KR102413484B1 - driver assistance apparatus and method thereof - Google Patents

Abstract

A driver assistance system capable of preventing a secondary collision by operating a lane keeping system after an accident of a vehicle includes: a first sensor installed in a vehicle, having a front view of the vehicle, and acquiring front image data; a second sensor selected from the group consisting of a radar sensor and a lidar sensor, installed in the vehicle, having a detection field of view in front of the vehicle, and acquiring forward detection data; a third sensor selected from the group consisting of a radar sensor and a lidar sensor, installed in the vehicle, having a side detection field of the vehicle, and acquiring side detection data; and a control unit including a processor configured to store the front image data, the forward detection data, and the side detection data in a main storage device and receive an operation signal of an airbag installed in the vehicle; wherein the control unit includes: By processing the image data, the forward detection data, and the side detection data, a lane of the lane in which the vehicle is traveling and a lateral object located on the side of the vehicle are detected, and when the airbag operation signal is received, the airbag The front image data, the front sense data, and the side sense data stored before a preset time based on the time when the operation signal is received are stored in a non-volatile storage device, and the data stored in the main storage device or The lane keeping control of the vehicle is performed based on data stored in the non-volatile storage device.

Description

Driver assistance apparatus and method thereof

The disclosed invention relates to a driver assistance system, and more particularly, to a driver assistance system capable of preventing a secondary collision through steering control after a vehicle crash accident.

BACKGROUND ART In general, a vehicle refers to a means of transport or transportation that travels on a road or track by using fossil fuels, electricity, or the like as a power source. The vehicle may be moved to various positions mainly by using one or more wheels installed on the vehicle body. Such a vehicle may include a three-wheeled or four-wheeled vehicle, a two-wheeled vehicle such as a motorcycle, a construction machine, a bicycle, and a train running on rails disposed on a track.

Vehicles are the most common means of transportation in modern society, and the number of people using vehicles is increasing. The development of vehicle technology has advantages such as ease of long-distance movement and convenience of life.

Recently, in order to reduce the burden on the driver and increase convenience, there is a need for a vehicle equipped with an Advanced Driver Assist System (ADAS) that actively provides information on the vehicle condition, driver condition, and surrounding environment. Research is actively underway.

As an example of an advanced driver assistance system mounted on a vehicle, Forward Collision Avoidance (FCA), Autonomous Emergency Brake (AEB), Driver Attention Warning (DAW), and Lane Keeping Assist. and a Lane Keeping Assistance System (LKAS). Such a system is a system for determining a collision risk with an object in a driving situation of a vehicle, and for avoiding collision and providing a warning through emergency braking in a collision situation.

Conventionally, when a vehicle accident occurs, an emergency braking system is operated to prevent a secondary collision. However, even when the emergency braking system is operated, there is a problem that the secondary collision cannot be completely prevented when the vehicle turns and deviates from the lane.

For the above reasons, an aspect of the disclosed invention is to provide a driver assistance system capable of preventing a secondary collision by operating a lane keeping system after an accident of a vehicle and a method thereof.

A driver assistance system according to an aspect of the disclosed invention includes: a first sensor installed in a vehicle, having a front view of the vehicle, and acquiring front image data; a second sensor selected from the group consisting of a radar sensor and a lidar sensor, installed in the vehicle, having a detection field of view in front of the vehicle, and acquiring forward detection data; a third sensor selected from the group consisting of a radar sensor and a lidar sensor, installed in the vehicle, having a side detection field of the vehicle, and acquiring side detection data; and a control unit including a processor configured to store the front image data, the forward detection data, and the side detection data in a main storage device and receive an operation signal of an airbag installed in the vehicle; wherein the control unit includes: By processing the image data, the forward detection data, and the side detection data, a lane of the lane in which the vehicle is traveling and a lateral object located on the side of the vehicle are detected, and when the airbag operation signal is received, the airbag The front image data, the front sense data, and the side sense data stored before a preset time based on the time when the operation signal is received are stored in a non-volatile storage device, and the data stored in the main storage device or The lane keeping control of the vehicle may be performed based on data stored in the non-volatile storage device.

Also, the controller may perform the lane keeping control of the vehicle only when the side object is present at the time when the operation signal of the airbag is received.

Also, after receiving the operation signal of the airbag, the controller may perform the lane keeping control of the vehicle only when the lateral object exists in the heading direction of the vehicle.

Also, if the first sensor, the second sensor, and the third sensor do not fail, the control unit may perform lane maintenance control of the vehicle based on data stored in the main storage device.

Also, when at least one of the first sensor, the second sensor, or the third sensor fails, the controller may perform lane maintenance control of the vehicle based on data stored in the nonvolatile storage device.

In addition, the controller may determine whether the first sensor or the second sensor is faulty by comparing a result of processing the front image data with a result of processing the front detection data.

Also, when data stored in the main storage device is deleted, the controller may perform lane maintenance control of the vehicle based on data stored in the non-volatile storage device.

Also, when receiving the operation signal of the airbag, the controller may output a braking signal to a braking device of the vehicle.

Also, the main storage device may be a random access memory (RAM).

In addition, the non-volatile storage device may be at least one of an Erasable Programmable Read Only Memory (EPROM), an Electrically Erasable Programmable Read-Only Memory (EEPROM), and a flash memory.

A driver assistance method according to an aspect of the disclosed invention includes: acquiring front image data of a vehicle, forward detection data of the vehicle, and side detection data of the vehicle; storing the front image data, the front detection data, and the side detection data in a main storage device; processing the front image data, the forward detection data, and the side detection data to detect a lane of a lane in which the vehicle is traveling and a lateral object located on the side of the vehicle; receiving an operation signal of an airbag installed in the vehicle; storing the front image data, the front sensing data, and the side sensing data stored before a preset time based on the time when the airbag operation signal is received in a non-volatile storage device; and performing lane maintenance control of the vehicle based on data stored in the primary storage device or data stored in the non-volatile storage device.

The method may further include performing lane keeping control of the vehicle only when the side object is present at the time when the airbag operation signal is received.

In addition, in performing the lane keeping control of the vehicle only when the side object is present at the time when the airbag operation signal is received, the side object is located in the heading direction of the vehicle after receiving the airbag operation signal determine whether it exists; and performing lane keeping control of the vehicle only when the lateral object exists in the heading direction of the vehicle.

In addition, performing lane maintenance control of the vehicle based on data stored in the main storage device or data stored in the non-volatile storage device is performed when the front image data, the front detection data and the side detection data are normally obtained. and performing lane keeping control of the vehicle based on the data stored in the main storage device.

In addition, when the lane keeping control of the vehicle is performed based on the data stored in the main storage device or the data stored in the non-volatile storage device, at least one of the front image data, the front detection data, and the side detection data is and performing lane maintenance control of the vehicle based on data stored in the non-volatile storage device if it is not normally obtained.

The method may further include comparing a result of processing the front image data with a result of processing the front sensing data to determine whether the front image data or the forward sensing data is normally obtained.

In addition, performing lane maintenance control of the vehicle based on data stored in the primary storage device or data stored in the non-volatile storage device is performed when the data stored in the primary storage device is deleted. and performing lane keeping control of the vehicle based on the data.

The method may further include outputting a braking signal to a braking device of the vehicle upon receiving the operation signal of the airbag.

A driver assistance system according to another aspect of the disclosed invention includes: a front camera installed in a vehicle, having a front view of the vehicle, and acquiring front image data; and a control unit including a processor for storing the front image data in a main storage device and receiving an operation signal of an airbag installed in the vehicle, wherein the control unit transmits the front image data to a lane in which the vehicle is traveling When a lane is detected and the operation signal of the airbag is received, the front image data stored before a preset time based on the time when the operation signal of the airbag is received is stored in a non-volatile storage device, and the The lane keeping control of the vehicle may be performed based on data stored in the main storage device or data stored in the non-volatile storage device.

Also, when data stored in the main storage device is deleted or the front camera fails, the controller may perform lane maintenance control of the vehicle based on data stored in the non-volatile storage device.

According to an aspect of the disclosed invention, it is possible to provide a driver assistance system and a driver assistance method capable of avoiding a secondary collision with a vehicle in a neighboring lane by using the lane keeping system even after a vehicle collision.

1 shows a configuration of a vehicle according to an embodiment.
2 illustrates a configuration of a driver assistance system according to an exemplary embodiment.
3 illustrates a camera and a radar included in a driver assistance system according to an exemplary embodiment.
4 is a flowchart of a driver assistance method according to an exemplary embodiment.
5 and 6 illustrate a situation in which a side object does not exist after a vehicle collision according to an exemplary embodiment.
7 illustrates a situation in which lane keeping control is performed after a vehicle collision according to an exemplary embodiment.
8 is a diagram illustrating data stored in a nonvolatile storage device according to an exemplary embodiment over time.

Like reference numerals refer to like elements throughout. This specification does not describe all elements of the embodiments, and general content in the technical field to which the disclosed invention pertains or content overlapping between the embodiments is omitted. The term 'part, module, member, block' used in this specification may be implemented in software or hardware, and according to embodiments, a plurality of 'part, module, member, block' may be implemented as one component, It is also possible for one 'part, module, member, block' to include a plurality of components.

Throughout the specification, when a part is "connected" to another part, it includes not only direct connection but also indirect connection, and indirect connection includes connection through a wireless communication network. do.

Also, when a part "includes" a certain component, it means that other components may be further included, rather than excluding other components, unless otherwise stated.

Throughout the specification, when a member is said to be located "on" another member, this includes not only a case in which a member is in contact with another member but also a case in which another member exists between the two members.

Terms such as first, second, etc. are used to distinguish one component from another, and the component is not limited by the above-mentioned terms.

The singular expression includes the plural expression unless the context clearly dictates otherwise.

In each step, the identification code is used for convenience of description, and the identification code does not describe the order of each step, and each step may be performed differently from the specified order unless the specific order is clearly stated in the context. have.

Hereinafter, the working principle and embodiments of the disclosed invention will be described with reference to the accompanying drawings.

1 shows a configuration of a vehicle according to an embodiment.

As shown in FIG. 1 , a vehicle 1 includes an engine 10 , a transmission 20 , a braking device 30 , and a steering device 40 . The engine 10 includes a cylinder and a piston, and may generate power for driving the vehicle 1 . The transmission 20 includes a plurality of gears, and may transmit power generated by the engine 10 to the wheels. The braking device 30 may decelerate the vehicle 1 or stop the vehicle 1 through friction with the wheel. The steering device 40 may change the driving direction of the vehicle 1 .

The vehicle 1 may include a plurality of electrical components. For example, the vehicle 1 includes an engine management system (EMS) 11, a transmission control unit (TCU) 21, and an electronic brake control module (Electronic Brake Control Module) ( 31), an Electronic Power Steering (EPS) 41, a body control module (BCM), a driver assistance system 100 (Driver Assistance System, DAS), and an airbag 200 further includes

The engine management system 11 may control the engine 10 in response to a driver's will to accelerate through an accelerator pedal or a request from the driver assistance system 100 . For example, the engine management system 11 may control the torque of the engine 10 .

The transmission control unit 21 may control the transmission 20 in response to the driver's shift command through the shift lever and/or the driving speed of the vehicle 1 . For example, the transmission control unit 21 may adjust a shift ratio from the engine 10 to the wheel.

The electronic brake control module 31 may control the brake device 30 in response to the driver's will to brake through the brake pedal and/or slip of the wheels. For example, the electronic brake control module 31 may temporarily release the brake of the wheel in response to the slip of the wheel detected when the vehicle 1 is braked (Anti-lock Braking Systems, ABS). The electronic brake control module 31 may selectively release braking of the wheel in response to oversteering and/or understeering sensed when the vehicle 1 is steered (Electronic stability control, ESC). ). In addition, the electronic brake control module 31 may temporarily brake the wheel in response to the slip of the wheel detected when the vehicle 1 is driven (Traction Control System, TCS).

The electronic steering device 41 may assist the operation of the steering device 40 so that the driver can easily manipulate the steering wheel in response to the driver's will to steer through the steering wheel. For example, the electronic steering device 41 may assist the operation of the steering device 40 to decrease the steering force during low-speed driving or parking and increase the steering force for high-speed driving.

The body control module 51 may control the operation of electrical components that provide convenience to the driver or guarantee the driver's safety. For example, the body control module 51 may control a head lamp, a wiper, a cluster, a multi-function switch, and a direction indicator lamp.

The impact sensor 201 may generate an impact signal when the vehicle 1 collides.

The airbag 200 is a safety device that is installed in the vehicle 1 and protects occupants by injecting gas according to a signal from the shock sensor 201 and rapidly inflating it. That is, the impact signal of the impact sensor 201 may mean an operation signal of the airbag 200 .

The driver assistance system 100 may assist the driver to operate (drive, brake, and steer) the vehicle 1 . For example, the driver assistance system 100 detects the environment around the vehicle 1 (eg, other vehicles, pedestrians, cyclists, lanes, road signs, etc.) and responds to the sensed environment to the vehicle (1) can control driving and/or braking and/or steering.

The driver assistance system 100 may provide various functions to the driver. For example, the driver assistance system 100 includes a lane departure warning (LDW), a lane keeping assist (LKA), a high beam assist (HBA), an automatic emergency braking ( Autonomous Emergency Braking (AEB), Traffic Sign Recognition (TSR), Smart Cruise Control (SCC), and Blind Spot Detection (BSD) may be provided.

The driver assistance system 100 includes a camera module 101 that acquires image data around the vehicle 1 and a radar module 102 that acquires object data around the vehicle 1 . The camera module 101 includes a camera 101a and a controller (Electronic Control Unit, ECU) 101b, photographing the front of the vehicle 1 and recognizing other vehicles, pedestrians, cyclists, lanes, road signs, etc. can The radar module 102 includes a radar 102a and a controller 102b, and can acquire the relative position, relative speed, etc. of objects (eg, other vehicles, pedestrians, cyclists, etc.) around the vehicle 1 . have.

The driver assistance system 100 is not limited to that shown in FIG. 1 , and may further include a lidar that scans around the vehicle 1 and detects an object.

The above electronic components may communicate with each other through the vehicle communication network NT. For example, electronic components transmit data through Ethernet, MOST (Media Oriented Systems Transport), Flexray, CAN (Controller Area Network), and LIN (Local Interconnect Network). can give and receive For example, the driver assistance system 100 provides a drive control signal, a brake signal and a steering signal to the engine management system 11 , the electronic brake control module 31 , and the electronic steering device 41 through the vehicle communication network NT, respectively. signal can be transmitted.

Also, the airbag 200 operation signal generated from the impact sensor 201 may be transmitted to the driver assistance system 100 through the vehicle communication network NT.

2 illustrates a configuration of a driver assistance system according to an exemplary embodiment. 3 illustrates a camera and a radar included in a driver assistance system according to an exemplary embodiment.

As shown in FIG. 2 , the vehicle 1 may include a braking system 32 , a steering system 42 , and a driver assistance system 100 .

The braking system 32 includes an electronic braking control module 31 (see FIG. 1 ) and a braking device 30 (see FIG. 1 ) described in conjunction with FIG. 1 , and the steering system 42 includes an electronic steering system 41 ( FIG. 1 ). 1) and a steering device 40 (refer to FIG. 1).

The driver assistance system 100 may include a front camera 110 , a front radar 120 , and a plurality of corner radars 130 .

The front camera 110 may have a field of view 110a facing the front of the vehicle 1 as shown in FIG. 3 . The front camera 110 may be installed, for example, on a front windshield of the vehicle 1 .

The front camera 110 may photograph the front of the vehicle 1 and acquire image data of the front of the vehicle 1 . The image data in front of the vehicle 1 may include a location related to another vehicle or a pedestrian or a cyclist or a lane located in front of the vehicle 1 .

The front camera 110 may include a plurality of lenses and an image sensor. The image sensor may include a plurality of photodiodes that convert light into an electrical signal, and the plurality of photodiodes may be arranged in a two-dimensional matrix.

The front camera 110 may be electrically connected to the controller 140 . For example, the front camera 110 is connected to the control unit 140 through the vehicle communication network (NT), connected to the control unit 140 through a hard wire (hard wire), or a printed circuit board (Printed Circuit Board, PCB) may be connected to the control unit 140 .

The front camera 110 may transmit image data of the front of the vehicle 1 to the controller 140 .

The front radar 120 may have a field of sensing 120a facing the front of the vehicle 1 as shown in FIG. 3 . The front radar 120 may be installed, for example, on a grille or a bumper of the vehicle 1 .

The front radar 120 may include a transmit antenna (or transmit antenna array) that radiates a transmit radio wave toward the front of the vehicle 1, and a receive antenna (or receive antenna array) receives the reflected radio wave reflected by an object. have. The front radar 120 may acquire front radar data from the transmitted radio wave transmitted by the transmitting antenna and the reflected wave received by the receiving antenna. The forward radar data may include distance information and speed degrees about other vehicles or pedestrians or cyclists located in front of the vehicle 1 . The forward radar 120 calculates the state distance to the object based on the phase difference (or time difference) between the transmitted radio wave and the reflected wave, and calculates the relative speed of the object based on the frequency difference between the transmitted radio wave and the reflected wave can do.

The front radar 120 may be connected to the control unit 140 through, for example, a vehicle communication network (NT) or a hard wire or a printed circuit board. The forward radar 120 may transmit forward radar data to the controller 140 .

The plurality of corner radars 130 include a first corner radar 131 installed on the front right side of the vehicle 1 , a second corner radar 132 installed on the front left side of the vehicle 1 , and the vehicle 1 . ) includes a third corner radar 133 installed on the rear right side of the vehicle, and a fourth corner radar 134 installed on the rear left side of the vehicle 1 .

The first corner radar 131 may have a detection field of view 131a facing to the front right of the vehicle 1 as shown in FIG. 3 . The front radar 120 may be installed, for example, on the right side of the front bumper of the vehicle 1 . The second corner radar 132 may have a detection field of view 132a facing the front left side of the vehicle 1 , and may be installed, for example, on the left side of the front bumper of the vehicle 1 . The third corner radar 133 may have a detection field of view 133a facing the rear right side of the vehicle 1 , and may be installed, for example, on the right side of the rear bumper of the vehicle 1 . The fourth corner radar 134 may have a detection field of view 134a facing the rear left of the vehicle 1 , and may be installed, for example, on the left side of the rear bumper of the vehicle 1 .

Each of the first, second, third, and fourth corner radars 131 , 132 , 133 , and 134 may include a transmit antenna and a receive antenna. The first, second, third and fourth corner radars 131 , 132 , 133 and 134 acquire first corner radar data, second corner radar data, third corner radar data, and fourth corner radar data, respectively. can do. The first corner radar data may include distance information and speed degree about another vehicle or pedestrian or cyclist (hereinafter referred to as an “object”) located on the right front side of the vehicle 1 . The second corner radar data may include distance information and speed degree of an object located on the front left side of the vehicle 1 . The third and fourth corner radar data may include distance information and relative speeds of objects located on the rear right side of the vehicle 1 and the rear left side of the vehicle 1 .

Each of the first, second, third and fourth corner radars 131 , 132 , 133 and 134 may be connected to the control unit 140 through, for example, a vehicle communication network (NT) or a hard wire or a printed circuit board. have. The first, second, third, and fourth corner radars 131 , 132 , 133 , and 134 may transmit first, second, third, and fourth corner radar data to the controller 140 , respectively.

The controller 140 is a controller 101b (refer to FIG. 1) of the camera module 101 (refer to FIG. 1) and/or a controller 102b (refer to FIG. 1) of the radar module 102 (refer to FIG. 1) and/or a separate integration It may include a controller.

The controller 140 includes a processor 141 and a memory 142 .

The processor 141 processes the front image data of the front camera 110, the front radar data of the front radar 120, and the corner radar data of the plurality of corner radars 130, and the braking system 32 and the steering system ( 42) can generate a braking signal and a steering signal for controlling the For example, the processor 141 may include an image processor that processes front image data of the front camera 110 and/or a digital signal processor that processes radar data of the radars 120 and 130 and/or a braking signal and a steering signal. may include a micro control unit (MCU) or a domain control unit (DCU) that generates the .

The processor 141 detects objects in front of the vehicle 1 (eg, other vehicles, pedestrians, cyclists, etc.) based on the front image data of the front camera 110 and the front radar data of the front radar 120 . can do.

Specifically, the processor 141 may acquire the positions (distances and directions) and relative velocities of objects in front of the vehicle 1 based on the forward radar data of the forward radar 120 . The processor 141 determines the position (direction) and type information (eg, whether the object is another vehicle, a pedestrian, or a cyclist) of the objects in front of the vehicle 1 based on the front image data of the front camera 110 . etc) can be obtained. In addition, the processor 141 matches the objects detected by the front image data to the objects detected by the front radar data, and acquires type information, positions, and relative speeds of objects in front of the vehicle 1 based on the matching result can do.

The radar data of the radars 120 and 130 and the front image data of the front camera 110 may be temporarily stored in the main storage device 142-1 of the memory 142 and processed by the processor 141. .

The processor 141 may generate a braking signal and a steering signal based on a lane of a lane in which the vehicle 1 is driving, an operation signal of the airbag 200 and lateral objects.

The processor 141 may transmit an emergency braking signal to the braking system 32 upon receiving the operation signal of the airbag 200 from the impact sensor 201 .

In addition, when the processor 141 receives the operation signal of the airbag 200 from the impact sensor 201 , the data stored in the primary storage device 142-1 or the non-volatile storage device 142-2 A signal for performing lane keeping control of the vehicle 1 may be transmitted to the steering system 42 based on the data stored in the .

The processor 141 determines positions (distances and directions) and relative velocities of objects on the side (front right, front left, rear right, rear left) of the vehicle 1 based on the corner radar data of the plurality of corner radars 130 . can be obtained.

The processor 141 may determine whether to perform lane keeping control of the vehicle 1 based on positions and relative speeds of side objects of the vehicle 1 .

For example, the processor 141 may perform the lane keeping control by transmitting the steering signal to the steering system 42 only when a lateral object is present at the time of receiving the operation signal of the airbag 200 .

The memory 142 includes a primary storage device 142-1 including a volatile memory such as S-RAM and D-RAM, a flash memory, a read-only memory (ROM), and an EP. The non-volatile storage device 142 - 2 including a non-volatile memory such as an Erasable Programmable Read Only Memory (EPROM) or an Electrically Erasable Programmable Read-Only Memory (EEPROM) may be included.

The main storage device 142-1 temporarily stores image data received from the front camera 110 and/or radar data received from the radars 120 and 130, and image data of the processor 141 and/or It is possible to temporarily store the processing result of the radar data.

The nonvolatile storage device 142-2 includes a program and/or data for the processor 141 to process image data, a program and/or data for processing radar data, and a braking signal and/or data for the processor 141 to process the radar data. Alternatively, it may store a program and/or data for generating a steering signal.

The processor 141 may generate a signal for semi-permanently/permanently storing image data and/or radar data based on the operation signal of the airbag 200 received from the impact sensor 201 .

The nonvolatile storage device 142 - 2 may semi-permanently/permanently store image data and/or radar data temporarily stored in the primary storage device 142-1 according to a signal from the processor 141 . At this time, the nonvolatile storage device 142-2 for storing image data and/or radar data temporarily stored in the main storage device 142-1 is a flash memory and/or an EPROM and/or an EPROM. (EEPROM).

The driver assistance system 100 is not limited to that shown in FIG. 2 , and may further include a lidar that scans around the vehicle 1 and detects an object.

As such, the controller 140 may transmit a braking signal to the braking system 32 based on whether the operation signal of the airbag 200 is received. Also, the controller 140 may transmit a steering signal to the steering system 42 based on whether the operation signal of the airbag 200 is received and/or whether a lateral object exists.

As described above, the configuration of the vehicle 1 and the configuration of the driver assistance system 100 according to an exemplary embodiment have been described in detail. Hereinafter, the configuration of the vehicle 1 and the driver assistance method using the configuration of the driver assistance system 100 will be described in detail with reference to FIGS. 4 to 8 .

4 is a flowchart of a driver assistance method according to an embodiment, FIGS. 5 and 6 show a situation in which a lateral object does not exist after a vehicle collision according to an embodiment, and FIG. 7 is a vehicle according to an embodiment FIG. 8 is a diagram illustrating data stored in a non-volatile storage device according to an exemplary embodiment over time.

Referring to FIG. 4 , the front camera 110 and/or the radars 120 and 130 may acquire image data and/or radar data, respectively ( 1000 ).

Thereafter, the controller 140 temporarily stores the image data and/or radar data received from the front camera 110 and the radars 120 and 130 in the primary storage device 142-1, and the primary storage device 142- The image data and/or radar data temporarily stored in 1) may be processed, and the processing result of the image data and/or the radar data may be temporarily stored in the primary storage device 142-1 ( 1100 ).

When the control unit 140 receives the operation signal of the airbag 200 from the impact sensor 201 (Yes in 1200), it processes image data and/or radar data temporarily stored in the main storage device 142-1 to A lane of the lane in which the vehicle 1 is traveling and a lateral object located on the side of the vehicle 1 may be detected. In this case, the side object may mean an object existing in a lane next to the lane on which the vehicle 1 is traveling.

Thereafter, the controller 140 may determine whether a side object exists ( 1300 ). For example, the control unit 140 may determine whether a neighboring object exists at the time of receiving the operation signal of the airbag 200 .

Referring to FIG. 5 , the controller 140 may determine whether a lateral object existing in the next lane exists at the time of receiving the operation signal of the airbag 200 , that is, at the time of collision of the vehicle 1 .

As shown in FIG. 5 , when a side object does not exist (No in 1300 ), the controller 140 may perform only deceleration control of the vehicle 1 without performing lane keeping control of the vehicle 1 ( 1800).

Also, after receiving the operation signal of the airbag 200 , the controller 140 may determine whether a lateral object exists in the heading direction of the vehicle 1 .

Referring to FIG. 6 , it can be confirmed that the vehicle 1 collides with the lateral object 2 and the heading direction D of the vehicle 1 is changed. That is, the controller 140 may determine whether a lateral object existing in the heading direction D of the vehicle 1 exists after a predetermined time has elapsed based on the time when the operation signal of the airbag 200 is received.

As shown in FIG. 6 , when a side object does not exist (No in 1300 ), similarly, the controller 140 does not perform the lane keeping control of the vehicle 1 and only the deceleration control of the vehicle 1 can be performed. (1800).

That is, the controller 140 may perform the lane keeping control of the vehicle 1 only when a side object is present at the time when the operation signal of the airbag 200 is received. This is to prevent a secondary collision of the vehicle even if the lane keeping control is not performed when the side object does not exist, and rather to reduce the possibility of a secondary collision that may occur by performing the lane keeping control.

When the control unit 140 receives the operation signal of the airbag 200 (Yes in 1200), the image data stored in the main storage device 142-1 before a preset time based on the time when the operation signal of the airbag 200 is received and/or the radar data may be stored in the non-volatile storage device 142 - 2 ( 1400 ). Image data and/or radar data stored in the primary storage device 142-1 before a preset time based on the time when the operation signal of the airbag 200 is received may mean data processed by the processor 141 Also, it may mean data before being processed by the processor 141 .

Referring to FIG. 8 , the nonvolatile storage device 142 - 2 may store image data and/or radar data before a preset time t1 based on the operation time of the airbag 200 of the vehicle 1 .

Specifically, the non-volatile storage device 142 - 2 stores the front camera 110 and/or the radars 120 and 130 from a preset time t1 based on the operation time of the airbag 200 of the vehicle 1 . Image data and/or radar data up to the time of failure can be stored, and data of the main storage device 142-1 is deleted from a preset time t1 based on the operation time of the airbag 200 of the vehicle 1 . It is possible to store image data and/or radar data up to a point in time.

At this time, the preset time t1 may be set to about 1 second, and may be set to store image data and/or radar data of a road condition closest to the road condition in the collision situation of the vehicle 1 . .

Thereafter, the controller 140 may perform lane maintenance control of the vehicle 1 based on data stored in the primary storage device 142-1 or data stored in the non-volatile storage device 142-2 (1600, 1700). ).

As an example, the controller 140 may determine whether the front camera 110 and/or the radars 120 and 130 are malfunctioning by comparing the result of processing the image data and the processing of the radar data (1500). , if the front camera 110 and/or the radars 120 and 130 do not fail (No of 1500), the control unit 140 controls the vehicle 1 based on the data stored in the main storage device 142-1. Lane keeping control may be performed ( 1700 ).

When the result of processing the image data and the processing result of the radar data are different, the controller 140 may determine that at least one of the front camera 110 and/or the radars 120 and 130 has failed.

If it is determined that at least one of the front camera 110 and/or the radars 120 and 130 is out of order (Yes in 1500), the control unit 140 based on the data stored in the non-volatile storage device 142 - 2 Thus, lane maintenance control of the vehicle 1 may be performed ( 1600 ).

When at least one of the front camera 110 and/or the radars 120 and 130 fails, there is a risk that the controller 140 performs lane keeping control based on the wrong image data and/or radar data. Because.

In addition, although not shown in the drawing, when data stored in the primary storage device 142-1 is deleted, the controller 140 controls the lane of the vehicle 1 based on the data stored in the non-volatile storage device 142-2. Maintenance control may be performed ( 1600 ).

In the case of the primary storage device 142-1, since RAM is used, stored data may be deleted due to the collision of the vehicle 1 . However, since the nonvolatile storage device 142 - 2 uses an EPROM, an EEPROM, a flash memory, etc., there is no concern that the stored data will be deleted due to the collision of the vehicle 1 .

Accordingly, when data stored in the primary storage device 142-1 is deleted, lane maintenance control of the vehicle 1 may be performed based on data stored in the nonvolatile storage device 142-2.

Thereafter, the controller 140 may output a braking signal to the braking device 30 of the vehicle 1 to perform deceleration control ( 1800 ). However, flowchart blocks shown in the drawings may be omitted or their order may be changed, and the controller 140 may perform deceleration control of the vehicle 1 based on the time of reception of the operation signal of the airbag 200 .

As described above, a driver assistance method according to an exemplary embodiment has been described. Hereinafter, a state in which the above-described driver assistance method is applied will be described with reference to FIG. 7 .

Referring to FIG. 7 , when the vehicle 1 collides, the controller 140 receives an operation signal of the airbag 200 . When receiving the operation signal of the airbag 200 , the controller 140 performs deceleration control of the vehicle 1 , and the main storage device 142 before a preset time based on the time when the operation signal of the airbag 200 is received. The image data and/or radar data stored in -1) are stored in the nonvolatile storage device 142-2.

After receiving the operation signal of the airbag 200 , the controller 140 may determine that the lateral object 3 exists in the heading direction D of the vehicle and may perform lane keeping control.

When the data of the main storage device 142-1 is deleted due to the collision of the vehicle 1 or the front camera 110 and/or the radars 120 and 130 of the vehicle are broken, the controller 140 is not The lane keeping control is performed based on data stored in the volatile storage device 142 - 2 .

Even if the data of the main storage device 142-1 is deleted or the vehicle's front camera 110 and/or the radars 120 and 130 are not broken, the controller 140 controls the nonvolatile storage device 142-2 Of course, lane keeping control may be performed based on the data stored in ).

As shown in FIG. 7 , a secondary collision with the vehicle 3 traveling in the next lane may be prevented by performing the lane keeping control after the collision of the vehicle 1 .

According to the disclosed embodiments, lane keeping control can be performed even when an external sensor such as a front camera and/or radars fails due to a vehicle collision, and even when the main obstacle device fails due to a vehicle collision , it is possible to temporarily perform lane keeping control, thereby effectively preventing a secondary collision occurring after a vehicle collision.

Meanwhile, the disclosed embodiments may be implemented in the form of a recording medium storing instructions executable by a computer. Instructions may be stored in the form of program code, and when executed by a processor, may create a program module to perform the operations of the disclosed embodiments. The recording medium may be implemented as a computer-readable recording medium.

The computer-readable recording medium includes any type of recording medium in which instructions readable by the computer are stored. For example, there may be read only memory (ROM), random access memory (RAM), magnetic tape, magnetic disk, flash memory, optical data storage, and the like.

The disclosed embodiments have been described with reference to the accompanying drawings as described above. Those of ordinary skill in the art to which the present invention pertains will understand that the present invention may be practiced in other forms than the disclosed embodiments without changing the technical spirit or essential features of the present invention. The disclosed embodiments are illustrative and should not be construed as limiting.

1: Vehicle 100: Driver assistance system
110: front camera 120: front radar
130: plurality of corner radars 131: first corner radar
132: second corner radar 133: third corner radar
134: fourth corner radar 140: control unit
141: processor 142: memory
142-1: primary storage device 142-2: non-volatile storage device
200: airbag 201: impact sensor

Claims (20)

a first sensor installed in a vehicle, having a front view of the vehicle, and acquiring front image data;
a second sensor selected from the group consisting of a radar sensor and a lidar sensor, installed in the vehicle, having a detection field of view in front of the vehicle, and acquiring forward detection data;
a third sensor selected from the group consisting of a radar sensor and a lidar sensor, installed in the vehicle, having a side detection field of the vehicle, and acquiring side detection data; and
A control unit including a processor for storing the front image data, the front detection data, and the side detection data in a main storage device, and receiving an operation signal of an airbag installed in the vehicle;
The control unit processes the front image data, the forward detection data, and the side detection data to detect a lane of a lane in which the vehicle is traveling and a side object located on the side of the vehicle,
Upon receiving the operation signal of the airbag, a non-volatile storage device stores the front image data, the forward detection data, and the side detection data stored before a preset time based on the time when the airbag operation signal is received. and performing lane maintenance control of the vehicle based on the data stored in the main storage device,
When at least one of the first sensor, the second sensor, and the third sensor fails, or when the data stored in the primary storage device is deleted, lane maintenance of the vehicle based on the data stored in the non-volatile storage device Controlling driver assistance systems. According to claim 1,
The control unit is
A driver assistance system that performs lane keeping control of the vehicle only when the side object is present at the time when the airbag operation signal is received. 3. The method of claim 2,
The control unit is
After receiving the airbag operation signal, the driver assistance system performs lane keeping control of the vehicle only when the lateral object exists in a heading direction of the vehicle. delete delete According to claim 1,
The control unit is
A driver assistance system for determining whether the first sensor or the second sensor is faulty by comparing a result of processing the front image data and a result of processing the forward detection data. delete According to claim 1,
The control unit is
When receiving the operation signal of the airbag, the driver assistance system outputs a braking signal to a braking device of the vehicle. According to claim 1,
The main storage device is a driver assistance system, characterized in that RAM (Random Access Memory). According to claim 1,
The non-volatile storage device is at least one of an Erasable Programmable Read Only Memory (EPROM), an Electrically Erasable Programmable Read-Only Memory (EEPROM), and a flash memory. acquiring front image data of the vehicle, forward detection data of the vehicle, and side detection data of the vehicle;
storing the front image data, the front detection data, and the side detection data in a main storage device;
processing the front image data, the forward detection data, and the side detection data to detect a lane of a lane in which the vehicle is traveling and a lateral object located on the side of the vehicle;
receiving an operation signal of an airbag installed in the vehicle;
storing the front image data, the front sensing data, and the side sensing data stored before a preset time based on the time when the airbag operation signal is received in a non-volatile storage device;
Including; performing lane maintenance control of the vehicle based on the data stored in the main storage device;
To perform lane keeping control of the vehicle,
When at least one of the front image data, the front detection data, and the side detection data is not normally acquired, or when the data stored in the primary storage device is deleted, based on the data stored in the non-volatile storage device, the lane of the vehicle A driver-assisted method of performing maintenance control. 12. The method of claim 11,
and performing lane keeping control of the vehicle only when the side object is present at the time when the airbag operation signal is received. 13. The method of claim 12,
Performing the lane keeping control of the vehicle only when the side object is present at the time when the operation signal of the airbag is received,
determining whether the lateral object exists in a heading direction of the vehicle after receiving the operation signal of the airbag;
and performing lane keeping control of the vehicle only when the lateral object exists in the heading direction of the vehicle. delete delete 12. The method of claim 11,
and comparing a result of processing the front image data with a result of processing the forward sensing data to determine whether the front image data or the forward sensing data is normally acquired. delete 12. The method of claim 11,
and outputting a braking signal to a braking device of the vehicle when receiving the operation signal of the airbag. a front camera installed in a vehicle, having a front view of the vehicle, and acquiring front image data; and
a control unit including a processor for storing the front image data in a main storage device and receiving an operation signal of an airbag installed in the vehicle;
The control unit processes the front image data to detect a lane of the lane in which the vehicle is driving,
When the airbag operation signal is received, the front image data stored before a preset time based on the time when the airbag operation signal is received is stored in a non-volatile storage device, and stored in the main storage device Performing lane keeping control of the vehicle based on the data,
A driver assistance system for performing lane maintenance control of the vehicle based on data stored in the non-volatile storage device when data stored in the main storage device is deleted or the front camera is broken.
delete

Images