KR102075047B1 - System for determining the height of surface of the earth of the vehicle - Google Patents

Abstract

The present invention provides a ground level determination system for a vehicle that detects obstacles around the vehicle and simultaneously alerts the driver by detecting the height of the ground in front of or behind the vehicle.
Ground level determination system of a vehicle according to an embodiment of the present invention is a PAS (Parking Assist System) sensor unit for monitoring the ground signal of the front or rear of the vehicle, a control unit for controlling the PAS sensor unit for monitoring the ground signal, the ground An output unit for outputting step information of the signal, and a braking control unit for adjusting the speed of the vehicle when the change time of the ground signal is close, and a steering control unit for controlling the steering of the vehicle.

Description

System for determining the height of surface of the earth of the vehicle}

The present invention relates to a system and method for determining the ground level difference of a vehicle. More particularly, the present invention relates to a technique for monitoring the height change of the ground while detecting an obstacle around the vehicle.

Conventionally, an obstacle detection method used in the related art is a method of detecting a distance to a front object by transmitting / receiving a radar signal or a laser signal of a driving vehicle, or based on three-dimensional image information obtained through a stereo camera. There are ways to detect the distance to an object. In addition, a control method for preventing a collision with a detected obstacle is introduced based on information on a current speed detected from a speed sensor of a vehicle.

However, methods using the radar signal or the laser signal have been a method of obtaining point information by using a transmission / reception sensor for a signal. Therefore, not only the shape of the objects to be sensed could be known, but there was a problem that it was not easy to distinguish obstacles. In particular, a technique for detecting a vehicle in front of a vehicle using a laser radar or a laser range finder to detect collisions by means of determining the presence of an object in front of the vehicle or to achieve collision avoidance by means of measuring a distance to the object in front of the vehicle is easy on a straight road. The straightness of the laser makes it difficult to adapt on the highway.

The present invention provides a system for determining the level of a ground of a vehicle that can notify a driver by detecting a change in the height of the ground in front of or behind a vehicle while sensing obstacles around the vehicle.

Other objects and advantages of the present invention can be understood by the following description, and will be more clearly understood by the embodiments of the present invention. It will be readily appreciated that the objects and advantages of the invention may be realized by the means and combinations thereof indicated in the claims.

Ground level determination system of a vehicle according to an embodiment of the present invention is a PAS (Parking Assist System) sensor unit for monitoring the ground signal of the front or rear of the vehicle, a control unit for controlling the PAS sensor unit for monitoring the ground signal, the ground An output unit for outputting the step information of the signal, a braking control unit for adjusting the speed of the vehicle when the change time of the ground signal is close, and a steering control unit for controlling the steering of the vehicle.

The PAS sensor unit may detect an obstacle around the vehicle and simultaneously monitor the ground signal.

In addition, the output unit may output through an alarm message or voice guidance using a HMI (Human Machine Interface).

In addition, the minimum width of the ground monitored through the ground signal, and the time when the ground step occurs in the ground signal and the size of the ground step can be confirmed.

In addition, the PAS sensor unit may determine whether the position where the step is generated is the front of the driving vehicle, the left side of the traveling vehicle, or the right side of the traveling vehicle.

The present technology allows the driver to recognize the height of the ground in front of or behind the vehicle in advance, and can notify the driver in the vehicle, thereby preventing damage to the vehicle or injury of the driver caused by the step of the ground.

In addition, the present technology monitors the occurrence time of the ground signal and the width of the ground signal to confirm the location of the step difference, or by using the change of the ground signal occurrence point, the adjacent road surface next to the sidewalk block or the road where the vehicle cannot be driven. It provides height difference and position information of the surface.

1 is a block diagram showing a ground level determination system of a vehicle according to an embodiment of the present invention.
2 is a flowchart illustrating a method for determining a ground level difference of a vehicle according to an exemplary embodiment of the present invention.
FIG. 3 is a diagram illustrating a method of checking a time when a step occurs in a ground signal and a width of a ground signal of a vehicle according to an exemplary embodiment of the present invention.

The above objects, features, and advantages will become more apparent from the detailed description given hereinafter with reference to the accompanying drawings, and as a result, those skilled in the art to which the present invention pertains may share the technical idea of the present invention. It will be easy to implement. In addition, in describing the present invention, when it is determined that the detailed description of the known technology related to the present invention may unnecessarily obscure the gist of the present invention, the detailed description thereof will be omitted. Hereinafter, exemplary embodiments of the present invention will be described in detail with reference to the accompanying drawings.

1 is a block diagram showing a ground level determination system of a vehicle according to an embodiment of the present invention.

Referring to FIG. 1, a vehicle level determination system of a vehicle may include a parking assist system (PAS) sensor unit for monitoring a ground signal in front of or behind a vehicle, a controller for controlling a PAS sensor unit for monitoring a ground signal, and step information of ground signals. It includes an output unit for outputting a braking control unit for adjusting the speed of the vehicle when the information of the ground signal changes, and a steering control unit for controlling the steering of the vehicle.

The PAS sensor 100 detects an obstacle or an object by using an ultrasonic sensor and may determine a position and a distance from the obstacle. Such an ultrasonic sensor may not only detect an obstacle or an object, but also detect a ground signal (ground reflection signal), and a plurality of ultrasonic sensors may be provided at various places in front, side, and rear of the vehicle.

Through the PAS sensor unit 100 can monitor the height of the ground of the front or rear of the vehicle.

In detail, the generation time and width change of the ground signal may be primarily recognized using a sensor among the ultrasonic sensors, and the height difference may be determined using the change time of the step generation through the ground signal.

The controller 110 is a body control module that controls the PAS sensor unit 100 and controls the output unit 120, the braking control unit 130, and the steering control unit 140 according to the height of the monitored ground. Can be controlled.

In addition, the output unit 120, the braking control unit 130, and the steering control unit 140 output height information and an alarm message, adjust the speed, and adjust the speed of the vehicle when the ground level causes damage or more damage to the lower end of the vehicle. Steering can be controlled.

The output unit 120 may output height information from the ground, and may be output in the form of an alarm message or a voice message using a human machine interface (HMI).

The braking controller 130 adjusts the speed of the vehicle when the height of the ground changes.

The steering controller 140 controls the steering of the vehicle when the height of the ground changes.

2 is a flowchart illustrating a method for determining a ground level difference of a vehicle according to an exemplary embodiment of the present invention.

Referring to FIG. 2, when the vehicle is driving, the PAS sensor unit detects an obstacle or an object around the vehicle and generates an obstacle detection alarm at the output unit when an obstacle or an object is detected around the vehicle (S200, S210). .

When the vehicle is driving, the PAS sensor unit monitors the ground signal if an object signal does not occur in the warning area (object determination section) around the vehicle (S220). However, in the section other than the object determination, the step change is constantly monitored, and the sensor of the PAS sensor unit may individually operate for each region in which the sensor is provided.

Next, the PAS sensor unit determines the difference between the threshold value by comparing the width of the ground signal with the set width using the sensor in real time (S230). In other words, it compares the width of the ground signal first identified during driving with the width of the ground signal identified during continuous driving.The width of the ground signal measured while driving continues to be reduced from the width of the ground signal measured when a step is found on the ground. In addition, it can be seen that the number of ground signals (change in size) is also reduced.

Next, when the difference in the threshold value occurs, the PAS sensor unit recognizes the time when the step is generated in the ground signal (S240).

Next, when a step occurs in the ground signal is changed, it is checked whether the step is generated in front of the driving vehicle, the left of the driving vehicle or the right of the driving vehicle using the sensor or the corner sensor (S250). ).

Next, when the generation time of the ground signal is changed, the step (height) and the position of the ground and the vehicle are determined using the width of the ground signal and the timing of generating the ground signal (S260). However, if the timing of the occurrence of the ground signal does not change, the change of the timing at which the step occurs in the ground signal is continuously monitored (S245).

Next, when the monitored ground level and the level of the vehicle are greater than the set ground height of the vehicle (for example, when the height from the ground of the vehicle to the bumper of the vehicle is set), an alarm is generated at the output and the braking control and the steering are performed. By transmitting a signal to the control unit to adjust the speed of the vehicle, or to control the steering of the vehicle (S270, S280).

In addition, when the monitored ground level and the level of the vehicle are smaller than the set ground height (for example, when the height from the ground of the vehicle to the bumper of the vehicle is set), the vehicle continues to run without outputting an alarm message ( S290).

FIG. 3 is a diagram illustrating a method of checking a width of a ground signal of a vehicle and a point in time when a step occurs in ground signals according to an embodiment of the present invention, and (i) discloses a diagram of monitoring a width of a ground signal of a vehicle And, (ii) discloses a diagram that can determine the step and the position of the step together with the width of the ground signal by checking the time when the step occurs in the ground signal of the vehicle.

Referring to (i) of FIG. 3, the PAS sensor unit compares the width of the ground signal first identified during driving with the width of the ground signal identified during continuous driving, wherein the width of the ground signal at which the step is measured during the continuous driving is determined on the ground. It can be seen that the step is found to be smaller than the first measured ground signal width, and the magnitude or number of ground signals is also reduced.

For example, if the ground signal first measured while driving is 10m in width, the position of the ground level can be checked, and the ground signal width is measured in real time while driving, but the driver is alerted when it becomes smaller than the set distance. Inform via

Referring to (ii) of FIG. 3, the PAS sensor unit may determine whether a time point at which a step occurs in the ground signal is changed.

In detail, if a time point at which a step occurs in the ground signal is changed, the position A and the step (height, B) of the ground and the vehicle may be determined using the changed ground signal and the time at which the ground signal is generated.

Specifically, the step B of the vehicle is a distance a + c, the sensor height b, and the step height d from the time when the step of the ground signal of the vehicle occurs to the time of the ground signal when the step does not occur. ) May be calculated as the ratio of the width (a) at which the step occurs in the ground signal and the time (b) of the ground signal when the step is not generated. That is, the step height d can be obtained by a proportional expression of (a): (b) = (a) + (c): (b) + (d).

Next, when the determined ground level and the vehicle step height are greater than the set ground height (for example, when the height from the ground of the vehicle to the bumper of the vehicle is set), an alarm is generated at the output unit and a braking is performed. Signals are transmitted to the controller and the steering controller to adjust the speed of the vehicle or to control the steering of the vehicle.

However, when the determined ground level and the vehicle step height are smaller than the set ground height (for example, when the height from the ground of the vehicle to the bumper of the vehicle is set), the vehicle continues to run.

As described above, the present technology allows the driver to know the height of the ground in front of or behind the vehicle in advance, and can alert the vehicle in advance to prevent vehicle damage or driver injury caused by the level difference of the ground.

As mentioned above, although the present invention has been described by means of a limited configuration and drawings, the technical idea of the present invention is not limited thereto, and it should be understood by those skilled in the art to which the present invention pertains. Various modifications and variations may be made without departing from the scope of the appended claims.

Claims (5)

Parking Assist System (PAS) sensor unit for monitoring the ground signal of the front or rear of the vehicle;
A control unit controlling a PAS sensor unit for monitoring the ground signal;
An output unit for outputting step information of the ground signal; And
A braking control unit for controlling the speed of the vehicle when the change of the ground signal close to the control point and a steering control unit for controlling the steering of the vehicle,
The control unit,
And determining that there is a step when the width of the ground signal is smaller than a predetermined distance. The method according to claim 1,
And the PAS sensor unit detects an obstacle around the vehicle and simultaneously monitors the ground signal. The method according to claim 1,
The output unit is a ground level difference determination system of a vehicle, characterized in that output via a warning message or voice guidance using a HMI (Human Machine Interface). The method according to claim 1,
The control unit is a ground level difference determination system of the vehicle, characterized in that for checking the width of the ground and the ground step in the ground signal and the size of the ground step is monitored by the ground signal. The method according to claim 1,
The PAS sensor unit is a ground level difference determination system of the vehicle, characterized in that for checking whether the position where the step is generated is the front of the driving vehicle, the left of the driving vehicle or the right of the driving vehicle.

Images