KR102258577B1 - Vehicle control apparatus and vehicle control method for based on condition of driver - Google Patents

Abstract

The present invention relates to a first sensing unit that detects whether ACC is in operation, a distance from a preceding vehicle, and steering information according to the driver's vehicle control, a calculation unit that calculates a driving state amount based on the steering information, and a preceding vehicle detected that ACC is in operation. If the distance to the vehicle is smaller than the preset ACC distance and the driving state amount is greater than or equal to the preset critical state amount, the first ACC control unit controlling the own vehicle at the speed according to the preset first mode and the first ACC control unit that controls the speed according to the preset first mode When is less than the ACC distance and the driving state amount is less than the critical state amount, the driving state-based vehicle including a second ACC controller for controlling the own vehicle to a speed according to the second mode having a change amount greater than the speed change amount according to the first mode It is about the control device.

Description

Driving state-based vehicle control device and vehicle control method {VEHICLE CONTROL APPARATUS AND VEHICLE CONTROL METHOD FOR BASED ON CONDITION OF DRIVER}

The present embodiments relate to a technology for controlling a vehicle based on a driver's condition.

Recognition and judgment of the vehicle driving environment are essential technologies for stable operation in highly automated vehicles such as advanced driver assistance systems (ADAS) and autonomous vehicles.

In particular, it assists the safe driving of the vehicle based on recognition and judgment information such as the adaptive cruise control system (hereinafter referred to as ACC) and the emergency stop system (hereinafter referred to as AEB). .

However, according to the current level of technology, these driver assistance systems only assist the driver of a vehicle in a state of exhaustion or thinking about driving safely.

Accordingly, when the driver of the vehicle is in a tired state or in a state of thinking otherwise, the vehicle may be exposed to danger.

Against this background, an object of the present embodiments is to provide a vehicle control technology capable of inducing the vehicle driver to get out of the tired state or thinking state by intentionally giving a shock to the vehicle driver who is in a tired state or thinking state. will do

In one aspect, the present embodiment includes a first sensing unit that detects whether ACC is in operation, a distance from a preceding vehicle, and steering information according to the driver's vehicle control, a calculator that calculates a driving state amount based on the steering information, and a calculator that is in operation of ACC. If the distance to the preceding vehicle is smaller than the preset ACC distance and the driving state amount is greater than or equal to the preset threshold state amount, the first ACC control unit controlling the own vehicle at the speed according to the preset first mode and ACC are detected as being operated, a second ACC control unit for controlling the host vehicle to a speed according to the second mode having a change amount greater than the speed change amount according to the first mode when the distance to the preceding vehicle is less than the ACC distance and the driving state amount is less than the threshold state amount A driving state-based vehicle control system is provided.

In another aspect, the present embodiment provides a first detection step of detecting whether ACC is operated, a distance from a preceding vehicle, and steering information according to the driver's vehicle control, a calculation step of calculating a driving state amount based on the steering information, and an ACC operation If it is detected that the vehicle is being driven and the distance to the preceding vehicle is less than the preset ACC distance and the driving state amount is greater than or equal to the preset threshold state amount, the first ACC control step of controlling the own vehicle at the speed according to the preset first mode and ACC operation If detected and the distance to the preceding vehicle is less than the ACC distance and the driving state amount is less than the critical state amount, the second ACC control for controlling the host vehicle to the speed according to the second mode having a change amount greater than the change amount of the speed according to the first mode It provides a driving state-based vehicle control method comprising the steps.

As described above, according to the present embodiments, a vehicle control technology capable of inducing the vehicle driver to get out of the fatigued state or other thinking state by intentionally giving a shock to the vehicle driver who is in a tired state or thinking differently. can provide

1 is a diagram illustrating a configuration of a driving state-based vehicle control device according to a first embodiment.
2 is a diagram illustrating an example for explaining the operation of the first ACC control unit according to the first embodiment.
3 is a diagram illustrating another example for explaining the operation of the first ACC control unit according to the first embodiment.
4 is a diagram illustrating an example for explaining the operation of the second ACC control unit according to the first embodiment.
5 is a diagram illustrating another example for explaining the operation of the second ACC control unit according to the first embodiment.
6 is a diagram illustrating a configuration of a driving state-based vehicle control device according to a second embodiment.
7 is a diagram illustrating an example for explaining the operations of the first comparator and the first AEB controller according to the second embodiment.
8 is a diagram illustrating an example for explaining the operations of the second comparator and the second AEB controller according to the second embodiment.
9 is a diagram illustrating a flow of a driving state-based vehicle control method according to the first embodiment.
10 is a diagram illustrating an example for explaining a driving state-based vehicle control method according to the first embodiment.
11 is a diagram illustrating a flow of a method for controlling a vehicle based on a driving state according to the second embodiment.
12 is a diagram illustrating an example for explaining a driving state-based vehicle control method according to the second embodiment.

Hereinafter, some embodiments will be described in detail with reference to exemplary drawings. In adding reference numerals to elements of each drawing, the same elements may have the same numerals as possible even if they are indicated on different drawings. In addition, in describing the present embodiment, when it is determined that a detailed description of a related known configuration or function may obscure the gist of the present technical idea, the detailed description may be omitted.

Also, in describing the components of the present embodiment, terms such as first, second, A, B, (a), (b), etc. may be used. These terms are only for distinguishing the component from other components, and the nature, order, order, or number of the component is not limited by the term. When a component is described as being "connected", "coupled" or "connected" to another component, the component may be directly connected or connected to that other component, but other components between each component It should be understood that "interposed" or that each component may be "connected", "coupled" or "connected" through other components.

1 is a diagram illustrating a configuration of a driving state-based vehicle control device according to a first embodiment.

Referring to FIG. 1 , the driving state-based vehicle control apparatus 100 according to the first embodiment includes a first sensing unit that detects whether the ACC of the own vehicle operates, the distance from the preceding vehicle, and steering information according to the driver's vehicle control. (110); and a calculation unit 120 for calculating a driving state quantity based on the steering information; and when it is detected that ACC is in operation and the distance to the preceding vehicle is less than the preset ACC distance and the driving state quantity is greater than or equal to the preset critical state quantity, a first ACC control unit 130 for controlling the host vehicle at a speed according to a preset first mode; and if it is detected that ACC is in operation and the distance to the preceding vehicle is less than the ACC distance and the driving state amount is less than the critical state amount, control the host vehicle at the speed according to the second mode having a change amount greater than the change amount of the speed according to the first mode and a second ACC control unit 140 to

The first sensing unit 110 of the driving state-based vehicle control device 100 according to the first embodiment may determine whether an ACC (Adaptive Cruise Control) operation is instructed, whether a device related to the ACC operation is operated, whether the processor executes an ACC code, etc. Based on this, it is possible to detect whether ACC is activated.

Also, the first detection unit 110 may detect a distance to the preceding vehicle based on information output by a sensor capable of detecting a distance (eg, a camera sensor, an ultrasonic sensor, a radar sensor, etc.). Alternatively, the first detection unit 110 may detect a distance to the preceding vehicle based on information received from the preceding vehicle or infrastructure.

In addition, the first sensing unit 110 may detect steering information according to the driver's vehicle control.

Specifically, the first detection unit 110 is a sensor (steering wheel operation amount detection sensor, accelerator pedal operation amount detection sensor, brake pedal operation amount detection sensor, direction indicator light operation detection sensor, etc.) that can be operated according to the driver's vehicle control. Control information can be detected.

The calculator 120 of the driving state-based vehicle control apparatus 100 according to the first embodiment may calculate the driving state quantity based on the received steering information.

For example, the calculator 120 may calculate the driving state amount based on the amount allocated according to each or a combination of two or more of the steering information according to the sensed vehicle operation.

As a specific example, the calculator 120 may calculate a low driving state amount when the steering wheel manipulation amount corresponding to the lane change operation of the host vehicle is detected but the direction indicator lamp manipulation is not detected.

Alternatively, the calculator 120 may calculate a low driving state amount when the accelerator pedal operation amount is large despite the large steering wheel operation amount.

As described above, the calculator 120 may calculate the driving state quantity based on the steering information, but is not limited thereto, and may also calculate the driving concentration or driving fatigue for the driver.

The driving concentration or driving fatigue may be calculated based on an attention assist method, which is a method currently applied to a vehicle.

The first ACC control unit 130 of the driving state-based vehicle control device 100 according to the first embodiment detects that ACC is in operation, the distance to the preceding vehicle is smaller than the preset ACC distance, and the driving state amount is preset. If it is equal to or more than the threshold state amount, the host vehicle may be controlled at a speed according to the preset first mode.

The ACC distance is a distance used to determine an operation in an adaptive cruise control (ACC) method generally applied to autonomous driving technology of a vehicle, and may be set based on the braking performance of the vehicle and the feeling provided to the driver. have.

The critical state quantity is a driving state quantity for distinguishing between a driver in a normal state (a state of driving only) and a driver in an unusual state (a state of driving while tired or driving while thinking about something else). may mean , and if it is less than the critical state quantity, it may mean an unusual driver.

The speed according to the first mode may be a speed capable of providing comfort to the driver as well as preventing a collision with a preceding vehicle.

An operation of the first ACC control unit 130 will be described in detail with reference to FIGS. 2 and 3 .

2 and 3 are diagrams illustrating one example and another example for explaining the operation of the first ACC control unit according to the first embodiment.

2 and 3 , the first ACC control unit 130 detects that the own vehicle 210 is in ACC operation, and the distance from the preceding vehicle 220 located in the preset detection area 240 is If it is smaller than the preset ACC distance and the driving state amount is equal to or greater than the preset threshold state amount, the host vehicle 210 may be controlled at the speed according to the first mode.

Accordingly, the speed according to the time of the host vehicle 210 may be the same as in FIG. 3 .

More specifically, according to the ACC operation, the host vehicle 210 may _{travel at the V ACC} speed at a _{time before T 0 .}

Thereafter, _{it is detected that the ACC is in operation at the time T 0} , and it is determined that the distance to the preceding vehicle is smaller than the preset ACC distance and the driving state amount is greater than or equal to the preset critical state amount, so that the host vehicle 210 controls the first ACC controller 130 ) can be controlled to the speed according to the first mode having a gentle speed change amount.

The second ACC control unit 140 of the driving state-based vehicle control device 100 according to the first embodiment detects that ACC is in operation, and when the distance to the preceding vehicle is smaller than the ACC distance and the driving state amount is less than the critical state amount , the host vehicle may be controlled at a speed according to the second mode having a larger change amount than the change amount of the speed according to the first mode.

The speed according to the second mode may be a speed capable of providing an intentional impact to the driver as well as preventing a collision with a preceding vehicle.

An operation of the second ACC control unit 140 will be described in detail with reference to FIGS. 4 and 5 .

4 and 5 are diagrams illustrating one example and another example for explaining the operation of the second ACC control unit according to the first embodiment.

4 and 5 , the second ACC control unit 140 detects that the host vehicle 410 is operating and sets the distance from the preceding vehicle 420 and 430 located in the detection area 440 in advance. If it is smaller than the set ACC distance and the driving state amount is less than the preset critical state amount, the host vehicle 410 may be controlled at the speed according to the second mode.

The speed according to the second mode may have a larger change amount than the change amount of the speed according to the first mode.

Accordingly, the speed according to the time of the host vehicle 410 may be the same as in FIG. 5 .

More specifically, according to the ACC operation, the host vehicle 410 may _{travel at the V ACC} speed at a _{time before T 0 .}

Thereafter, _{at the time T 0} , it is detected that ACC is in operation, and it is determined that the distance to the preceding vehicle is less than the preset ACC distance and the driving state amount is smaller than the preset threshold state amount, so that the host vehicle 410 controls the second ACC controller 140 ) can be controlled by the speed according to the second mode having a steep speed change amount.

The driving state-based vehicle control apparatus 100 according to the first embodiment described with reference to FIGS. 1 to 5 may intentionally provide a shock to the driver who is in an unusual state (fatigue or other thinking state).

Accordingly, there is an effect of inducing the driver, who is in an unusual state, to become a general state.

On the other hand, as shown in FIG. 4 , when the driving state amount is smaller than a preset threshold state amount, the first detection unit 110 expands the left and right detection area, and the next vehicle driving in the next lane according to the extended detection area 440 . 430 may be detected as a preceding vehicle. Accordingly, the first sensing unit 110 may detect a distance to the next vehicle 430 .

This may be so that the first sensing unit 110 detects not only the lane in which the own vehicle travels, but also a part of the adjacent lane to detect a neighboring vehicle capable of moving to the own lane as a preceding vehicle.

Accordingly, it is possible to shock the driver who is in an unusual state (fatigue or other thinking state) to be careful about the vehicle moving from the next lane to the own lane. Accordingly, there is an effect of inducing the driver, who is in a non-normal state, to become a general state.

On the other hand, the second ACC control unit 140 may control the left and right brakes of the own vehicle in the same manner to reduce the speed of the own vehicle, but unlike this, the second ACC control unit 140 may control the left and right brakes of the own vehicle alternately to reduce the speed of the own vehicle. have.

Accordingly, the driving state-based vehicle control apparatus 100 according to the first embodiment provides not only a front and rear shock to the driver, but also a shock to the left and right, effectively giving attention to the driver in an unusual state (fatigue or other thinking state). can provide Accordingly, there is an effect of inducing the driver, who is in a non-normal state, to become a general state.

6 is a diagram illustrating a configuration of a driving state-based vehicle control device according to a second embodiment.

Referring to FIG. 6 , the driving state-based vehicle control apparatus 101 according to the second embodiment is not in operation of ACC, in addition to the driving state-based vehicle control apparatus according to the first embodiment described based on FIGS. 1 to 5 . A second detection unit 150 for detecting whether AEB is in operation when detected as; and when it is detected that AEB is in operation and the driving state amount is greater than or equal to the critical state amount, the distance to the preceding vehicle is set in the first AEB warning distance region and the preset AEB The first comparison unit 160 that compares the braking distance range with the preceding vehicle; controls the warning device to operate when the distance to the preceding vehicle falls within the first AEB warning distance range, and controls the warning device to operate when the distance to the preceding vehicle falls within the AEB braking distance range The first AEB control unit 170 for controlling the braking device of the host vehicle to a preset AEB value; and when it is detected that AEB is in operation and the driving state amount is less than the critical state amount, the distance from the preceding vehicle is set in advance in the second AEB warning distance region , a second comparison unit 180 that compares the preset zerg distance region and the AEB braking distance region; and when the distance from the preceding vehicle falls within the second AEB warning distance range, the warning device is controlled to operate, and when the distance from the preceding vehicle falls within the zerg distance range, the braking device is set to a zerg value having a larger change amount than the change amount of the AEB value. and a second AEB controller 190 controlling the braking device to the AEB value when the distance from the preceding vehicle corresponds to the AEB braking distance region.

The second sensing unit 150 of the driving state-based vehicle control device 101 according to the second embodiment is configured to indicate whether an Autonomous Emergency Brake (AEB) operation is instructed, whether a device related to the AEB operation is operated, whether the processor performs an AEB code, etc. Based on this, it is possible to detect whether AEB is operating.

The first comparison unit 160 of the driving state-based vehicle control device 101 according to the second embodiment detects that the AEB is in operation and, when the driving state amount is equal to or greater than the critical state amount, sets the distance to the preceding vehicle as a preset number. It can be compared with 1 AEB warning distance area and preset AEB braking distance area.

In addition, the first AEB control unit 170 of the driving state-based vehicle control device 101 according to the second embodiment controls the warning device to operate when the distance from the preceding vehicle corresponds to the first AEB warning distance region, and controls the preceding vehicle. If the distance to the vehicle corresponds to the AEB braking distance region, the braking device of the host vehicle may be controlled with a preset AEB value.

Operations of the first comparison unit 160 and the first AEB control unit 170 will be described in detail with reference to FIG. 7 .

7 is a diagram illustrating an example for explaining the operations of the first comparator and the first AEB controller according to the second embodiment.

Referring further to FIG. 7 , the first comparison unit 160 may compare the detected distance to the preceding vehicle 720 with a preset first AEB warning distance region 740 and a preset AEB braking distance region 750 . have.

The first AEB warning distance region 740 is a distance region in which a collision with the preceding vehicle 720 may not occur when the driver of the own vehicle 710 operates the brake due to the operation of the warning providing device. may be preset based on

The first AEB warning distance region 740 may be an area including smaller distances as the braking performance of the own vehicle 710 is improved, and may include smaller distances as the motor nerve of the driver of the own vehicle 710 is excellent. can be

Also, the length D2 of the first AEB warning distance region 740 may be set longer as the driver of the own vehicle 710 becomes insensitive to the warning.

The AEB braking distance region 750 is a distance region in which a collision with the preceding vehicle 720 may occur even if the driver of the own vehicle 710 operates the brake, and based on the first AEB warning distance region 740 , can be set.

Accordingly, in the situation of FIG. 7 , the first AEB control unit 170 causes the warning device included in the own vehicle 710 to operate because the distance from the preceding vehicle 720 corresponds to the first AEB warning distance 740 . can be controlled

Unlike the situation of FIG. 7 , if the preceding vehicle is located within the AEB braking distance region 750 , the first AEB control unit 170 may control the braking device of the host vehicle 710 to a preset AEB value.

The AEB value may be a value for full braking or pre-braking of the braking device.

The second comparator 180 of the driving state-based vehicle control device 101 according to the second embodiment detects that the AEB is in operation, and when the driving state amount is less than the threshold state amount, sets the distance from the preceding vehicle to a preset value. 2 It can be compared with AEB warning distance area, preset jug distance area and AEB braking distance area.

In addition, the second AEB control unit 190 of the driving state-based vehicle control device 101 according to the second embodiment controls the warning device to operate when the distance from the preceding vehicle corresponds to the second AEB warning distance region, and controls the preceding vehicle. If the distance to the vehicle falls within the zerg distance range, the braking system is controlled with a jerk value that has a larger change than the change amount of the AEB value. If the distance to the preceding vehicle falls within the AEB braking distance range, the brake system is controlled with the AEB value. can do.

Operations of the second comparison unit 180 and the second AEB control unit 190 will be described in detail with reference to FIG. 8 .

8 is a diagram illustrating an example for explaining the operations of the second comparator and the second AEB controller according to the second embodiment.

Referring further to FIG. 8 , the second comparator 180 compares the detected distance with the preceding vehicle 820 and 830 to a preset second AEB warning distance region 840 , a preset zerg distance region 850 and the It can be compared with the AEB braking distance region 860 .

The zerg distance region 850 controls the braking device of the own vehicle 810 with a zerg value to provide a shock to the driver of the own vehicle 810, so that when the driver of the own vehicle 810 operates the brake, the preceding vehicle ( 820, 830) as a distance region in which collision may not occur, and may be preset based on experimental data.

The zerg distance region 850 may be a region including small distances as the braking performance of the own vehicle 810 is improved, and may be a region including small distances as the motor nerve of the driver of the own vehicle 810 is excellent. .

The second AEB warning distance region 840 may be a distance region in which a warning is provided without providing a shock to the driver so that the driver of the own vehicle 810 is attentive.

The second AEB warning distance region 840 may be a region including smaller distances as the braking performance of the own vehicle 810 is improved, and may include smaller distances as the motor nerve of the driver of the own vehicle 810 is excellent. can be

Also, the length D2 of the second AEB warning distance region 840 may be set longer as the driver of the own vehicle 810 becomes insensitive to the warning.

The second AEB warning distance region 840 is set to have a distance of D2 as shown in FIG. 8 , but may be set to have a distance of D2-D3.

Accordingly, there is an effect that the maximum distance at which the warning device operated by the first AEB control unit 170 and the second AEB control unit 190 operates may be the same.

The AEB braking distance region 860 is a distance region in which a collision with the preceding vehicles 820 and 830 may occur even if the driver of the own vehicle 810 operates the brake, and is preset based on the zerg distance region 850 . can be

In summary, the minimum distance included in the first AEB warning distance region 740 is greater than or equal to the maximum distance included in the AEB braking distance regions 750 and 860, and the minimum distance included in the zerg distance region 850 is the AEB braking distance region ( The maximum distance included in the zerg distance region 850 may be greater than or equal to the maximum distance included in 750 and 860 , and the maximum distance included in the second AEB warning distance region 840 may be less than or equal to the minimum distance included in the second AEB warning distance region 840 .

Accordingly, in the situation of FIG. 8 , the second AEB control unit 190 determines that the distance to the preceding vehicle 820 and the distance to another preceding vehicle 830 are in the zerg distance region 850 and the AEB braking distance region 830. Because of this, the braking device of the host vehicle 710 may be controlled with the AEB value according to the priority.

The priority may be higher in a situation in which the preceding vehicle is located in the AEB braking distance region 830 , and may have a rear priority in a situation in which the preceding vehicle is located in the second AEB warning distance region 840 .

Unlike the situation of FIG. 8 , if the preceding vehicle is located only within the zerg distance region 850 , the second AEB control unit 190 controls the braking device of the own vehicle 810 to change the amount of change greater than the amount of change in the preset AEB value. It can be controlled by having a zerg value.

The zerg value may be a value for performing full braking of the braking device for a predetermined time and performing NO braking between other schedules after the predetermined time has elapsed. In addition, the zerg value may be a value for alternately operating the braking device between Full Braking and No Braking.

The driving state-based vehicle control device 101 according to the second embodiment described with reference to FIGS. 6 to 8 provides a shock to a driver who is in an unusual state (fatigue or other thoughts) in ACC operation or AEB operation. may provide attention.

Accordingly, there is an effect of inducing the driver, who is in an unusual state, to become a general state.

On the other hand, as shown in FIG. 8 , when the driving state amount is smaller than a preset threshold state amount, the first detection unit 110 expands the left and right detection areas, and according to the extended detection areas 840 , 850 and 860 , in the next lane. The driving next to the vehicle 830 may be detected as a preceding vehicle. Accordingly, the first sensing unit 110 may detect a distance to the next vehicle 430 .

This may be so that the first sensing unit 110 detects not only the lane in which the own vehicle travels, but also a part of the adjacent lane to detect a neighboring vehicle capable of moving to the own lane as a preceding vehicle.

Accordingly, it is possible to shock the driver who is in an unusual state (fatigue or other thinking state) to be careful about the vehicle moving from the next lane to the own lane. Accordingly, there is an effect of inducing the driver, who is in a non-normal state, to become a general state.

On the other hand, the second AEB control unit 190 may control the left and right brakes of the host vehicle to the same zerg value to reduce the speed of the host vehicle, but, unlike this, alternately control each of the left and right brakes of the host vehicle with the zerg value to control the It can slow down the vehicle's speed.

Accordingly, the driving state-based vehicle control device 101 according to the second embodiment provides not only forward and backward shocks to the driver, but also left and right shocks, effectively giving attention to the driver in an unusual state (fatigue or other thinking state). can provide Accordingly, there is an effect of inducing the driver, who is in a non-normal state, to become a general state.

The driving state-based vehicle control apparatus according to the second embodiment described with reference to FIGS. 6 to 8 may perform all the functions of the driving state-based vehicle control apparatus according to the first embodiment described with reference to FIGS. 1 to 5 . have.

Hereinafter, a driving state-based vehicle control method, which is an operation performed by the driving state-based vehicle control apparatus described with reference to FIGS. 1 to 8 , will be briefly described.

9 is a diagram illustrating a flow of a driving state-based vehicle control method according to the first embodiment.

Referring to FIG. 9 , in the driving state-based vehicle control method according to the first embodiment, a first sensing step (S900) of detecting whether the own vehicle operates ACC, the distance from the preceding vehicle, and steering information according to the driver's vehicle control and a calculation step (S910) of calculating the driving state quantity based on the steering information; and when it is detected that ACC is in operation and the distance to the preceding vehicle is less than the preset ACC distance and the driving state quantity is greater than or equal to the preset critical state quantity, the own vehicle a first ACC control step of controlling the speed according to a preset first mode (S920); and if it is detected that ACC is in operation and the distance to the preceding vehicle is less than the ACC distance and the driving state amount is less than the critical state amount, control the host vehicle at the speed according to the second mode having a change amount greater than the change amount of the speed according to the first mode and a second ACC control step (S930).

In the first detection step S900 of the driving state-based vehicle control method according to the first embodiment, the ACC is based on whether an ACC (Adaptive Cruise Control) operation is instructed, whether a device related to the ACC operation is operated, and whether the processor executes an ACC code. operation can be detected.

Also, in the first detection step S900, the distance to the preceding vehicle may be detected based on information output by a sensor capable of detecting a distance (eg, a camera sensor, an ultrasonic sensor, a radar sensor, etc.). Alternatively, the first detection step S900 may detect a distance to the preceding vehicle based on information received from the preceding vehicle or infrastructure.

In addition, the first detection step ( S900 ) may detect steering information according to the driver's vehicle control.

Specifically, in the first detection step (S900), the sensor (steering wheel operation amount detection sensor, accelerator pedal operation amount detection sensor, brake pedal operation amount detection sensor, direction indicator light operation detection sensor, etc.) that can be operated according to the driver's vehicle control outputs Control information can be detected.

In the calculating step S910 of the driving state-based vehicle control method according to the first embodiment, the driving state quantity may be calculated based on the received steering information.

For example, the calculating step ( S910 ) may calculate the driving state quantity based on the quota according to each or a combination of two or more of the steering information according to the sensed vehicle operation.

As a specific example, in the calculating step S910 , when the steering wheel manipulation amount corresponding to the lane change operation of the host vehicle is detected but the turn indicator lamp manipulation is not detected, the low driving state amount may be calculated.

Alternatively, in the calculating step S910 , when the amount of manipulation of the accelerator pedal is large even though the amount of manipulation of the steering wheel is large, a low amount of driving state may be calculated.

As described above, the calculating step ( S910 ) may calculate the driving state quantity based on the steering information, but is not limited thereto, and the driving concentration or driving fatigue for the driver may be calculated.

The driving concentration or driving fatigue may be calculated based on an attention assist method, which is a method currently applied to a vehicle.

In the first ACC control step S920 of the driving state-based vehicle control method according to the first embodiment, it is detected that ACC is in operation, the distance to the preceding vehicle is smaller than the preset ACC distance, and the driving state quantity is a preset threshold state quantity In this case, the host vehicle may be controlled at a speed according to the preset first mode.

The ACC distance is a distance used to determine an operation in an adaptive cruise control (ACC) method generally applied to autonomous driving technology of a vehicle, and may be set based on the braking performance of the vehicle and the feeling provided to the driver. have.

The critical state quantity is a driving state quantity for distinguishing between a driver in a normal state (a state of driving only) and a driver in an unusual state (a state of driving while tired or driving while thinking about something else). may mean , and if it is less than the critical state quantity, it may mean an unusual driver.

The speed according to the first mode may be a speed capable of providing comfort to the driver as well as preventing a collision with a preceding vehicle.

In the second ACC control step (S930) of the driving state-based vehicle control method according to the first embodiment, if it is detected that ACC is in operation, the distance to the preceding vehicle is smaller than the ACC distance, and the driving state amount is less than the critical state amount, The vehicle may be controlled at a speed according to the second mode having a larger change amount than the change amount of the speed according to the first mode.

The speed according to the second mode may be a speed capable of providing an intentional impact to the driver as well as preventing a collision with a preceding vehicle.

A driving state-based vehicle control method according to the first embodiment will be described in detail with reference to FIG. 10 .

10 is a diagram illustrating an example for explaining a driving state-based vehicle control method according to the first embodiment.

Referring to FIG. 10 , in the first detection step of the driving state-based vehicle control method according to the first embodiment, it is possible to detect whether the own vehicle operates ACC, the distance from the preceding vehicle, and steering information according to the driver's vehicle control. (S1000).

Thereafter, in the calculating step of the driving state-based vehicle control method according to the first embodiment, the driving state amount may be calculated based on the steering information ( S1010 ).

Thereafter, it is determined whether ACC is operating in the first ACC control step of the driving state-based vehicle control method according to the first embodiment (S1020). If YES, it is determined whether the distance to the preceding vehicle is smaller than a preset ACC distance (S1030) If YES, it is determined whether the driving state amount is equal to or greater than a preset threshold state amount (S1040). If YES, the host vehicle can be controlled at a speed according to the preset first mode (S1050).

On the other hand, in the second ACC control step of the driving state-based vehicle control method according to the first embodiment, it is determined whether ACC is in operation (S1020). If YES, it is determined whether the distance to the preceding vehicle is smaller than a preset ACC distance (S1030). ) If YES, it is determined whether the driving state amount is equal to or greater than a preset threshold state amount (S1040). If NO, the host vehicle can be controlled at the speed according to the preset second mode (S1060).

The driving state-based vehicle control method according to the first embodiment described above may intentionally provide a shock to the driver who is in an unusual state (fatigue or other thinking state).

Accordingly, there is an effect of inducing the driver, who is in an unusual state, to become a general state.

11 is a diagram illustrating a flow of a method for controlling a vehicle based on a driving state according to the second embodiment.

Referring to FIG. 11 , the driving state-based vehicle control device 101 according to the second embodiment assumes that the ACC is not in operation in addition to the driving state-based vehicle control method according to the first embodiment described based on FIGS. 9 and 10 . If detected, a second detection step (S1100) of detecting whether AEB is in operation; and when it is detected that AEB is in operation and the driving state amount is greater than or equal to the critical state amount, the distance to the preceding vehicle is set in the first AEB warning distance area and preset AEB braking A first comparison step (S1110) of comparing with the distance range; and if the distance to the preceding vehicle corresponds to the first AEB warning distance range, the warning device is controlled to operate, and if the distance to the preceding vehicle corresponds to the AEB braking distance range A first AEB control step (S1120) of controlling the vehicle's braking system to a preset AEB value; and when it is detected that AEB is in operation and the driving state amount is less than the critical state amount, the distance to the preceding vehicle is set in advance in the second AEB warning distance range , a second comparison step of comparing the preset zerg distance region and the AEB braking distance region (S1130); and when the distance from the preceding vehicle falls within the second AEB warning distance range, the warning device is controlled to operate, and when the distance from the preceding vehicle falls within the zerg distance range, the braking device is set to a zerg value having a larger change amount than the change amount of the AEB value. The method may further include a second AEB control step (S1140) of controlling the braking device to the AEB value when the distance to the preceding vehicle corresponds to the AEB braking distance region.

The second detection step (S1100) of the driving state-based vehicle control method according to the second embodiment is AEB based on whether Autonomous Emergency Brake (AEB) operation is instructed, whether a device related to the AEB operation is operated, whether the processor performs the AEB code, etc. operation can be detected.

In the first comparison step ( S1110 ) of the driving state-based vehicle control method according to the second embodiment, when it is detected that AEB is in operation and the driving state amount is equal to or greater than the threshold state amount, a first AEB warning with a preset distance to the preceding vehicle It can be compared with the distance range and the preset AEB braking distance range.

In addition, in the first AEB control step ( S1120 ) of the driving state-based vehicle control method according to the second embodiment, when the distance to the preceding vehicle corresponds to the first AEB warning distance region, the warning device is controlled to operate and If the distance corresponds to the AEB braking distance region, the braking device of the host vehicle may be controlled with a preset AEB value.

In the second comparison step (S1130) of the driving state-based vehicle control method according to the second embodiment, when it is detected that the AEB is in operation and the driving state amount is less than the threshold state amount, the distance to the preceding vehicle is set in advance with a second AEB warning It can be compared with the distance range, the preset zerg distance range and the AEB braking distance range.

In addition, in the second AEB control step ( S1140 ) of the driving state-based vehicle control method according to the second embodiment, when the distance to the preceding vehicle falls within the second AEB warning distance region, the warning device is controlled to operate and If the distance falls within the zerg distance range, the braking system can be controlled with a zerg value having a larger change than the change amount of the AEB value, and when the distance from the preceding vehicle falls within the AEB braking distance range, the braking device can be controlled with the AEB value.

A driving state-based vehicle control method according to the second embodiment will be described in detail with reference to FIG. 12 .

12 is a diagram illustrating an example for explaining a driving state-based vehicle control method according to the second embodiment.

12 , the driving state-based vehicle control method according to the second embodiment may perform steps S1000 to S1060, which are the driving state-based vehicle control methods according to the first embodiment.

Furthermore, if it is determined in step S1020 that the ACC is not in operation (NO), the second detection step S1100 of the driving state-based vehicle control method according to the second embodiment may detect whether the AEB is in operation ( S1200 ).

Thereafter, in the first comparison step of the driving state-based vehicle control method according to the second embodiment, it is determined whether the AEB is in operation (S1205). If YES, it is determined whether the driving state amount is greater than or equal to a preset critical state amount (S1210). If YES, the preceding vehicle It is determined whether the distance to the vehicle corresponds to the preset first AEB warning distance region (S1215). If NO, it may be determined whether the distance to the preceding vehicle corresponds to the preset AEB braking distance region (S1225).

Thereafter, in the first AEB control step of the driving state-based vehicle control method according to the second embodiment, when it is determined as YES in step S1215, the warning device is controlled to operate (S1220), and when it is determined as YES in step S1225, the braking device can be controlled as a preset AEB value (S1230).

In contrast, in the second comparison step of the driving state-based vehicle control method according to the second embodiment, it is determined whether the AEB is operating (S1205), and if YES, it is determined whether the driving state amount is equal to or greater than a preset critical state amount (S1210). It is determined whether the distance to the preceding vehicle corresponds to a preset second AEB warning distance region (S1235), and if NO, it is determined whether the distance to the preceding vehicle corresponds to a preset zerg distance region (S1245), and if NO, the distance to the preceding vehicle It may be determined whether ? corresponds to the AEB braking distance region (S1255).

Thereafter, in the second AEB control step of the driving state-based vehicle control method according to the second embodiment, when it is determined as YES in step S1235, the warning device is controlled to operate (S1240), and when it is determined as YES in step S1245, the braking device is controlled with the zerg value (S1250), and when it is determined as YES in step S1255, the braking device can be controlled with the AEB value.

The driving state-based vehicle control method according to the second embodiment described with reference to FIGS. 11 and 12 provides a shock to the driver who is in an unusual state (fatigue or other thinking state) in the ACC operation or the AEB operation to draw attention. can provide

Accordingly, there is an effect of inducing the driver, who is in an unusual state, to become a general state.

In addition, the driving state-based vehicle control method may perform all operations performed by the driving state-based vehicle control apparatus described with reference to FIGS. 1 to 8 .

The above description and the accompanying drawings are merely illustrative of the technical idea of this embodiment, and those of ordinary skill in the art to which the present invention pertains can combine the configuration within a range that does not depart from the essential characteristics of the present invention. , various modifications and variations such as separation, substitution and alteration will be possible. Accordingly, the disclosed embodiments are for explanation rather than limiting the technical idea, and the scope of the technical idea is not limited by these embodiments. The protection scope of the present embodiments should be interpreted by the claims below, and all technical ideas within the equivalent range should be interpreted as being included in the scope of the present invention.

Claims (8)

a first sensing unit that detects whether ACC is operating, a distance from a preceding vehicle, and steering information according to the driver's vehicle control;
a calculation unit for calculating a driving state quantity based on the steering information;
When it is detected that the ACC is in operation and the distance to the preceding vehicle is less than a preset ACC distance and the driving state amount is greater than or equal to a preset threshold state amount, a first mode for controlling the host vehicle at a speed having a speed change amount according to a preset first mode 1 ACC control; and
When it is detected that the ACC is in operation and the distance to the preceding vehicle is less than the ACC distance and the driving state amount is less than the threshold state amount, a second ACC for controlling the host vehicle at a speed having a speed change amount according to the second mode control unit;
Including,
The driving state-based vehicle control device has a larger change amount than the speed change amount according to the first mode in the speed change amount according to the second mode. The method of claim 1,
The first sensing unit,
If the driving state amount is smaller than a preset threshold state amount, the driving state-based vehicle control device, characterized in that the vehicle driving in the next lane is detected as the preceding vehicle by expanding a left and right sensing area. The method of claim 1,
The second ACC control unit,
A driving state-based vehicle control device, characterized in that it alternately controls each of the left and right brakes. The method of claim 1,
a second sensing unit for detecting whether AEB is in operation when it is detected that the ACC is not in operation;
a first comparison unit for comparing the distance to the preceding vehicle with a preset first AEB warning distance region and a preset AEB braking distance region when it is detected that the AEB is in operation and the driving state amount is equal to or greater than the threshold state amount;
When the distance to the preceding vehicle falls within the first AEB warning distance range, the warning device is controlled to operate, and when the distance to the preceding vehicle falls within the AEB braking distance range, the brake device of the host vehicle is set to a preset AEB value A first AEB control unit to control;
a second comparing the distance to the preceding vehicle with a preset second AEB warning distance region, a preset zerg distance region and the AEB braking distance region when it is detected that the AEB is in operation and the driving state amount is less than the threshold state amount comparison department; and
When the distance from the preceding vehicle falls within the second AEB warning distance range, the warning device is controlled to operate, and when the distance from the preceding vehicle falls within the zerg distance range, the braking device is set by an amount greater than the change amount of the AEB value a second AEB control unit controlling the braking device to the AEB value when the distance to the preceding vehicle corresponds to the AEB braking distance region;
Driving state-based vehicle control device, characterized in that it further comprises. The method of claim 4,
The second AEB control unit,
A driving state-based vehicle control device, characterized in that the left and right brakes are alternately controlled by the zerg value. The method of claim 4,
The minimum distance included in the first AEB warning distance region is greater than or equal to the maximum distance included in the AEB braking distance region, and the minimum distance included in the zerg distance region is greater than or equal to the maximum distance included in the AEB braking distance region, and the zerg distance The driving state-based vehicle control device, characterized in that the maximum distance included in the area is less than or equal to the minimum distance included in the second AEB warning distance area. a first sensing step of detecting whether ACC is activated, a distance from a preceding vehicle, and steering information according to the driver's vehicle control;
a calculation step of calculating a driving state quantity based on the steering information;
When it is detected that the ACC is in operation and the distance to the preceding vehicle is less than a preset ACC distance and the driving state amount is greater than or equal to a preset threshold state amount, a first mode for controlling the host vehicle at a speed having a speed change amount according to a preset first mode 1 ACC control stage; and
When it is detected that the ACC is in operation and the distance to the preceding vehicle is less than the ACC distance and the driving state amount is less than the threshold state amount, a second ACC for controlling the host vehicle at a speed having a speed change amount according to the second mode control step;
Including,
The driving state-based vehicle control method in which the speed change amount according to the second mode has a larger change amount than the speed change amount according to the first mode. The method of claim 7,
a second detection step of detecting whether AEB is in operation when it is detected that the ACC is not in operation;
a first comparison step of comparing the distance to the preceding vehicle with a preset first AEB warning distance region and a preset AEB braking distance region when it is detected that the AEB is in operation and the driving state amount is equal to or greater than the threshold state amount;
When the distance to the preceding vehicle falls within the first AEB warning distance range, the warning device is controlled to operate, and when the distance to the preceding vehicle falls within the AEB braking distance range, the brake device of the host vehicle is set to a preset AEB value A first AEB control step of controlling;
a second comparing the distance to the preceding vehicle with a preset second AEB warning distance region, a preset zerg distance region and the AEB braking distance region when it is detected that the AEB is in operation and the driving state amount is less than the threshold state amount comparison step; and
When the distance from the preceding vehicle falls within the second AEB warning distance range, the warning device is controlled to operate, and when the distance from the preceding vehicle falls within the zerg distance range, the braking device is set by an amount greater than the change amount of the AEB value a second AEB control step of controlling the braking device to the AEB value when the distance to the preceding vehicle corresponds to the AEB braking distance range;
Driving state-based vehicle control method, characterized in that it further comprises.

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