint control of vehicle sub-units of different type or different function including control of braking systems
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/20—Conjoint control of vehicle sub-units of different type or different function including control of steering systems
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62K—CYCLES; CYCLE FRAMES; CYCLE STEERING DEVICES; RIDER-OPERATED TERMINAL CONTROLS SPECIALLY ADAPTED FOR CYCLES; CYCLE AXLE SUSPENSIONS; CYCLE SIDE-CARS, FORECARS, OR THE LIKE
- B62K11/00—Motorcycles, engine-assisted cycles or motor scooters with one or two wheels
- B62K11/14—Handlebar constructions, or arrangements of controls thereon, specially adapted thereto
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G2203/00—General characteristics of devices
- A61G2203/10—General characteristics of devices characterised by specific control means, e.g. for adjustment or steering
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2420/00—Indexing codes relating to the type of sensors based on the principle of their operation
- B60W2420/40—Photo, light or radio wave sensitive means, e.g. infrared sensors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2420/00—Indexing codes relating to the type of sensors based on the principle of their operation
- B60W2420/54—Audio sensitive means, e.g. ultrasound
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62K—CYCLES; CYCLE FRAMES; CYCLE STEERING DEVICES; RIDER-OPERATED TERMINAL CONTROLS SPECIALLY ADAPTED FOR CYCLES; CYCLE AXLE SUSPENSIONS; CYCLE SIDE-CARS, FORECARS, OR THE LIKE
- B62K2202/00—Motorised scooters
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Transportation (AREA)
- Public Health (AREA)
- Chemical & Material Sciences (AREA)
- Veterinary Medicine (AREA)
- General Health & Medical Sciences (AREA)
- Automation & Control Theory (AREA)
- Animal Behavior & Ethology (AREA)
- Life Sciences & Earth Sciences (AREA)
- Health & Medical Sciences (AREA)
- Combustion & Propulsion (AREA)
- Physics & Mathematics (AREA)
- Mathematical Physics (AREA)
- Traffic Control Systems (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
- Regulating Braking Force (AREA)
- Steering Control In Accordance With Driving Conditions (AREA)
Abstract
The active safety system for personal moving means includes a sensor unit, a determination unit, and a control unit. The sensor unit includes a plurality of sensor modules to sense a traveling environment of the moving means. The determination unit may include a traveling environment determination unit and a collision risk determination unit for determining a traveling environment and a collision risk based on the information sensed by the sensor modules, and a collision risk determination unit for determining a collision risk based on braking control and steering control And a control method determining unit for selecting at least one of the plurality of control methods and determining the control method. The control unit may include an alarm control unit for performing an alarm to the user according to the determination of the collision risk of the determination unit, a braking control unit for controlling the braking of the moving unit or the steering of the moving unit according to the control method determined by the determination unit, And a steering control unit.
Description
BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an active safety system, and more particularly, to an active safety system applied to a personal mobility vehicle at a localized low speed such as an electric wheelchair, an electric scooter or the like.
BACKGROUND ART Conventionally, active safety systems or active safety techniques have been applied to automobiles, and are characterized by automatic braking or automatic steering of the vehicle.
Korean Patent Registration No. 10-1286466, for example, discloses a technology relating to an ACC device that responds quickly through automatic braking, automatic steering, or alarm when a stationary object appears suddenly in front of the vehicle while driving, Japanese Patent No. 10-1511861 discloses a technology relating to emergency braking or automatic steering control by determining whether a collision is expected from a relative distance and a relative speed with respect to a target object.
However, in most cases, the above-described technologies are applied only to automobiles, and expensive sensors and expensive control systems are often required. As a result, there are limitations and limitations in applying to a low-speed personal transportation device such as an electric wheelchair or an electric scooter. Up to now, an automatic braking or automatic steering system applied to such a low- There is no state.
In particular, in the case of a low-speed personal vehicle for a short distance, the main user is a disabled person or an elderly person, so that the environment can not be perceived relatively easily and can be greatly affected by a relatively small impact or impact. There is a need to approach differently, but there are few such studies to date.
Korean Patent No. 10-1286466
Korean Patent No. 10-1511861
SUMMARY OF THE INVENTION Accordingly, the present invention has been made keeping in mind the above problems occurring in the prior art, and an object of the present invention is to provide an active safety system that can be applied to a local moving vehicle at a low speed.
According to an embodiment of the present invention, an active safety system includes a sensor unit, a determination unit, and a control unit. The sensor unit includes a plurality of sensor modules to sense a traveling environment of the moving means. The determination unit may include a traveling environment determination unit and a collision risk determination unit for determining a traveling environment and a collision risk based on the information sensed by the sensor modules, and a collision risk determination unit for determining a collision risk based on braking control and steering control And a control method determining unit for selecting at least one of the plurality of control methods and determining the control method. The control unit may include an alarm control unit for performing an alarm to the user according to the determination of the collision risk of the determination unit, a braking control unit for controlling the braking of the moving unit or the steering of the moving unit according to the control method determined by the determination unit, And a steering control unit.
In one embodiment, the moving means may be an electric wheelchair, an electric scooter or a personal mobility vehicle.
In one embodiment, the sensor modules include an ultrasonic sensor or an infrared (IR) sensor that senses the distance to the obstacle, a vison sensor that senses the shape of the obstacle, an acceleration sensor that senses the velocity or acceleration of the moving means A sensor, and a GPS sensor for sensing the position of the moving means.
In one embodiment, the IR sensor is fixed to face the ground and senses the state of the ground. When the information about the distance sensed by the IR sensor is suddenly above or below a threshold, It can be judged that there is a dull part or a cliff part on the ground.
In one embodiment, the traveling environment determination unit determines whether the moving means is indoor or outdoor, and the control method determining unit determines a control method for performing both the braking control and the steering control on the indoor driving. The control method can be determined so as to perform the braking control.
In one embodiment, when the braking control is performed, the collision risk determination unit determines the automatic braking state if the time to collision (TTC) is less than the time to brake (t B ) The braking control unit automatically controls the moving means,
TTC = (distance to obstacle) / (velocity of moving means)
t B = (braking distance) / (speed of moving means)
Lt; / RTI >
In one embodiment, when the braking control is performed, the collision risk determination unit determines the collision risk state when the collision risk (TTC) is less than the collision alarm level (time to warning, t Bw ) Lt; / RTI >
t Bw = t B + t r (reaction time)
Lt; / RTI >
In one embodiment, when the steering control is performed, the collision risk determination unit determines that the collision risk (TTC) is less than the time to steer (t S ), and determines that the steering control unit Automatically steers the moving means,
t S = t reduce (deceleration time) + t LPS (final steering time)
t LPS =
(S y : side avoidance distance, a y : lateral acceleration)Lt; / RTI >
In one embodiment, when the steering control is performed, the collision risk determination unit determines that the collision risk (TTC) is less than the time to steering warning ( tsw ) Alert avoidance,
t Sw = t S + t r (reaction time)
Lt; / RTI >
In one embodiment, when the steering control is performed, when the speed of the moving means is the following condition,
(v: speed of moving means, r: radius of rotation, mu: friction coefficient, g: gravitational acceleration)
The braking control section may control the steering of the moving means in the steering control section after decelerating the speed of the moving means.
According to the embodiments of the present invention, the braking is automatically controlled or the steering is automatically controlled by judging the traveling environment of the traveling means, and in particular, when the traveling means travels in the room in the electric wheelchair, the electric scooter or the personal traveling means And an optimum control considering the driving environment in the case of traveling outdoors can be performed.
Particularly, since the control method is determined based on whether the moving means travels indoors or outdoors, the danger of rollover is relatively small even if steering is performed at a relatively low speed in the room, And the risk of overturning increases when the vehicle travels at a relatively high speed in the outdoors, so that only the braking control is performed, so that the safety according to the automatic control of the moving means can be further improved.
In this case, an ultrasonic sensor, an IR sensor, a vision sensor, an acceleration sensor, and a GPS sensor, which can sufficiently monitor the driving environment of the personal moving means, are used without mounting an expensive sensor used for control of a general vehicle , It is possible to perform braking control or steering control at a relatively low cost.
On the other hand, since the IR sensor and the vision sensor are vulnerable to the sunlight, only the braking control is performed in the case of moving outdoors, and in addition to the braking control in the room where the sunlight is relatively weak, .
Further, taking into account that the personal moving means can be easily rolled over even by the barb and the cliff part of the ground, the safety of the personal moving means can be further improved by sensing the ground state by fixing the IR sensor facing the ground.
Furthermore, by introducing the concept of collision risk, automatic braking degree, collision warning degree, automatic steering degree and avoidance alarm degree in braking control and steering control, the automatic braking or automatic steering It is possible to perform stable control of the moving means while applying a relatively simple control method.
In addition, in the steering control, in particular, since the personal moving means has a high risk of rollover, the safety of the personal moving means can be improved by performing the braking control prior to the steering control when the speed of the moving means is greater than a predetermined value.
1 is a block diagram illustrating an active safety system according to an embodiment of the present invention.
Fig. 2 is a schematic diagram showing an example of a personal moving means to which the active safety system of Fig. 1 is applied.
3 is a flowchart showing a control state of the drive control unit according to the driving environment judgment of the driving environment judging unit of the active safety system of FIG.
4 is a schematic diagram showing a braking control state of the braking control unit of the active safety system of Fig.
5 is a schematic diagram showing a steering control state of the steering control unit of the active safety system of FIG.
6A and 6B are schematic diagrams showing the sensing state of the IR sensor of the active safety system of FIG.
While the present invention has been described in connection with what is presently considered to be the most practical and preferred embodiment, it is to be understood that the invention is not limited to the disclosed embodiments. It is to be understood, however, that the invention is not intended to be limited to the particular forms disclosed, but on the contrary, is intended to cover all modifications, equivalents, and alternatives falling within the spirit and scope of the invention. Like reference numerals are used for like elements in describing each drawing. The terms first, second, etc. may be used to describe various components, but the components should not be limited by the terms.
The terms are used only for the purpose of distinguishing one component from another. The terminology used in this application is used only to describe a specific embodiment and is not intended to limit the invention. The singular expressions include plural expressions unless the context clearly dictates otherwise.
In the present application, the term "comprises" or "comprising ", etc. is intended to specify that there is a stated feature, figure, step, operation, component, But do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, parts, or combinations thereof.
Unless defined otherwise, all terms used herein, including technical or scientific terms, have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. Terms such as those defined in commonly used dictionaries are to be interpreted as having a meaning consistent with the contextual meaning of the related art and are to be interpreted as either ideal or overly formal in the sense of the present application Do not.
Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings.
1 is a block diagram illustrating an active safety system according to an embodiment of the present invention.
Referring to FIG. 1, the
In addition, since the price of the personal moving means is not higher than that of the general vehicle, it is necessary that the active safety system for controlling the personal moving means is not required to have a high specification.
The
The
The
The first and second
As with the ultrasonic sensors, the first and
The
The
The
As described above, the
The
More specifically, the
The traveling
The collision
The control
As described above, the control
The
The
The
The
Likewise, when the control method is determined by the control
In this case, the specific control algorithm in the
Fig. 2 is a schematic diagram showing an example of a personal moving means to which the active safety system of Fig. 1 is applied.
Referring to FIG. 2, the
That is, the
2, the first and
In this case, the
3 is a flowchart showing a control state of the drive control unit according to the driving environment judgment of the driving environment judging unit of the active safety system of FIG.
Referring to FIG. 3, in the
Thus, as described above, if it is determined that the vehicle is to be driven outdoors, the control
On the other hand, if it is determined that the vehicle is traveling indoors, the driving
4 is a schematic diagram showing a braking control state of the braking control unit of the active safety system of Fig.
Hereinafter, an algorithm for performing braking control in the
Referring to FIG. 4, when the moving means travels in a safe driving state indoors or outdoors, the warning, the braking, and the left and right signals are kept off (Step S101).
Meanwhile, the
TTC = (distance to obstacle) / (velocity of moving means) (1)
In this case, the
t Bw = t B (automatic braking degree) + t r (reaction time)
In this case, the time to brake (t B ) is defined by the following equation (3).
t B = (braking distance) / (speed of moving means) (3)
On the other hand, if the collision risk is greater than the collision alarm level, the collision alarm state (S102) returns to the safe running state (S101).
Further, after the collision alarm state (S102), the collision
On the other hand, when the predetermined time t hold (for example, the time required for taking necessary measures after braking) has elapsed after the automatic braking state (S103), the moving means returns to the safe running state S101), and the warning light, the braking light, and the left and right signals are kept off.
As described above, the
5 is a schematic diagram showing a steering control state of the steering control unit of the active safety system of FIG.
Hereinafter, an algorithm for performing steering control in the
Referring to FIG. 5, when the moving means travels from a room to a safe running state, all the warning, steering, and left and right signals remain off (Step S201).
In the meantime, the
t Sw = t S (automatic steerability) + t r (reaction time)
In this case, the time to brake (t S ) is defined by the following equation (5).
t S = t reduce (deceleration time) + t LPS (final steering time)
In this case, the final steering time t LPS is defined by the following equation (6).
t LPS =
(S y : side avoidance distance, a y : lateral acceleration)On the other hand, if the collision risk is greater than the avoidance alarm level, the avoidance alarm state (S202) returns to the safe running state (S201).
Further, as compared with the avoidance alarm condition (S202) Next, the collision
On the other hand, when the predetermined time t hold (for example, a time required for taking necessary measures after steering) has elapsed after the automatic steering state (S203), the shifting means is returned to the safe running state S201), and the warning light, the steering light, and the left and right signals are kept off.
As described above, the
On the other hand, in the case where the automatic braking in the
Further, when the steering control is performed by the
Accordingly, in the present embodiment, when steering control is performed by the
That is, if the speed of the moving means satisfies the following formula (7), the
6A and 6B are schematic diagrams showing the sensing state of the IR sensor of the active safety system of FIG.
Referring to FIGS. 6A and 6B, the
The
Thus, the
According to the embodiments of the present invention, the braking is automatically controlled or the steering is automatically controlled by judging the traveling environment of the traveling means, and in particular, when the traveling means travels in the room in the electric wheelchair, the electric scooter or the personal traveling means And an optimum control considering the driving environment in the case of traveling outdoors can be performed.
Particularly, since the control method is determined based on whether the moving means travels indoors or outdoors, the danger of rollover is relatively small even if steering is performed at a relatively low speed in the room, And the risk of overturning increases when the vehicle travels at a relatively high speed in the outdoors, so that only the braking control is performed, so that the safety according to the automatic control of the moving means can be further improved.
In this case, an ultrasonic sensor, an IR sensor, a vision sensor, an acceleration sensor, and a GPS sensor, which can sufficiently monitor the driving environment of the personal moving means, are used without mounting an expensive sensor used for control of a general vehicle , It is possible to perform braking control or steering control at a relatively low cost.
On the other hand, since the IR sensor and the vision sensor are vulnerable to the sunlight, only the braking control is performed in the case of moving outdoors, and in addition to the braking control in the room where the sunlight is relatively weak, .
Further, taking into account that the personal moving means can be easily rolled over even by the barb and the cliff part of the ground, the safety of the personal moving means can be further improved by sensing the ground state by fixing the IR sensor facing the ground.
Furthermore, by introducing the concept of collision risk, automatic braking degree, collision warning degree, automatic steering degree and avoidance alarm degree in braking control and steering control, the automatic braking or automatic steering It is possible to perform stable control of the moving means while applying a relatively simple control method.
In addition, in the steering control, in particular, since the personal moving means has a high risk of rollover, the safety of the personal moving means can be improved by performing the braking control prior to the steering control when the speed of the moving means is greater than a predetermined value.
It will be apparent to those skilled in the art that various modifications and variations can be made in the present invention without departing from the spirit or scope of the present invention as defined by the following claims. It can be understood that it is possible.
The active safety system according to the present invention has industrial applicability that can be used in local and low-speed personal moving vehicles.
10: active safety system 100: sensor unit
110: first sensor module 120: second sensor module
130: Third sensor module 200:
210: Driving environment determination unit 220: Collision risk determination unit
230: Control method determining unit 300:
310: alarm control unit 320:
321: Brake control section 322: Steering control section
Claims (10)
A collision risk determination unit for determining a collision risk, and a braking control and a steering control for an indoor running on the basis of the information sensed by the sensor modules, wherein the traveling environment determination unit determines whether the moving means is indoor or outdoor, And a control method determining unit for determining a control method for performing braking control when the vehicle is in an outdoor driving state; And
A braking control unit for controlling the braking of the moving unit or a steering control unit for controlling the steering of the moving unit according to the control method determined by the determining unit, An active safety system including a control unit including a control unit.
Characterized in that said moving means is an electric wheelchair, an electric scooter or a personal mobility vehicle.
An ultrasonic sensor or an infrared (IR) sensor for sensing a distance to an obstacle;
A vison sensor for sensing the shape of the obstacle;
An acceleration sensor for sensing the speed or acceleration of the moving means; And
And a GPS sensor for sensing the position of said moving means.
The IR sensor is fixed to face the ground to sense the state of the ground,
Wherein the collision risk judging unit judges that a barrier or a cliff is present on the ground if the information about the distance sensed by the IR sensor is above or below a threshold.
The collision risk judging unit judges the automatic braking state when the collision risk (time to collision, TTC) is less than the time to brake (t B ), the braking control unit automatically controls the moving means,
TTC = (distance to obstacle) / (velocity of moving means)
t B = (braking distance) / (speed of moving means)
Wherein the active safety system comprises:
The collision risk judging unit judges that the collision risk (TTC) is less than the collision alarm level (time to warning, t Bw ), the collision avoidance unit warns the collision,
t Bw = t B + t r (reaction time)
Wherein the active safety system comprises:
The collision risk determination unit determines that the collision risk (TTC) is less than an automatic steering angle (time to steer, t S ), and the steering control unit automatically steers the moving unit,
t S = t reduce (deceleration time) + t LPS (final steering time)
t LPS = (S y : side avoidance distance, a y : lateral acceleration)
Wherein the active safety system comprises:
The collision risk judging unit judges that the collision risk (TTC) is less than the time to steering warning ( tsw ) and determines that the vehicle is in the avoidance alarm state,
t Sw = t S + t r (reaction time)
Wherein the active safety system comprises:
When the speed of the moving means is the following condition,
(v: speed of moving means, r: radius of rotation, mu: friction coefficient, g: gravitational acceleration)
Wherein the braking control portion controls the steering of the moving means in the steering control portion after decelerating the speed of the moving means.
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KR1020160027086A KR101794838B1 (en) | 2016-03-07 | 2016-03-07 | Active safety system for a personal mobility vehicle |
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KR1020160027086A KR101794838B1 (en) | 2016-03-07 | 2016-03-07 | Active safety system for a personal mobility vehicle |
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Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
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DE102019119597A1 (en) * | 2019-07-19 | 2021-01-21 | Dr. Ing. H.C. F. Porsche Aktiengesellschaft | Electrically powered micro vehicle |
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KR102178498B1 (en) * | 2019-09-06 | 2020-11-13 | 인하대학교 산학협력단 | Wheelchair operation system and method for evaluating safety based on wheelchair's driving information and user's driving information |
Citations (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2011218075A (en) * | 2010-04-14 | 2011-11-04 | Quest Engineering:Kk | Electric wheelchair |
JP2014038611A (en) * | 2012-08-20 | 2014-02-27 | Honda Research Institute Europe Gmbh | System and method for detecting mobile object |
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Patent Citations (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2011218075A (en) * | 2010-04-14 | 2011-11-04 | Quest Engineering:Kk | Electric wheelchair |
JP2014038611A (en) * | 2012-08-20 | 2014-02-27 | Honda Research Institute Europe Gmbh | System and method for detecting mobile object |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE102019119597A1 (en) * | 2019-07-19 | 2021-01-21 | Dr. Ing. H.C. F. Porsche Aktiengesellschaft | Electrically powered micro vehicle |
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