KR102365271B1 - Smart crusie control system and information display method thereof - Google Patents

Abstract

Disclosed are a smart cruise control system and a method for displaying information thereof. A smart cruise control system according to an aspect of the present invention provides a target vehicle selection unit that selects a target vehicle to be followed by the own vehicle using input sensor data, and a collision warning between a neighboring vehicle and the own vehicle except for the target vehicle It determines the driving situation between surrounding vehicles and the own vehicle through the driving situation index in which the risk between the surrounding vehicle and the own vehicle is quantified by considering the index, the reciprocal of the time required until collision, and the entry index of the surrounding vehicles on the driving route. It includes a driving condition determination unit.

Description

Smart cruise control system and its information display method {SMART CRUSIE CONTROL SYSTEM AND INFORMATION DISPLAY METHOD THEREOF}

The present invention relates to a smart cruise control system and a method for displaying information thereof, and more particularly, to a smart cruise control system for determining a degree of risk between an own vehicle and a surrounding vehicle, and changing the layout of displayed information according to the determined level of risk; It relates to a method of displaying information thereof.

The smart cruise control system selects a target vehicle to be followed from among multiple vehicles in front, and outputs information about the selected target vehicle on the cluster screen. Since the driver understands the operation status of the smart cruise control system through the cluster output screen, the cluster output screen is an important interface for the driver to monitor the system status.

In the conventional smart cruise control system, information on the existence of a selected target vehicle on the cluster screen, information on the set speed of the own vehicle set by the driver, and information on the distance between vehicles to be maintained with the vehicle in front are displayed in stages. indicate

Through this, the driver can grasp the operating state of the smart cruise control system, but since only one target vehicle is selected from among several vehicles and only information about the relationship with the selected vehicle is provided, Information about the relationship has a problem that the driver is not aware of.

For example, referring to FIG. 1 for explaining the problem of the smart cruise system according to the prior art, situation (a) and situation (b) are different driving situations due to surrounding vehicles, but the same information is displayed on the output screen of the cluster. It can be seen that is displayed.

That is, the smart cruise system according to the prior art does not provide an interface for displaying information on a relationship with a surrounding vehicle.

As such, since the driver cannot grasp the relationship with the surrounding vehicles determined by the system on the existing cluster, the understanding of the system may be reduced.

In addition, in situations in which a risk with neighboring vehicles may occur (eg, a driving situation with a small distance from the neighboring vehicle, a driving situation with a very high relative speed with respect to the surrounding vehicle, etc.), the driver cannot know the judgment state of the system. Because of this, there is a problem that can increase the anxiety and feel rejection of the system.

An object of the present invention is to provide a smart cruise control system that determines the degree of risk between a host vehicle and a surrounding vehicle and changes the layout of information displayed according to the determined level of risk, and an information display method thereof.

In order to achieve the above object, the smart cruise control system according to the first aspect of the present invention includes a target vehicle selection unit that selects a target vehicle to be followed by the own vehicle using input sensor data, and the surrounding area except for the target vehicle. The collision warning index between the vehicle and the own vehicle, the reciprocal of the time required until the collision, and the entry index of the surrounding vehicles on the driving route are all taken into account through the driving situation index in which the degree of risk between the surrounding vehicle and the own vehicle is quantified through the driving situation index. and a driving condition determination unit for determining a driving condition between vehicles.

In an embodiment of the present invention, the driving situation determination unit determines the driving situation index by considering the entry index of the surrounding vehicle first, and when the driving situation index is not determined through the entry index of the surrounding vehicle, the collision warning index Alternatively, the driving situation index may be determined by further considering the reciprocal of the time required until the collision between the surrounding vehicle and the host vehicle.

In one embodiment of the present invention, the driving condition determination unit compares the entry index of the surrounding vehicle with a preset first threshold value, and if the comparison result is less than or equal to the first threshold value, sets the driving condition index to the own vehicle of the surrounding vehicle It can be determined as 0, indicating no effect at all.

In an embodiment of the present invention, when the driving condition determination unit is greater than a first threshold value as a result of the comparison, the collision warning coefficient between the surrounding vehicle and the host vehicle is compared with a preset second threshold value, and the comparison result is first When the value is less than 2, the driving condition index may be determined as 2 indicating that the surrounding vehicle may enter the driving path of the own vehicle and there is a risk of collision.

In an embodiment of the present invention, when the driving condition determination unit is greater than a first threshold value as a result of the comparison, the collision warning coefficient between the surrounding vehicle and the host vehicle is compared with a preset second threshold value, and the comparison result is first When the threshold value is 2 or more, the driving condition index may be determined to be 1 indicating that the surrounding vehicle may enter the driving path of the own vehicle but there is no risk of collision.

In an embodiment of the present invention, when the driving condition determination unit is greater than a first threshold value as a result of the comparison, the reciprocal number of the time required until a collision between the surrounding vehicle and the host vehicle is compared with a preset third threshold value, and the When the comparison result is greater than the third threshold value, the driving situation index may be determined as 2 indicating that the surrounding vehicle may enter the driving path of the own vehicle and there is a risk of collision.

In an embodiment of the present invention, when the driving condition determination unit is greater than a first threshold value as a result of the comparison, the reciprocal number of the time required until a collision between the surrounding vehicle and the host vehicle is compared with a preset third threshold value, and the When the comparison result is less than or equal to the third threshold, the driving situation index may be determined to be 1 indicating that the surrounding vehicle may enter the driving path of the own vehicle but there is no risk of collision.

In an embodiment of the present invention, the driving situation determination unit calculates a driving situation index for all surrounding vehicles except for the target vehicle, and uses the driving situation index having a maximum value among the calculated driving situation indexes as a representative driving situation index. can be selected

An embodiment of the present invention may further include a display control unit for controlling display of information about a driving situation between the surrounding vehicles and the host vehicle.

In an embodiment of the present invention, the display control unit changes a layout of a display unit for displaying information regarding driving conditions between the surrounding vehicles and the host vehicle, wherein the layout of the display unit displays whether the target vehicle exists a first display area, a second display area displaying an inter-vehicle distance between the target vehicle and the host vehicle, a third display area displaying a set speed of the host vehicle set by a user, Accordingly, a fourth display area for displaying information on driving conditions between the surrounding vehicles and the host vehicle in a variable color may be included.

In addition, the information display method of the smart cruise control system according to the second aspect of the present invention comprises the steps of (a) selecting a target vehicle to be followed by the own vehicle using input sensor data; and (b) driving in which the degree of risk between the surrounding vehicle and the host vehicle is quantified in consideration of the collision warning index between the surrounding vehicle and the own vehicle except for the target vehicle, the reciprocal of the required time until the collision, and the entry index of the surrounding vehicle on the driving route and determining a driving situation between surrounding vehicles and the host vehicle through the situation index.

The details of other embodiments are included in the detailed description and drawings.

The smart cruise system informs the driver of the current status of the system through the cluster device. The existing cluster device outputs only the preceding vehicle traveling in the same lane as the host vehicle on the screen, but in the present invention, information about the preceding vehicle as well as surrounding vehicles other than the preceding vehicle is also output.

Accordingly, the driver can better understand the operation of the system and can understand the possibility of danger with the surrounding vehicles in front, thereby reducing anxiety about the system.

1 is a view for explaining a problem of a smart cruise system according to the prior art.
2 is a block diagram showing the configuration of a smart cruise control system according to an embodiment of the present invention.
3 is a flowchart illustrating a process of determining a surrounding situation in a smart cruise control system according to an embodiment of the present invention.
4 is a diagram illustrating an example of information displayed on a display unit according to an embodiment of the present invention;
5A to 5C are diagrams illustrating an example in which information displayed on a display unit is changed according to an embodiment of the present invention;

Advantages and features of the present invention, and a method for achieving them will become apparent with reference to the embodiments described below in detail in conjunction with the accompanying drawings. However, the present invention is not limited to the embodiments disclosed below, but will be implemented in a variety of different forms, and only these embodiments allow the disclosure of the present invention to be complete, and those of ordinary skill in the art to which the present invention pertains. It is provided to fully inform the person of the scope of the invention, and the present invention is defined by the description of the claims. On the other hand, the terms used herein are for the purpose of describing the embodiments and are not intended to limit the present invention. In this specification, the singular also includes the plural unless specifically stated otherwise in the phrase. As used herein, "comprises" and/or "comprising" refers to the presence of one or more other components, steps, operations and/or elements mentioned. or addition is not excluded.

Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings.

2 is a block diagram illustrating the configuration of a smart cruise control system according to an embodiment of the present invention.

Referring to FIG. 2 , the smart cruise control system according to the embodiment of the present invention includes an operation switch 11 , a vehicle sensor 12 , a radar sensor 13 , a target vehicle selection unit 21 , and a driving situation determination unit 23 . ), and a display control unit 25 .

The operation switch 11 provides an operation interface for turning on/off the operation of the smart cruise control system or setting the driving speed of the own vehicle when the operation of the smart cruise control system is turned on. The driver turns on/off the operation of the smart cruise control system through the operation switch 11 or sets the operating speed of the own vehicle when the smart cruise control system operates.

When the operation of the smart cruise control system is turned on/off through the operation switch 11 or the operating speed of the own vehicle is set, the corresponding information is transmitted to the display control unit 25 and displayed on a display unit such as a cluster device. A detailed description thereof will be provided later.

The target vehicle selection unit 21 receives a sensor signal (eg, speed, acceleration, etc.) of the own vehicle from the vehicle sensor 12 to estimate the radius of curvature of the road, and the radar sensor 13 selects a vehicle running in the vicinity. Receive the detected signal.

The target vehicle selection unit 21 determines the driving area of the own vehicle from the estimated radius of curvature of the road, and confirms whether the surrounding vehicle detected by the radar sensor 13 is located within the driving area of the own vehicle to be followed Select the target vehicle.

The driving situation determination unit 23 determines the driving situation between the own vehicle and surrounding vehicles except for the target vehicle selected by the target vehicle selection unit 21 among vehicles running in the vicinity detected by the radar sensor 13 . do.

The driving situation between the own vehicle and surrounding vehicles relates to the risk of collision, etc., which can be quantitatively calculated through the following three indices (indices). For example, the driving condition determination unit 23 may determine a collision warning index between the j-th surrounding vehicle and the host vehicle, the reciprocal of the time required until a collision between the j-th surrounding vehicle and the host vehicle, and between the j-th surrounding vehicle and the host vehicle. The degree of risk between the j-th surrounding vehicle and the host vehicle is determined using at least one of the entry indices of the j-th surrounding vehicle on the driving route.

Hereinafter, with reference to FIG. 3 , a process of quantitatively estimating the driving situation by the driving situation determination unit 23 will be described. 3 is a flowchart illustrating a process of determining a surrounding situation in a smart cruise control system according to an embodiment of the present invention.

First, the driving condition determination unit 23 calculates an in-path probability (Pin-path, j) for the j-th surrounding vehicle (S11).

)는 상기 j번째 주변 차량과 상기 자차량 간의 횡방향 상대거리(Relative Lateral Position)와 횡방향 상대속도(Relative Lateral Velocity) 간의 퍼지 룰(Fuzzy-rule)을 이용하여 0과 1 사이의 정량화 지수로 연산된다. The entry index of the j-th surrounding vehicle (

) is a quantification index between 0 and 1 using a fuzzy-rule between the j-th peripheral vehicle and the host vehicle in the lateral direction (Relative Lateral Position) and the lateral relative velocity (Relative Lateral Velocity) is calculated

)를 아래 수학식 1을 이용하여 연산한다.And, the driving condition determination unit 23, the collision warning index between the j-th surrounding vehicle and the host vehicle (

) is calculated using Equation 1 below.

[Equation 1]

는 자차량과 j번째 차량 간의 상대거리,

는 자차량과 j번째 차량 간의 충돌위험거리,

는 자차량과 j번째 차량 간의 제동거리,

는 노면 마찰계수,

는 자차량의 속도,

은 자차량과 j번째 차량 간의 상대속도,

는 시스템 지연시간,

는 운전자 반응시간,

는 최대감가속도를 의미한다.here,

is the relative distance between the own vehicle and the j-th vehicle,

is the collision risk distance between the own vehicle and the j-th vehicle,

is the braking distance between the own vehicle and the j-th vehicle,

is the road friction coefficient,

is the speed of the own vehicle,

is the relative speed between the own vehicle and the j-th vehicle,

is the system latency,

is the driver reaction time,

is the maximum deceleration and acceleration.

)를 아래 수학식 2를 이용하여 연산한다.And the driving condition determination unit 23, the reciprocal of the time required until the collision between the j-th surrounding vehicle and the host vehicle (

) is calculated using Equation 2 below.

[Equation 2]

는 자차량과 j번째 차량 간의 상대거리,

은 자차량과 j번째 차량 간의 상대속도를 의미한다.here,

is the relative distance between the own vehicle and the j-th vehicle,

denotes the relative speed between the host vehicle and the j-th vehicle.

Preferably, the above-mentioned three indexes are calculated for all the surrounding vehicles detected by the radar sensor 13, and the surrounding situation information such as the degree of risk for each surrounding vehicle is quantified through the following process by the three indexes ( Hereinafter, the quantified surrounding situation information is referred to as a driving situation index).

For example, the driving situation index is expressed as 0, 1, and 2, and it means that the risk to the own vehicle increases as the driving situation index increases.

1) Driving condition index = 0 (Normal Driving)

The vehicle driving in front has no effect on the own vehicle at all

2) Driving condition index = 1 (Smooth Transition)

The vehicle in front can enter the driving path of the own vehicle, but there is no risk of collision with the own vehicle.

3) Driving condition index = 2 (Safety Transition)

The vehicle in front can enter the driving path of the own vehicle, and there is a risk of collision with the own vehicle.

In order to calculate the driving situation index as described above, the driving situation determination unit 23 compares the in-path probability (Pin-path,j) for the j-th surrounding vehicle with a preset first threshold value (PTH). do (S20).

As a result of the comparison, if the entry index (Pin-path,j) is greater than the first threshold value (PTH), the flow advances to the next step (S30) for calculating the driving situation index, otherwise, the driving situation index (d = 0) ) is calculated as

In step S30, the driving condition determination unit 23 compares the collision warning index () between the j-th surrounding vehicle and the host vehicle with a preset second threshold value (x _TH ), and together with the j-th surrounding vehicle and the The reciprocal of the time required until the collision between the host vehicles ( ) is compared with a preset third threshold value iT _TH ( S30 ).

As a result of the comparison, when the collision warning index ( ) is less than the second threshold value (x _TH ), or the reciprocal number of the collision required time ( ) is greater than the preset third threshold value (iT _TH ), driving The situation index is calculated as (d=2) (S41). Otherwise, the driving condition index is calculated as (d=1) (S42).

Through the above-described process, the driving situation index for the j-th surrounding vehicle is quantified as any one of 0, 1, and 2 values, and the driving situation index for all surrounding vehicles detected by the radar sensor 13 is calculated. do.

Then, the driving situation determination unit 23 calculates a representative driving situation index for all surrounding vehicles detected by the radar sensor 13 (S50). It is desirable that the representative driving situation index be calculated as the driving situation index having the maximum value among all driving situation indices.

The display control unit 25 receives the information signal input through the operation switch 11 , the information signal collected by the vehicle sensor 12 , and the signal output from the target vehicle selection unit 21 and the driving condition determination unit 23 . and displays the received information on the display unit 30 such as a cluster depending on the situation.

4 illustrates an example of information displayed on a display unit according to an embodiment of the present invention. Referring to FIG. 4 , the first display area (a) of the display unit 30 displays information regarding the existence of a target vehicle, and the second display area (b) displays the inter-vehicle distance between the target vehicle and the host vehicle do. In addition, the set speed of the host vehicle set by the user is displayed in the third display area c. In particular, there is a feature of the present invention in that information on driving conditions between surrounding vehicles and the host vehicle is displayed in the fourth display area d.

At this time, the color of the fourth display area d is changed according to information about the driving situation between the surrounding vehicles and the host vehicle, so that the driver can visually recognize the information about the driving situation.

For example, as shown in FIG. 5A , when the representative driving situation index is calculated as d=0 by the driving situation determination unit 23, the color of the fourth display area d is displayed in black.

If, in the driving situation determination unit 23, the representative driving situation index is calculated as d=1, the color of the fourth display area d is displayed in yellow, and if the representative driving situation index is calculated as d=2 , the color of the fourth display area d is displayed in red.

As described above, by variably changing the color displayed on the fourth display area d according to the driving situation information, the driver can intuitively recognize the surrounding situation of the own vehicle.

The above description is merely illustrative of the technical idea of the present invention, and various modifications and variations are possible by those skilled in the art to which the present invention pertains without departing from the essential characteristics of the present invention. Therefore, the embodiments expressed in the present invention are not intended to limit the technical spirit of the present invention, but to illustrate, and the scope of the present invention is not limited by these embodiments. The protection scope of the present invention should be construed by the following claims, and all technical ideas that are equivalent to or within the equivalent range should be construed as being included in the scope of the present invention.

Claims (11)

a target vehicle selection unit that selects a target vehicle to be followed by the own vehicle using the input sensor data; and
Through the driving situation index in which the degree of risk between surrounding vehicles and own vehicle is quantified by considering all of the collision warning index between the surrounding vehicle and own vehicle except for the target vehicle, the reciprocal of the time required until collision, and the entry index of the surrounding vehicle on the driving route. and a driving situation determination unit for determining a driving situation between surrounding vehicles and the host vehicle,
The driving condition determination unit compares the entry index of the surrounding vehicle with a preset first threshold value, and if the comparison result is less than or equal to the first threshold value, 0 indicating that the surrounding vehicle does not affect the host vehicle at all which is determined by
Smart cruise control system.
According to claim 1,
The driving situation determination unit determines the driving situation index by considering the entry index of the surrounding vehicle first, and when the driving situation index is not determined through the entry index of the surrounding vehicle, the collision warning index or the collision between the surrounding vehicle and the own vehicle To determine the driving condition index by further considering the reciprocal of the required time to
Smart cruise control system.
delete According to claim 1,
When the comparison result is greater than the first threshold value, the driving condition determination unit compares the collision warning number between the surrounding vehicle and the host vehicle with a preset second threshold value, and when the comparison result is smaller than the second threshold value, the driving Determining the situation index as 2 indicating that the surrounding vehicle can enter the driving path of the own vehicle and there is a risk of collision,
Smart cruise control system.
According to claim 1,
When the comparison result is greater than the first threshold value, the driving condition determination unit compares the collision warning number between the surrounding vehicle and the host vehicle with a preset second threshold value, and when the comparison result is equal to or greater than the second threshold value, the driving condition Determining the index as 1 indicating that the surrounding vehicle can enter the driving path of the own vehicle, but there is no risk of collision,
Smart cruise control system.
According to claim 1,
When the driving condition determination unit is greater than the first threshold value as a result of the comparison, the reciprocal number of the time required until a collision between the neighboring vehicle and the host vehicle is compared with a preset third threshold value, and is greater than the third threshold value as a result of the comparison In this case, the driving situation index is determined to be 2 indicating that the surrounding vehicle can enter the driving path of the own vehicle and there is a risk of collision,
Smart cruise control system.
According to claim 1,
When the driving condition determination unit is greater than the first threshold value as a result of the comparison, the reciprocal of the time required until a collision between the surrounding vehicle and the host vehicle is compared with a preset third threshold value, and when the comparison result is less than or equal to the third threshold value Determining the driving situation index as 1 indicating that the surrounding vehicle can enter the driving path of the own vehicle but there is no risk of collision,
Smart cruise control system.
According to claim 1,
The driving situation determination unit calculates a driving situation index for all surrounding vehicles except for the target vehicle, and selects a driving situation index having a maximum value among the calculated driving situation indexes as a representative driving situation index,
Smart cruise control system.
According to claim 1,
Further comprising a display control unit for controlling the display of information on the driving situation between the surrounding vehicles and the host vehicle,
Smart cruise control system.
10. The method of claim 9,
The display control unit changes the layout of the display unit for displaying information on driving conditions between the surrounding vehicles and the host vehicle,
The layout of the display unit is
a first display area for displaying the presence or absence of the target vehicle;
a second display area for displaying an inter-vehicle distance between the target vehicle and the host vehicle;
A third display area for displaying the set speed of the own vehicle set by the user;
a fourth display area for displaying information on driving conditions between the surrounding vehicles and the host vehicle in a variable color according to the control of the display control unit;
Smart cruise control system.
(a) selecting a target vehicle to be followed by the own vehicle using the input sensor data; and
(b) A driving situation in which the degree of risk between the surrounding vehicle and the host vehicle is quantified by considering all the collision warning index between the surrounding vehicle and the own vehicle except the target vehicle, the reciprocal of the time required until collision, and the entry index of the surrounding vehicle on the driving route Comprising the step of determining the driving situation between the surrounding vehicles and the host vehicle through the index,
The step of determining the driving condition is,
Comparing the entry index of the surrounding vehicle with a preset first threshold value, and if the comparison result is less than or equal to the first threshold value, determining the driving situation index as 0 indicating that the surrounding vehicle does not affect the own vehicle at all ,
How to display information in smart cruise control system.

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