KR102007359B1 - Autonomous emergency braking system interworking with highway driving assistance system - Google Patents

Abstract

The present invention relates to an automatic emergency braking system and method interlocked with a highway driving support system, comprising: a vehicle dynamics sensor detecting a driving speed of a vehicle and transmitting the same to an electronic control device; Or a driver assistance system (DAS) sensor which transmits an image of the surroundings of the vehicle to the electronic control device, and detection signals from the vehicle dynamics sensor and the DAS sensor, the vehicle is driving on a highway and the lane keeping control ( By including an electronic control unit that activates the safety priority control mode during Autonomous Emergency Braking (AEB) when Lane Keeping Assis (LKA) and Smart Cruise Control (SCC) are in operation. To support safety-driven driving and to recover alarm and braking distances under other circumstances. It can support sensitive driving prevention.

Description

Automated emergency braking system and method in conjunction with highway driving assistance system {AUTONOMOUS EMERGENCY BRAKING SYSTEM INTERWORKING WITH HIGHWAY DRIVING ASSISTANCE SYSTEM}

The present invention relates to an automatic emergency braking system and method interlocked with a highway driving support system. More particularly, Lane Keeping Assis (LKA) and Smart Cruise Control (SCC) are activated during highway driving. The present invention relates to an autonomous emergency braking system and a method for interlocking a highway driving assistance system that supports safety-oriented driving by increasing an alarm and braking distance of an autonomous emergency braking (AEB).

Highways are roads that allow vehicles to travel at high speeds, and thus, highways lead to large accidents when an accident occurs.

The highway driving assist (HAD) system that can be applied while driving on the highway is lane keeping assistance (LKA), distance control (Smart Cruise Control, SCC), navigation information (map data, GPS, etc.). In this way, the autonomous emergency braking (AEB) system of the vehicle can be used in front of the vehicle while driving. When a dangerous obstacle is detected, the driver is alerted to the risk of collision with the detected dangerous obstacle, or automatic braking is performed if necessary to prevent a collision.

Accordingly, when driving on the highway, the vehicle travels straight ahead. In particular, when the highway driving assistance system is operated, the vehicle is driven to the center of the road without changing lanes. Therefore, when a dangerous situation occurs, the braking control is mainly performed to avoid the danger. However, the existing Autonomous Emergency Braking (AEB) system is generally used regardless of the nature of the road on which the vehicle travels to reduce the amount of braking in order to reduce the amount of braking in the case of vehicle misdetection or close overtaking. Stepped braking control with a predetermined alarm and braking distance as shown in FIGS. 3A and 4B and operating with 1.0 g of full braking after 0.2 g of free braking is used to avoid dangerous situations when the vehicle is traveling on a highway rather than a normal road. There was a limit.

Accordingly, in the present invention, when the Lane Keeping Assis (LKA) and the Smart Cruise Control (SCC) are activated during the highway driving, the alarm and braking distance of the Autonomous Emergency Braking (AEB) is flexibly applied. This paper proposes a technology that supports safety-driven driving by increasing the speed, and recovers alarming and braking distances in other situations, and supports driving of sensitive operation prevention.

Republic of Korea Patent Publication No. 1428339 (2017.05.17.) Japanese Patent Publication No. 3888773 (2007.07.27.) United States Patent Application Publication No. 6772345 (2004.09.14.)

Accordingly, the present invention has been made to solve the above-described problems of the prior art, and an object of the present invention is to activate Lane Keeping Assis (LKA) and Distance Control (SCC) while driving on a highway. Highways that support safety-driven driving by flexibly increasing the warning and braking distances of Autonomous Emergency Braking (AEB), and restoring alarming and braking distances in other situations. It is to provide an automatic emergency braking system and method interlocked with the driving support system.

In accordance with an aspect of the present invention, an automatic emergency braking system interlocked with a highway driving support system detects a driving speed of a vehicle and transmits the detected vehicle speed to an electronic control device, a distance between the vehicle and the surrounding object, and The driver's vehicle is driving on the highway by receiving a detection signal from a driver assistance system (DAS) sensor and a vehicle dynamics sensor and the DAS sensor which detect a relative speed or transmit an image of the surroundings of the vehicle to the electronic controller. Electronic control to activate the safety priority control mode during Autonomous Emergency Braking (AEB) when Lane Keeping Assis (LKA) and Smart Cruise Control (SCC) are in operation Device.

The safety priority control mode is a mode in which an alarm and braking distance are increased by increasing an alarm and a braking distance than when driving on a general road, and a parabolic deceleration control is performed by calculating a required deceleration amount.

The electronic control device maintains an alarm and a braking distance as in a normal road in a situation where lane keeping control and inter-vehicle distance control are not operated even when the own vehicle is not driving on the highway or driving on the highway, and maintains the required deceleration amount. Calculation is performed to perform stepped braking control, which acts as full braking after free braking.

When the driver's willingness to operate the vehicle is detected, the electronic control device maintains an alarm and a braking distance as in a general road, calculates a required deceleration, and performs stepped braking control that operates in full braking after free braking.

(여기서,

는 필요 감속량,

은 상기 자 차량과 선행 차량의 상대 속도,

은 상기 자 차량과 선행 차량간 거리)로 계산될 수 있다.The required deceleration amount is

(here,

Is the required deceleration amount,

Is the relative speed of the vehicle and the preceding vehicle,

May be calculated as a distance between the child vehicle and the preceding vehicle.

As described above, the automatic emergency braking system and method interlocked with the highway driving assistance system according to the present invention may be implemented when lane keeping control (LKA) and distance control (SCC) are activated during highway driving. It can flexibly increase the alarm and braking distance of Autonomous Emergency Braking (AEB) to support safety-driven driving, and in other situations, to support alarm-driven driving by restoring the alarm and braking distance.

1 is a block diagram schematically showing the overall configuration of an automatic emergency braking system according to a preferred embodiment of the present invention.
2 is a flowchart schematically showing the overall process of the automatic emergency braking method according to a preferred embodiment of the present invention.
FIG. 3A illustrates a warning and providing distance when a vehicle travels on a general road, and FIG. 3B illustrates a warning and providing distance when a vehicle travels on a highway.
4A illustrates a deceleration pattern when the vehicle is driving on a general road, and FIG. 4B illustrates a deceleration pattern when the vehicle is driving on a highway.
3 is a diagram illustrating a case where there are a plurality of preceding vehicles not only in the longitudinal direction of the vehicle vehicle but also in the transverse direction.
4 is a diagram illustrating whether steering avoidance is possible when there are a plurality of preceding vehicles not only in the longitudinal direction of the vehicle but also in the transverse direction.

Advantages and features of the present invention and methods for achieving them will be apparent with reference to the embodiments described below in detail with the accompanying drawings. However, the present invention is not limited to the embodiments disclosed below, but may be embodied in various different forms, and only the embodiments are provided to make the disclosure of the present invention complete, and those of ordinary skill in the art to which the present invention belongs. It is provided to fully convey the scope of the invention to those skilled in the art, and the present invention is defined only by the scope of the claims. Like reference numerals refer to like elements throughout.

With reference to the accompanying drawings, the highway driving assistance system interlock automatic emergency braking system and method of the present invention will be described in detail.

1 is a block diagram schematically showing the overall configuration of an automatic emergency braking system according to a preferred embodiment of the present invention.

As shown in FIG. 1, an automatic emergency braking (AEB) system to which the present invention is applied includes a vehicle dynamics sensor 10, a driver assistance system (DAS) sensor 20, an electronic control unit, ECU) 30, the collision warning device 40 and the speed control device 50 are configured.

The vehicle dynamics sensor 10 is a variety of known sensors such as a wheel speed sensor, an acceleration sensor, a yaw rate sensor, a steering angle sensor, and the like. The vehicle dynamics sensor 10 is disposed at an appropriate position such as a wheel and a steering wheel of a vehicle, and thus the driving speed, acceleration, yaw rate, steering of the vehicle. The angle and the like may be detected and transmitted to the electronic control unit 30.

DAS sensor 20 is a variety of known sensors, such as radar sensors are provided in the center and corners of the front of the vehicle to emit electromagnetic waves within a predetermined angle in front of the detection sensor and then reflected back from the object located around the vehicle electromagnetic waves By receiving the signal, the angle, distance, relative speed, relative acceleration, and the like between the vehicle and the surrounding object may be detected and transmitted to the electronic control unit 30. And / or the DAS sensor 20 is a variety of known image sensors, such as FIR camera, CMOS camera (or CCD camera) is provided on the top of the windshield of the vehicle in the infrared band, visible light region, etc. within a certain angle and distance in front of the camera By detecting and projecting light of various bands, the external object image may be obtained and transmitted to the electronic control apparatus 30.

The electronic control device 30 receives the detection signals from the vehicle dynamics sensor 10 and the DAS sensor 20, and the vehicle is traveling on the highway, and lane keeping control (LKA), which is a lateral steering control, and a longitudinal direction. When the speed control Smart Cruise Control (SCC) is in operation, the safety priority control mode is activated to increase the warning and braking distance than when driving on a normal road, making the alarm and braking operation faster and slower. The amount is calculated and controlled to decelerate gradually, and in other situations, the AEB control is performed by recovering the alarm and braking distance.

The collision warning device 40 receives a control signal of the electronic control device 30 to warn the driver of a risk of collision with a front obstacle, and the braking control device 50 receives a control signal of the electronic control device 30. It is to generate the braking pressure of the vehicle.

In the present invention, safety priority control is performed in a situation where a vehicle is traveling on a highway and lane keeping control (LKA), which is a lateral steering control, and a smart cruise control (SCC), which is a longitudinal speed control, are operated. We propose a control method to increase the alarm and braking time by activating the mode.

Hereinafter, an automatic emergency braking method interlocking with the highway driving assistance system in the present invention using the system configured as described above will be described with reference to FIG. 2.

As shown in FIG. 2, first, the electronic control apparatus 30 receives the detection signals from the vehicle dynamics sensor 10 and the DAS sensor 20 to grasp the property of the road on which the vehicle is traveling, thereby driving the vehicle on the highway. It is determined whether it is in operation (S210).

If it is determined in step S210 that the vehicle is driving on the highway, it is determined whether the LKA and the SCC are operating (S220).

Finally, if it is determined in step S220 that the LKA and SCC are in operation, it is determined whether the driver's willingness to operate the vehicle (eg, blinking, steering, accelerator, brake manipulation, etc.) is detected (S230).

If the driver's willingness to operate the vehicle is not detected in step S230, as shown in FIGS. 3B and 4B, the alarm and braking distance of the AEB is increased than when driving on a general road, thereby speeding up the alarm and braking operation time and calculating the required deceleration amount. By performing the AEB control in a parabolic braking control method to gradually decelerate the vehicle to support safety-oriented driving (S240). At this time, the required deceleration is equal to the equation (1).

는 필요 감속량,

은 자 차량과 선행 차량의 상대 속도,

은 자 차량과 선행 차량간 거리이다.here,

Is the required deceleration amount,

The relative speed of the vehicle and the preceding vehicle,

Is the distance between the child vehicle and the preceding vehicle.

However, when it is determined that the vehicle is not driving on the highway in steps S210 to S230, when it is determined that the LKA and SCC are not operated or the driver's intention to operate the vehicle is detected, the existing AEB control method (for example, FIGS. 3A and FIG. AEB control is performed with a warning and braking distance such as 4b and a stepped braking control method operating with 1.0 g of full braking after 0.2 g of free braking (S250).

Although the present invention has been described in more detail with reference to some embodiments, the present invention is not necessarily limited to these embodiments, and various modifications can be made without departing from the spirit of the present invention.

10: vehicle dynamics sensor
20: DAS sensor
30: electronic control unit
40: collision alarm device
50: braking control device

Claims (10)

A vehicle dynamics sensor that detects the traveling speed of the vehicle and transmits it to the electronic control device;
A driver assistance system (DAS) sensor configured to detect a distance and a relative speed between the vehicle and a surrounding object or to transmit an image of the surrounding of the vehicle to the electronic controller;
An electronic control device for controlling whether the safety-first control mode is activated,
The electronic control device,
If at least one of the driving speed of the vehicle and the image around the vehicle is determined to determine that the vehicle is driving on the highway,
When the driver's willingness to operate the vehicle is not detected and Lane Keeping Assis (LKA) and Smart Cruise Control (SCC) are in operation, First activate the control mode,
An automatic emergency braking system, when the driver's willingness to operate the vehicle is detected, deactivating the safety first control mode to maintain an alarm and a braking distance as in a general road. In claim 1,
The safety priority control mode is an automatic emergency braking system that increases the alarm and braking distance than when driving on a normal road, makes the alarm and braking operation time faster, calculates the required deceleration, and performs parabolic deceleration control. In claim 2,
The electronic control device maintains an alarm and a braking distance as in a normal road in a situation where lane keeping control and inter-vehicle distance control are not operated even when the own vehicle is not driving on the highway or driving on the highway, and maintains the required deceleration amount. An automatic emergency braking system that calculates and performs stepped braking control operating in full braking after free braking. In claim 2,
The electronic control device maintains an alarm and a braking distance as in a general road when the driver's willingness to operate the vehicle is performed, calculates a required deceleration, and performs stepwise braking control operating in full braking after pre-braking. Automatic emergency braking system. The method according to any one of claims 2 to 4,
The required deceleration amount is

(here,

Is the required deceleration amount,

Is the relative speed of the vehicle and the preceding vehicle,

Is the distance between the vehicle and the preceding vehicle. Receiving from the sensors at least one of a traveling speed of the vehicle, a distance between the vehicle and the surrounding object, a relative speed of the surrounding object with respect to the vehicle, and an image around the vehicle; and
Determining whether the vehicle is driving on a highway according to the information received from the sensors, wherein the received information includes at least one of a driving speed of the vehicle and an image around the vehicle; ,
Judging whether Lane Keeping Assis (LKA) and Smart Cruise Control (SCC) are operating when the vehicle is driving on the highway;
When the driver's willingness to operate the vehicle is not detected and Lane Keeping Assis (LKA) and Smart Cruise Control (SCC) are in operation, Activate the control mode,
And when the driver's willingness to operate the vehicle is controlled, deactivating the safety first control mode to maintain an alarm and a braking distance as on a normal road. In claim 6,
The safety first control mode is a mode for increasing the alarm and braking distance faster than when driving on a normal road, the alarm and braking operation time is faster, and the required deceleration amount is calculated to perform parabolic deceleration control. In claim 7,
The controlling may include maintaining an alarm and a braking distance as in a general road when the lane keeping control and the distance control are not operated even when the own vehicle is not driving on the highway or driving on the highway, and maintains the required deceleration amount. An automatic emergency braking method for calculating and performing stepped braking control operating in full braking after free braking. In claim 7,
The controlling may include maintaining a warning and a braking distance as in a general road when the driver's willingness to operate the vehicle is performed, calculating a required deceleration, and performing stepped braking control operating in full braking after pre-braking. Auto emergency braking method. The method according to any one of claims 7 to 9,
The required deceleration amount is

(here,

Is the required deceleration amount,

Is the relative speed of the vehicle and the preceding vehicle,

Is calculated as a distance between the vehicle and the preceding vehicle.

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