KR101984521B1 - Cruise controller for vehicle and driving method thereof - Google Patents

Abstract

The present invention relates to a vehicle cruise controller for detecting a stop position of a forward vehicle in a toll gate area and controlling the vehicle to stop at a toll gate, and a driving method thereof.
A cruise controller for a vehicle according to an embodiment of the present invention includes a tollgate recognizing unit for recognizing a tollgate area in front of a vehicle, a position detecting unit for detecting a stop position of each of the at least one forward vehicles stopped in the toll gate area, And stopping the vehicle at one stop position among the stop positions of the front vehicles of the vehicle.

Description

Technical Field [0001] The present invention relates to a cruise controller for a vehicle,

The present invention relates to a cruise controller for a vehicle and a driving method thereof. More particularly, the present invention relates to a cruise controller for a vehicle and a driving method thereof, for detecting a stop position of a forward vehicle in a toll gate area and controlling the vehicle to stop at a toll gate.

Adaptive Cruise Control (ACC) is an operator assistance system that improves the driver's convenience and reduces the risk of frontal collision by automating the acceleration and deceleration of the vehicle using the engine control unit and the electronic braking unit , And controls the vehicle to autonomously travel at a speed set by the driver.

The adaptive cruise control system allows the driver to set the traveling speed of the vehicle and the distance to the preceding vehicle in advance, and the vehicle can travel at the set speed while maintaining the distance from the set preceding vehicle. In addition, when the vehicle comes to a front vehicle stopped at an intersection during driving, the vehicle is automatically stopped, and the vehicle is automatically started when the preceding vehicle starts.

However, in the adaptive cruise control system, there is a problem in that, when the vehicle ahead is running at the toll road issuance right or the toll payment point, the vehicle runs at a set speed without stopping the vehicle.

SUMMARY OF THE INVENTION The present invention provides a cruise controller for a vehicle and a method of driving the cruise controller for controlling a distance from a toll gate to a forward vehicle.

It is another object of the present invention to provide a vehicle cruise controller and a method of driving the vehicle, which detect a stop position of at least one forward vehicle in a toll gate and control the vehicle to stop at a stationary position.

Other features and advantages of the invention will be set forth in the description which follows, or may be obvious to those skilled in the art from the description and the claims.

According to another aspect of the present invention, there is provided a cruise controller for a vehicle, the cruise controller comprising: a tollgate recognition unit for recognizing a tollgate area in front of the vehicle; and a stop position detecting unit for detecting a stop position of each of the at least one forward vehicles stopped in the tollgate area And a control unit for stopping the subject vehicle at one stop position among the stop positions of the at least one front vehicles.

Here, the control unit stops the subject vehicle at a stop position of the front vehicle closest to the subject vehicle among the at least one front vehicles.

Further, the control unit stops the vehicle at the last stop position of the nearest preceding vehicle.

In addition, the control unit stops the subject vehicle at a position where the vehicle stops most of the positions where at least one front vehicle stops.

Further, the control unit stops the subject vehicle at a position where the most forward vehicles in the toll gate stop.

Further, the control unit stops the subject vehicle at a stop position of each of the at least one front vehicles.

According to another aspect of the present invention, there is provided a method for detecting a stop position of a vehicle in a toll gate, the method comprising the steps of: And setting the stop position of at least one of the stop positions of the front vehicles to the stop position of the child vehicle.

Here, in the step of setting at least one stop position as the stop position of the child vehicle, the stop position of the front vehicle closest to the child vehicle among the front vehicles is set as the stop position of the child vehicle.

Further, in the step of setting at least one stop position as the stop position of the child vehicle, the last stop position of the nearest preceding vehicle is set as the stop position of the child vehicle.

Further, in the step of setting at least one stop position to the stop position of the child vehicle, the stop position of the child vehicle is set as the position where the vehicle stops the most of the positions where at least one of the front vehicles stopped.

Further, in the step of setting at least one stop position to the stop position of the child vehicle, the position where the most forward vehicles in the toll gate stops is set as the stop position of the child vehicle.

Further, in the step of setting at least one stop position to the stop position of the child vehicle, the stop position of each of the at least one front vehicles is set to the stop position of the child vehicle.

Further, in the step of setting at least one stop position to the stop position of the child vehicle, the child vehicle is controlled to stop at the stop position of the child vehicle.

The vehicle cruise controller and the driving method thereof according to the embodiment of the present invention can stop the vehicle at the point of issuing the toll payment or the passing right through the cumulative data of detecting the stop position of the forward vehicle.

In addition, other features and advantages of the present invention may be newly understood through embodiments of the present invention.

1 is a view showing a configuration of a cruise controller for a vehicle according to an embodiment of the present invention.
2 is a view showing the detection of the stop position of at least one front vehicle.
3 is a flowchart showing a driving method of a cruise controller for a vehicle according to the first embodiment of the present invention.
4 is a flowchart showing a driving method of a cruise controller for a vehicle according to a second embodiment of the present invention.
5 is a flowchart showing a driving method of a cruise controller for a vehicle according to a third embodiment of the present invention.

Hereinafter, exemplary embodiments of the present invention will be described in detail with reference to the accompanying drawings, which will be readily apparent to those skilled in the art to which the present invention pertains. The present invention may be embodied in many different forms and is not limited to the embodiments described herein.

In order to clearly illustrate the present invention, parts not related to the description are omitted, and the same or similar components are denoted by the same reference numerals throughout the specification.

Unless otherwise defined, all terms including technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. Commonly used predefined terms are further interpreted as having a meaning consistent with the relevant technical literature and the present disclosure, and are not to be construed as ideal or very formal meanings unless defined otherwise.

The present invention relates to an apparatus and method for detecting a stop position of a vehicle for stopping a vehicle (10) traveling on an ACC (Adaptive Cruise Control) system on a toll gate by detecting a stop position of a preceding vehicle in a toll gate area.

1 is a view showing a configuration of a cruise controller for a vehicle according to an embodiment of the present invention.

1, an apparatus 100 for detecting a stop position of a vehicle according to an embodiment of the present invention includes a toll gate recognition unit 110, a position detection unit 120, a control unit 130, an engine control unit 140, Device 150 and a steering control device 160. [0033]

The tollgate recognition unit 110 recognizes the tollgate area 42 in front of the vehicle 10. The tollgate recognition unit 110 can recognize the tollgate 40 on the traveling path of the vehicle 10 based on the GPS and the camera disposed in the vehicle 10. [ The tollgate recognizing unit 110 recognizes the tollgate area 42 from the area of 50 to 100 meters before the toll gate 40 in the toll gate 40. The tollgate recognizing unit 110 provides the control unit 130 with a result of recognizing the toll gate 40 and the toll gate area 42. [

The position detection unit 120 detects the stop position 30 of each of the at least one front vehicle 20 that has stopped in the toll area 42. [ Specifically, the position detecting unit 120 detects at least one front vehicle 20 stopped in the tollgate area 42 in the running lane of the child vehicle 10, detects the stop position 30 of each front vehicle 20, Can be detected. Here, the position detection unit 120 can accumulate and detect the stop position 30 whenever the front vehicle 20 stops in the toll gate area 42. [ Further, the position detecting unit 120 can detect the distance between the subject vehicle 10 and the front vehicle 20 using a radar or a rider.

At this time, the controller 130 controls the engine control unit 140, the brake control unit 150, and the steering control unit 160 of the vehicle 10 to drive the ACC (Adaptive Cruise Control) system.

The ACC system is a system in which the vehicle 10 travels at a predetermined speed and keeps the vehicle running at a constant distance from the front vehicle 20. The control unit 140 drives the engine control unit 140 to drive the vehicle 10) to travel at a predetermined speed. The control unit 140 may drive the brake control unit 150 to control the vehicle to travel at a predetermined distance from the front vehicle 20 and may control the front vehicle 20 in a dangerous situation caused by a pedestrian or an obstacle, (10) can be decelerated or stopped. Also, the control unit 140 may drive the steering control device 160 to control the subject vehicle 10 to travel along the traveling path. Therefore, the subject vehicle 10 can run on the ACC system.

Here, the control unit 140 may include an ACC controller for driving the ACC system, and the ACC controller may control the engine control unit 140, the brake control unit 150, and the steering control unit 160.

2 is a view showing the detection of the stop position of at least one front vehicle.

Referring to FIG. 2, the position detection unit 120 detects the stop position of each of the at least one front vehicle 20 in the toll area 42.

Specifically, when the tollgate area 42 is recognized in the toll gate recognition unit 110, the position detection unit 120 detects at least one front vehicle 20 stopped in the toll gate area 42 in the running lane of the vehicle 10, And detects the distance to each of the front vehicles 20. At this time, the control unit 130 drives the ACC system to control the vehicle 10 to travel at a certain distance from the front vehicle 20.

In addition, the position detection unit 120 detects the stop position 30 of at least one front vehicle 20 sensed by the toll gate area 42. [ Specifically, the position detecting unit 120 detects the position of the first front vehicle 20a, the second front vehicle 20b, and the third front vehicle 20c, which are stopped in the driving lane of the child vehicle 10 in the toll gate area 42 The stop position 30 is detected.

Here, the first front vehicle 20a stops at the toll gate 40 to pay the passport issuing or transit fee. At this time, the position detecting unit 120 can detect the first stop position 32a of the first front vehicle 20a. Accordingly, the second forward vehicle 20b traveling at the rear of the first front vehicle 20a stops at a predetermined distance from the first front vehicle 20a. At this time, the position detection unit 120 can detect the second stop position 32b of the second front vehicle 20b. Further, the third forward vehicle 20c traveling at the rear of the second forward vehicle 20c stops at a certain distance from the second forward vehicle 20b. At this time, the position detection unit 120 can detect the third stop position 32c of the third forward vehicle 20c.

At this time, when the first forward vehicle 20a passes through the tollgate, the second forward vehicle 20b stops at the toll gate to pay the passport issuance or toll. At this time, the position detecting unit 120 can detect a new second stop position 34b where the second front vehicle 20b stops. When the first front vehicle 20a passes through the toll gate, the third front vehicle 20c traveling at the rear of the second front vehicle 20b stops at the new third stop position 34c, 120 can detect a new third stop position 34c of the third front vehicle 20c.

Further, when the second forward vehicle 20b passes through the toll gate, the third forward vehicle 20c stops at the toll gate to pay the passport issuance or toll. At this time, the position detecting unit 120 can detect a new third stop position 36c where the third forward vehicle 20c stops. Here, the position detecting unit 120 detects the stop position 30 every time the first front vehicle 20a, the second front vehicle 20b, and the third front vehicle 20c stop in the toll gate area 42 .

Here, the number of the front vehicles 20 stopped in the toll area 42 may increase, and as the number of the front vehicles 20 increases, the position detection unit 120 detects the stop position 30 of the front vehicle 20 It can be detected cumulatively.

The control unit 130 then stops the subject vehicle 10 at one stop position 30 among the stop positions 30 of each of the at least one front vehicle 20.

Specifically, the control unit 130 can stop the vehicle 10 at a stop position 30 of the front vehicle 20 closest to the vehicle 10 among the at least one front vehicle 20. Specifically, the control unit 130 can stop the child vehicle 10 at every stop position 30 of the front vehicle 20 closest to the child vehicle 10 among the at least one front vehicle 20. At this time, the control unit 130 controls the vehicle 10 to stop at the stop position 30 where the front vehicle 20 closest to the vehicle 10 is stopped last.

Here, the front vehicle 20 passes through the tollgate 40 after stopping at the toll gate 40 for issuing the right of way or paying the toll. Thus, the subject vehicle 10 can stop at the toll gate 40 where the front vehicle 20 has last stopped.

At this time, since the vehicle 10 is being driven by the ACC system, when the forward vehicle 20 closest to the vehicle 10 passes through the tollgate 40 after stopping at the toll gate 40, It is possible to travel along the front vehicle 20 without stopping at the toll gate 40. [ Accordingly, the control unit 130 can stop driving the ACC system so that the subject vehicle 10 stops at the toll gate 40. [

Also, the control unit 130 stops the child car 10 at a position where the front vehicle 20 is stopped most of the positions where at least one front vehicle 20 stops. Specifically, the control unit 130 stops the child car 10 at a position where the front vehicle 20 is stopped the most based on the result of cumulatively detecting the stop position 30 of the at least one front vehicle 20 . Here, the position where the front vehicle 20 is most stopped can be the toll gate 40, and the toll gate area 42. [ At this time, the control unit 130 can control the self-vehicle 10 to stop at the position where the forward vehicle 20 is stopped most at the toll gate 40. [ Therefore, even if the position where the front vehicle 20 is most stopped is not the tollgate 40, the control unit 140 causes the tollgate 42 to stop the tollgate 10 once more, .

Since the vehicle 10 is being driven by the ACC system, when the forward vehicle 20 passes through the toll gate 40 after stopping at the toll gate 40, the vehicle 10 does not stop at the toll gate 40 , It is possible to travel along the front vehicle 20. At this time, the control unit 130 may stop the driving of the ACC system so that the child car 10 stops at the toll gate 40.

Further, the control unit 130 stops the subordinate vehicle 10 at the respective stop positions 30 of the at least one frontward vehicles 20. Specifically, the control unit 130 may stop the child vehicle 10 at each of the stop positions 30 of the at least one front vehicle 20 based on the result of cumulatively detecting the stop position 30. Here, the at least one front vehicle 20 stops to pay the passport issuance or toll at the toll gate. Therefore, the subject vehicle 10 can stop at the toll gate.

However, since the vehicle 10 is driven by the ACC system, when the forward vehicle 20 passes through the toll gate 40 after stopping at the toll gate 40, the vehicle 10 does not stop at the toll gate 40 , It is possible to travel along the front vehicle 20. At this time, the control unit 130 may stop the driving of the ACC system so that the child car 10 stops at the toll gate 40.

In this case, when there is no forward vehicle 20 in the toll gate area 42, the position detecting unit 120 can not detect the position of the front vehicle 20, The vehicle 20 can not be stopped at the stopped position. Therefore, the control unit 130 can control the vehicle 10 to stop at the position of the toll gates based on the GPS when there is no forward vehicle 20 in the toll gate area 42. [

3 is a flowchart showing a driving method of a cruise controller for a vehicle according to the first embodiment of the present invention.

Referring to FIG. 3, the toll-gate recognition unit 110 recognizes the toll gate 40 in front of the vehicle 10 (S310). Specifically, the toll-recognition unit 110 can recognize the tollgate 40 using a GPS (Global Positioning System) or a camera disposed in the vehicle 10. Here, the tollgate recognizing unit 110 can recognize the area from the area of 50 to 100 meters before the toll gate 40 to the toll gate area 42 in the toll gate 40.

Subsequently, the position detecting unit 120 detects a stop position 30 of at least one front vehicle 20 stopped in the toll gate area 42 (S320). Specifically, the position detection section 120 detects the stop position 30 of at least one front vehicle 20 that has stopped in the tollgate area 42 in the driving lane of the child vehicle 10, respectively. Here, each time the at least one forward vehicle 20 passes through the toll gate 40, a new stop position 30 of the forward vehicle 20 is detected, and each stop position 30 can be detected cumulatively . At this time, the control unit 130 may control the engine control unit 140, the brake control unit 150, and the steering control unit 160 of the vehicle 10 by driving the ACC system.

The control unit 130 controls the vehicle 10 to stop at a stop position of the front vehicle 20 closest to the vehicle 10 among the at least one front vehicle 20 at step S330.

More specifically, the control unit 130 can control the vehicle 10 to stop at every stop position 20 of the front vehicle 20 closest to the vehicle 10 among the at least one front vehicle 20 . At this time, the control unit 130 can control the vehicle 10 to stop at the toll gate 40, which is the position where the front vehicle 20 closest to the vehicle 10 stops last.

At this time, since the vehicle 10 is being driven by the ACC system, when the forward vehicle 20 closest to the vehicle 10 passes through the tollgate 40 after stopping at the toll gate 40, It is possible to travel along the front vehicle 20 without stopping at the toll gate 40. [ Accordingly, the control unit 130 can stop driving the ACC system so that the subject vehicle 10 stops at the toll gate 40. [

4 is a flowchart showing a driving method of a cruise controller for a vehicle according to a second embodiment of the present invention.

Referring to FIG. 4, the toll gate recognition unit 110 recognizes the toll gate 40 in front of the vehicle 10 (S410). Specifically, the tollgate recognition unit 110 can recognize the tollgate 40 using a GPS or a camera disposed in the vehicle 10. Here, the tollgate recognizing unit 110 can recognize the area from the area of 50 to 100 meters before the toll gate 40 to the toll gate area 42 in the toll gate 40.

Subsequently, the position detecting unit 120 detects a stop position 30 of at least one front vehicle 20 stopped in the toll gate area 42 (S420). Specifically, the position detection section 120 detects the stop position 30 of at least one front vehicle 20 that has stopped in the tollgate area 42 in the driving lane of the child vehicle 10, respectively. Here, each time the at least one forward vehicle 20 passes through the toll gate 40, a new stop position 30 of the forward vehicle 20 is detected, and each stop position 30 can be detected cumulatively . At this time, the control unit 130 may control the engine control unit 140, the brake control unit 150, and the steering control unit 160 of the vehicle 10 by driving the ACC system.

The control unit 130 controls the subject vehicle 10 to stop at a position where the front vehicle 20 is stopped most of the positions where at least one front vehicle 20 stops (S430). Here, the position where the front vehicle 20 is most stopped can be the toll gate 40, and the toll gate area 42. [

The control unit 130 may control the vehicle 10 to stop at the position where the front vehicle 20 is stopped most at the toll gate 40 at step S440. Therefore, the control unit 140 can stop the vehicle 10 from the toll gate 42, even if the position where the forward vehicle 20 is most stopped is not the toll gate 40. [

Since the vehicle 10 is being driven by the ACC system, when the forward vehicle 20 passes through the toll gate 40 after stopping at the toll gate 40, the vehicle 10 does not stop at the toll gate 40 , It is possible to travel along the front vehicle 20. Accordingly, the control unit 130 can stop driving the ACC system so that the subject vehicle 10 stops at the toll gate 40. [

5 is a flowchart showing a driving method of a cruise controller for a vehicle according to a third embodiment of the present invention.

Referring to FIG. 5, the toll-gate recognition unit 110 recognizes the toll gate 40 in front of the sub-vehicle 10 (S510). Specifically, the tollgate recognition unit 110 can recognize the tollgate 40 using a GPS or a camera disposed in the vehicle 10. Here, the tollgate recognizing unit 110 can recognize the area from the area of 50 to 100 meters before the toll gate 40 to the toll gate area 42 in the toll gate 40.

Next, the position detecting unit 120 detects a stop position 30 of at least one front vehicle 20 that has stopped in the toll gate area 42 (S520). Specifically, the position detection section 120 detects the stop position 30 of at least one front vehicle 20 that has stopped in the tollgate area 42 in the driving lane of the child vehicle 10, respectively. Here, each time the at least one forward vehicle 20 passes through the toll gate 40, a new stop position 30 of the forward vehicle 20 is detected, and each stop position 30 can be detected cumulatively . At this time, the control unit 130 may control the engine control unit 140, the brake control unit 150, and the steering control unit 160 of the vehicle 10 by driving the ACC system.

Next, the control unit 130 controls the vehicle 10 so that the vehicle 10 stops at each stop position 30 of the front vehicles 20 (S530). Here, the front vehicles 20 stop to pay a traffic ticket issuance or traffic fee from the toll gate. Therefore, the control unit 130 can control the vehicle 10 to stop at the toll gate 40. [

At this time, since the vehicle 10 is being driven by the ACC system, when the forward vehicle 20 passes through the toll gate 40 after stopping at the toll gate 40, the vehicle 10 does not stop at the toll gate 40 , It is possible to travel along the front vehicle 20. Accordingly, the control unit 130 can stop driving the ACC system so that the subject vehicle 10 stops at the toll gate 40. [

As described above, the present invention can realize a vehicular cruise controller and a driving method thereof for detecting a stop position of a forward vehicle in a toll gate area and controlling to stop at a toll gate.

It will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the spirit and scope of the present invention as defined by the following claims and their equivalents. Only. It is intended that the present invention covers the modifications and variations of this invention provided they come within the scope of the appended claims and their equivalents. .

100: Cruise Controls for Vehicles
110: Tollgate recognition unit
120:
130:
140: Engine control device
150: Brake control device
160: Steering control device
10: The vehicle
20: forward vehicle
20a: a first front vehicle
20b: the second forward vehicle
20c: the third forward vehicle
30: Stop position
32a: First stop position
32b: second stop position
32c: Third stop position
34b: new second stop position
34c, 36c: a new third stop position

Claims (13)

A tollgate recognition unit for recognizing a tollgate area in front of the vehicle;
A position detection unit for detecting a stop position of each of the at least one front vehicles stopped in the toll area;
And a controller for stopping the child vehicle at at least one of the stop positions of the at least one front vehicles,
Wherein,
Accumulating and detecting a stop position every time said at least one front vehicle stops,
Wherein,
Based on a result of cumulatively detecting the stop position of the at least one front vehicles, stops the vehicle at a position where the vehicle stops the most of the positions where the at least one front cars stopped. The apparatus of claim 1,
And stops the child vehicle at a stop position of the front vehicle closest to the child vehicle among the at least one front vehicles. 3. The apparatus of claim 2,
And stops the child vehicle at a last stop position of the nearest preceding vehicle. delete The apparatus of claim 1,
And stops the vehicle at a position where the front vehicles are stopped most in the toll gate. The apparatus of claim 1,
And stops the child vehicle at a stop position of each of the at least one forward vehicles. A method of detecting a stop position of a vehicle for setting a stop position of a vehicle in a toll gate,
Detecting a stop position of each of the front vehicles; And
Setting at least one stop position of the stop positions of the front vehicles to a stop position of the own vehicle,
Wherein the step of detecting the stop position of each of the front vehicles comprises:
Accumulating and detecting a stop position every time said at least one front vehicle stops,
Wherein the step of setting the at least one stop position to a stop position of the child vehicle comprises:
And sets a stop position of the vehicle at the most position among the positions at which the at least one front vehicle stops, based on a result of cumulatively detecting the stop positions of the at least one front vehicles, How to drive the controller. 8. The method of claim 7, further comprising: setting the at least one stop position to a stop position of the child vehicle,
And sets the stop position of the front vehicle closest to the child vehicle among the front vehicles to the stop position of the child vehicle. 9. The method according to claim 8, wherein in setting the at least one stop position to a stop position of the child vehicle,
And sets the last stop position of the nearest preceding vehicle as the stop position of the child vehicle. delete 8. The method of claim 7, further comprising: setting the at least one stop position to a stop position of the child vehicle,
And sets a position at which the largest number of the preceding vehicles stopped in the toll gate to a stop position of the sub-vehicle. 8. The method of claim 7, further comprising: setting the at least one stop position to a stop position of the child vehicle,
And sets the stop position of each of the at least one front vehicle to the stop position of the child vehicle. The method according to any one of claims 8, 9, 11, and 12, wherein the step of setting the at least one stop position to a stop position of the child vehicle,
And controls the child vehicle to stop at the stop position of the set child vehicle.

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