KR102386317B9 - 차량 및 그 충돌 회피 방법 - Google Patents

차량 및 그 충돌 회피 방법

Info

Publication number
KR102386317B9
KR102386317B9 KR1020150114071A KR20150114071A KR102386317B9 KR 102386317 B9 KR102386317 B9 KR 102386317B9 KR 1020150114071 A KR1020150114071 A KR 1020150114071A KR 20150114071 A KR20150114071 A KR 20150114071A KR 102386317 B9 KR102386317 B9 KR 102386317B9
Authority
KR
South Korea
Prior art keywords
vehicle
same
collision avoidance
avoidance method
collision
Prior art date
Application number
KR1020150114071A
Other languages
English (en)
Other versions
KR102386317B1 (ko
KR20170019794A (ko
Inventor
홍태욱
Original Assignee
현대모비스 주식회사
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 현대모비스 주식회사 filed Critical 현대모비스 주식회사
Priority to KR1020150114071A priority Critical patent/KR102386317B1/ko
Publication of KR20170019794A publication Critical patent/KR20170019794A/ko
Priority to KR1020220042508A priority patent/KR102543525B1/ko
Application granted granted Critical
Publication of KR102386317B1 publication Critical patent/KR102386317B1/ko
Publication of KR102386317B9 publication Critical patent/KR102386317B9/ko

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W10/00—Conjoint control of vehicle sub-units of different type or different function
    • B60W10/20—Conjoint control of vehicle sub-units of different type or different function including control of steering systems
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/18—Propelling the vehicle
    • B60W30/18009—Propelling the vehicle related to particular drive situations
    • B60W30/18163—Lane change; Overtaking manoeuvres
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
    • B60W40/06—Road conditions
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/10—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to vehicle motion
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/10—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to vehicle motion
    • B60W40/114—Yaw movement
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V20/00—Scenes; Scene-specific elements
    • G06V20/50—Context or environment of the image
    • G06V20/56—Context or environment of the image exterior to a vehicle by using sensors mounted on the vehicle
    • G06V20/588—Recognition of the road, e.g. of lane markings; Recognition of the vehicle driving pattern in relation to the road
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2420/00—Indexing codes relating to the type of sensors based on the principle of their operation
    • B60W2420/40—Photo, light or radio wave sensitive means, e.g. infrared sensors
    • B60W2420/403—Image sensing, e.g. optical camera
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2520/00—Input parameters relating to overall vehicle dynamics
    • B60W2520/06—Direction of travel
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2520/00—Input parameters relating to overall vehicle dynamics
    • B60W2520/10—Longitudinal speed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2554/00—Input parameters relating to objects
    • B60W2554/80—Spatial relation or speed relative to objects
    • B60W2554/802—Longitudinal distance
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2556/00—Input parameters relating to data
    • B60W2556/45—External transmission of data to or from the vehicle
    • B60W2556/50—External transmission of data to or from the vehicle of positioning data, e.g. GPS [Global Positioning System] data
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2556/00—Input parameters relating to data
    • B60W2556/45—External transmission of data to or from the vehicle
    • B60W2556/65—Data transmitted between vehicles

Landscapes

  • Engineering & Computer Science (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Physics & Mathematics (AREA)
  • Mathematical Physics (AREA)
  • Combustion & Propulsion (AREA)
  • Chemical & Material Sciences (AREA)
  • General Physics & Mathematics (AREA)
  • Multimedia (AREA)
  • Theoretical Computer Science (AREA)
  • Traffic Control Systems (AREA)
  • Steering Control In Accordance With Driving Conditions (AREA)
KR1020150114071A 2015-08-12 2015-08-12 차량 및 그 충돌 회피 방법 KR102386317B1 (ko)

Priority Applications (2)

Application Number Priority Date Filing Date Title
KR1020150114071A KR102386317B1 (ko) 2015-08-12 2015-08-12 차량 및 그 충돌 회피 방법
KR1020220042508A KR102543525B1 (ko) 2015-08-12 2022-04-05 차량 및 그 충돌 회피 방법

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
KR1020150114071A KR102386317B1 (ko) 2015-08-12 2015-08-12 차량 및 그 충돌 회피 방법

Related Child Applications (1)

Application Number Title Priority Date Filing Date
KR1020220042508A Division KR102543525B1 (ko) 2015-08-12 2022-04-05 차량 및 그 충돌 회피 방법

Publications (3)

Publication Number Publication Date
KR20170019794A KR20170019794A (ko) 2017-02-22
KR102386317B1 KR102386317B1 (ko) 2022-04-13
KR102386317B9 true KR102386317B9 (ko) 2023-05-11

Family

ID=58314800

Family Applications (2)

Application Number Title Priority Date Filing Date
KR1020150114071A KR102386317B1 (ko) 2015-08-12 2015-08-12 차량 및 그 충돌 회피 방법
KR1020220042508A KR102543525B1 (ko) 2015-08-12 2022-04-05 차량 및 그 충돌 회피 방법

Family Applications After (1)

Application Number Title Priority Date Filing Date
KR1020220042508A KR102543525B1 (ko) 2015-08-12 2022-04-05 차량 및 그 충돌 회피 방법

Country Status (1)

Country Link
KR (2) KR102386317B1 (ko)

Families Citing this family (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR102386317B1 (ko) * 2015-08-12 2022-04-13 현대모비스 주식회사 차량 및 그 충돌 회피 방법
KR102331025B1 (ko) * 2017-02-23 2021-11-25 현대자동차주식회사 영상정보 획득장치, 차량, 및 그 제어방법
US11008039B2 (en) * 2017-04-12 2021-05-18 Toyota Jidosha Kabushiki Kaisha Lane change assist apparatus for vehicle
CN111301407B (zh) * 2018-12-11 2021-09-21 杭州海康威视数字技术股份有限公司 一种危险车辆确定方法、装置、电子设备及可读存储介质
DE102019218001A1 (de) * 2019-01-28 2020-07-30 Mando Corporation Einrichtung, system und verfahren zur kollisionsverhinderung
KR102669424B1 (ko) * 2019-10-14 2024-05-29 현대모비스 주식회사 자율주행 차량의 측위정보 공유장치 및 그 제어방법
CN111338344A (zh) * 2020-02-28 2020-06-26 北京小马慧行科技有限公司 车辆的控制方法及装置、运载工具
KR102370976B1 (ko) * 2020-10-29 2022-03-04 한국교통대학교산학협력단 객체 특징점을 이용한 차선 변경 지원 시스템

Family Cites Families (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP4923520B2 (ja) 2005-11-07 2012-04-25 日産自動車株式会社 車両位置推定装置、車両用走行支援装置及び車両位置推定方法
JP2007178271A (ja) 2005-12-28 2007-07-12 Aisin Aw Co Ltd 自位置認識システム
JP2008276642A (ja) 2007-05-02 2008-11-13 Xanavi Informatics Corp 走行車線認識装置および走行車線認識方法
JP5287441B2 (ja) 2009-04-06 2013-09-11 トヨタ自動車株式会社 走行制御装置
JP5768891B2 (ja) * 2011-09-26 2015-08-26 トヨタ自動車株式会社 車両の運転支援システム
JP2015116918A (ja) 2013-12-18 2015-06-25 株式会社ジェイテクト 車両制御装置
KR102386317B1 (ko) * 2015-08-12 2022-04-13 현대모비스 주식회사 차량 및 그 충돌 회피 방법

Also Published As

Publication number Publication date
KR102543525B1 (ko) 2023-06-16
KR102386317B1 (ko) 2022-04-13
KR20170019794A (ko) 2017-02-22
KR20220048980A (ko) 2022-04-20

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E701 Decision to grant or registration of patent right
G170 Re-publication after modification of scope of protection [patent]