KR102452774B1 - Simulation system for vehicle, and simulation method for vehicle - Google Patents

Abstract

A vehicle simulation system and a vehicle simulation method for simulating a collision situation with a virtual target vehicle that inertially travels (Coastdown) when entering a collision prediction area determined by the collision prediction point while driving at a speed corresponding to the vehicle traveling speed to provide.
The vehicle simulation system according to an embodiment checks the presence of a target vehicle based on a detection signal including at least one of a radar signal and a camera signal, and controls the ADAS module when a collision with the target vehicle is expected at an expected collision point a vehicle to avoid the collision; and transmitting the detection signal to the vehicle so that the presence of a virtual target vehicle that is inertial driving is confirmed when the vehicle enters a collision prediction area determined by the collision prediction point while driving at a speed corresponding to the traveling speed of the vehicle. a simulator to do; may include

Description

Vehicle simulation system, and vehicle simulation method

The invention relates to a vehicle simulation system for simulating a crash situation and a vehicle simulation method.

A vehicle is a type of transportation that can move humans, objects, or animals from one location to another while driving along a road or track. Examples of the vehicle may include a three-wheeled or four-wheeled vehicle, a two-wheeled vehicle such as a motorcycle, a construction machine, a motorized bicycle, a bicycle, and a train running on a track.

Recently, the vehicle industry is increasingly interested in advanced driver assistance systems (ADAS) that provide more convenience and safety to drivers.

If such an advanced driver assistance system does not operate normally in an emergency situation such as a crash, the safety of a driver who cannot operate the vehicle may be greatly threatened. Therefore, prior to leaving the factory, a vehicle simulation may be performed assuming that the vehicle is in a crash situation and testing the operation of the advanced driver assistance system.

One aspect of the disclosed invention is a vehicle that simulates a collision situation with a virtual target vehicle that performs inertia driving (Coastdown) when entering a collision prediction area determined by the collision prediction point while driving at a speed corresponding to the traveling speed of the vehicle A simulation system and a vehicle simulation method are provided.

The vehicle simulation system according to an embodiment of the present disclosure confirms the presence of a target vehicle based on a detection signal including at least one of a radar signal and a camera signal, and anticipates a collision with the target vehicle at an expected collision point. a vehicle controlling the module to avoid the collision; and transmitting the detection signal to the vehicle so that the presence of a virtual target vehicle that is inertial driving is confirmed when the vehicle enters a collision prediction area determined by the collision prediction point while driving at a speed corresponding to the traveling speed of the vehicle. a simulator to do; may include.

In addition, before entering the collision prediction area, the simulator is configured to perform a speed determined based on the driving speed of the vehicle, the distance between the vehicle and the collision prediction point, and the distance between the virtual target vehicle and the collision prediction point. The detection signal may be transmitted to the vehicle to confirm the existence of the virtual target vehicle traveling.

In addition, the simulator may be configured to be in proportion to the driving speed of the vehicle and the distance between the vehicle and the collision expected point before entering the collision expected area, and inversely proportional to the distance between the virtual target vehicle and the boundary of the collision expected area. The detection signal may be transmitted to the vehicle to confirm the presence of the virtual target vehicle traveling at a speed of .

In addition, the simulator may transmit the detection signal to the vehicle so that the presence of the virtual target vehicle performing the inertial driving without acceleration is confirmed when entering the collision prediction region.

Also, before entering the collision prediction area, the simulator may update the collision prediction area based on a difference between the traveling speed of the vehicle and the traveling speed of the virtual target vehicle.

In addition, the simulator may update an area within a distance corresponding to a difference between the traveling speed of the vehicle and the traveling speed of the virtual target vehicle from the collision prediction point as the collision prediction area.

In addition, if the traveling speed of the vehicle is the same as the traveling speed of the virtual target vehicle, the simulator updates an area within a reference radius from the collision expected point to the collision expected area, When the traveling speed of the target vehicle of , an area within a second radius smaller than the reference radius from the collision prediction point may be updated as the collision prediction area.

Also, the simulator may transmit the detection signal to the vehicle through CAN communication.

Also, after receiving the detection signal from the simulator, the vehicle may transmit a result of controlling the ADAS module to the simulator to avoid the collision.

In addition, the vehicle may include: a display for displaying the location of the virtual target vehicle based on the detection signal received from the simulator; may include.

In the vehicle simulation method according to an embodiment of the disclosed subject matter, a detection signal for a virtual target vehicle that travels at a speed corresponding to the driving speed of the vehicle before entering the collision prediction area determined by the collision prediction point by the simulator transmitting to the vehicle; transmitting, by a simulator, the detection signal for the virtual target vehicle that coasts down when entering the collision prediction area to the vehicle; and controlling, by the vehicle, an ADAS module of the vehicle to avoid a collision with the virtual target vehicle at the collision expected point based on the received detection signal. may include.

In addition, the step of transmitting a detection signal for a virtual target vehicle traveling at a speed corresponding to the traveling speed of the vehicle to the vehicle before entering the collision prediction area may include the traveling speed of the vehicle and the collision prediction with the vehicle. The detection signal may be transmitted to the vehicle to confirm the presence of the virtual target vehicle traveling at a speed determined based on a distance between points and a distance between the virtual target vehicle and the collision expected point.

In addition, the step of transmitting to the vehicle a detection signal for a virtual target vehicle that travels at a speed corresponding to the traveling speed of the vehicle before entering the collision prediction region may include the traveling speed of the vehicle and the collision with the vehicle. The detection signal may be transmitted to the vehicle so that the presence of the virtual target vehicle traveling at a speed proportional to the distance between the predicted points and inversely proportional to the distance between the virtual target vehicle and the boundary of the collision prediction area is confirmed.

In addition, when the collision prediction region is entered, the step of transmitting the detection signal for the virtual target vehicle inertial driving to the vehicle may include confirming the presence of the virtual target vehicle performing inertial driving without acceleration. The detection signal may be transmitted to the vehicle.

In addition, before entering the collision prediction area, updating the collision prediction area based on a difference between the traveling speed of the vehicle and the traveling speed of the virtual target vehicle; may further include.

The updating of the collision prediction area may include updating an area within a distance corresponding to a difference between the traveling speed of the vehicle and the virtual target vehicle traveling speed from the collision prediction point as the collision prediction area.

The updating of the collision prediction area may include: when the traveling speed of the vehicle and the virtual target vehicle traveling speed are the same, updating an area within a reference radius from the collision prediction point to the collision prediction area; updating an area within a first radius greater than the reference radius from the collision prediction point as the collision prediction area when the traveling speed of the virtual target vehicle is lower than the traveling speed of the vehicle; and if the driving speed of the virtual target vehicle is greater than the driving speed of the vehicle, updating an area within a second radius smaller than the reference radius from the collision prediction point as the collision prediction area; may include.

Also, the simulator may transmit the detection signal to the vehicle through CAN communication.

In addition, after the vehicle receives the detection signal from the simulator, transmitting, by the vehicle, the result of controlling the ADAS module to avoid the collision to the simulator; may further include.

In addition, displaying, by the vehicle, the location of the virtual target vehicle based on the detection signal received from the simulator; may further include.

A vehicle simulation system and a vehicle simulation method according to an aspect of the disclosed invention may stably simulate a collision situation in a collision prediction area by using a virtual target vehicle that travels at a speed corresponding to the vehicle traveling speed.

1 is a view showing the exterior of a vehicle according to an embodiment of the disclosed invention.
2 is a view showing an internal configuration of a vehicle according to an embodiment of the disclosed invention.
3 is a control block diagram of a vehicle simulation system according to an embodiment of the disclosed invention.
4 is a view for explaining a vehicle simulation method according to an embodiment of the disclosed invention.
5 is a speed graph of a vehicle and a virtual target vehicle according to an embodiment of the disclosed subject matter.
6A and 6B are diagrams for explaining a method of updating a collision prediction area according to an embodiment of the disclosed subject matter.
7 is a flowchart of a vehicle simulation method according to an embodiment of the disclosed subject matter.

Hereinafter, a vehicle and a control method thereof will be described in detail with reference to the accompanying drawings.

1 is a view showing the exterior of a vehicle according to an embodiment of the disclosed invention.

1 , an embodiment of the vehicle includes a body 10 that forms the exterior of the vehicle 1 , wheels 21 and 22 that move the vehicle 1 , and a door that shields the interior of the vehicle 1 from the outside. (14), a windshield 17 that provides a view in front of the vehicle 1 to the driver inside the vehicle 1, and side mirrors 18, 19 that provide a view in the rear of the vehicle 1 to the driver. .

The wheels 21 and 22 include a front wheel 21 provided at the front of the vehicle and a rear wheel 22 provided at the rear of the vehicle. 10) can be moved forward or backward.

The door 14 is rotatably provided on the left and right sides of the main body 10 so that the driver can get on the inside of the vehicle 1 when opened, and shields the inside of the vehicle 1 from the outside when closed .

The windshield 17 is provided on the front upper side of the main body 10 so that a driver inside the vehicle 1 can acquire visual information on the front of the vehicle 1 , and is also called windshield glass.

In addition, the side mirrors 18 and 19 include a left side mirror 18 provided on the left side of the main body 10 and a right side mirror 19 provided on the right side of the main body 10, and the driver inside the vehicle 1 is the vehicle ( 1) Make it possible to acquire side and rear visual information.

In addition, the vehicle may be provided with a lamp 30 on the front and/or the rear for notifying the outside of securing a view or driving route.

2 is a view showing an internal configuration of a vehicle according to an embodiment of the disclosed invention.

As shown in FIG. 2 , the vehicle 1 includes a dashboard 150 provided with a seat 110 on which a driver or the like rides, a gear box 120 , a center fascia 130 , and a steering wheel 140 . ) may be included.

The steering wheel 140 provided on the dashboard 150 is a device for adjusting the driving direction of the vehicle 1 , and is connected to the rim 141 gripped by the driver and the steering device of the vehicle 1 , and is connected to the rim 141 . ) and a spoke 142 connecting the hub of the rotation shaft for steering. According to an embodiment, the spokes 142 may be provided with manipulation devices 142a and 142b for controlling various devices in the vehicle 1 , for example, an audio device.

The cluster 143 may display a speed gauge indicating the speed of the vehicle and an RPM gauge indicating the RPM of the vehicle. The driver can check information about the vehicle at a glance. Also, the cluster 143 may display information about the vehicle 1 , in particular, information about driving of the vehicle 1 . For example, the cluster 143 may display a drivable distance based on the remaining fuel amount, navigation information, audio information, and the like.

The cluster 143 may be provided in an area of the dashboard 150 that faces the steering wheel 140 so that the driver can check information about the vehicle without excessively deviating from the front while driving. .

Although not shown in the drawings, a Head Up Display (HUD) may be provided on the dashboard 150 to display visual information provided to the driver on the windshield 17 .

An air conditioner 131 , a clock 132 , an audio device 133 , a display 134 , and the like may be installed in the center fascia 130 provided on the dashboard 150 .

The air conditioner 131 maintains a comfortable interior of the vehicle 1 by controlling the temperature, humidity, air cleanliness, and air flow inside the vehicle 1 . The air conditioner 131 may include at least one outlet 131a installed on the center fascia 130 and for discharging air. A button or a dial for controlling the air conditioner 131 and the like may be installed in the center fascia 130 . A passenger such as a driver may control the air conditioner 131 using a button disposed on the center fascia 130 .

The watch 132 may be provided around a button or a dial for controlling the air conditioner 131 .

The audio device 133 may include a manipulation panel provided with a plurality of buttons for performing functions of the audio device 133 . The audio device 133 may provide a radio mode for providing a radio function and a media mode for playing audio files of various storage media containing audio files.

The audio device 133 may output an audio file as sound through the speaker 160 . Although the case where the speaker 160 is provided inside the door is exemplified in FIG. 2 , the location where the speaker 160 is provided is not limited thereto.

A shift command input unit 200 for shifting the vehicle 1 and a dial manipulation unit 123 for controlling the function of the vehicle 1 may be installed in the gear box 120 .

The display 134 may display various types of information directly or indirectly related to the vehicle. For example, the display 134 may display direct information such as vehicle navigation information and vehicle state information, and indirect information such as multimedia information including photos and videos provided from inside and outside the vehicle.

To this end, the display 134 may be implemented as a liquid crystal display (LCD), a light emitting diode (LED), a plasma display panel (PDP), an organic light emitting diode (OLED), a cathode ray tube (CRT), etc. However, the present invention is not limited thereto.

The vehicle 1 according to the above-described embodiment may include an ADAS module 700 that provides an advanced driver assistance system (ADAS) to increase driving convenience and safety of a driver. Hereinafter, a vehicle 1 equipped with the ADAS module 700 and a vehicle 1 simulation system for simulating the same will be described with reference to FIGS. 3 and 4 .

3 is a control block diagram of a vehicle 1 simulation system according to an embodiment of the disclosed invention, and FIG. 4 is a diagram for explaining a vehicle 1 simulation method according to an embodiment of the disclosed invention.

A vehicle 1 according to an embodiment of the disclosed invention includes a GPS antenna 300 for receiving a satellite signal including location information of the vehicle 1; a camera 400 for acquiring an image around the vehicle 1; The vehicle 1 includes a radar 500 that detects the presence of a surrounding object and a distance to the surrounding object; ADAS module 700 that provides advanced driver assistance systems; and a control unit 600 for controlling each configuration of the vehicle 1 ; may include.

The Global Positioning System (GPS) antenna 300 may receive a satellite signal including a navigation message propagated from a satellite. The navigation information includes the current location of the vehicle 1, the total number of satellites that can receive satellite signals, the number of satellites that can provide satellite signals in a straight line (Line Of Sight, LOS), the driving speed of the vehicle 1, candidates It may be used to check information such as multipath of a local satellite signal.

The camera 400 may be provided in various places for acquiring images around the vehicle 1 . For example, in order to acquire a front image of the vehicle 1 , the camera 400 may be installed inside or outside the vehicle 1 to face the front of the vehicle 1 .

To this end, the camera 400 may be implemented as a charge coupled device (CCD) to generate a front image as an electrical signal. Also, the camera 400 may continuously acquire a frame image of the front of the vehicle 1 according to a predetermined frame rate as a surrounding image. Accordingly, the vehicle 1 according to an embodiment of the disclosed invention may monitor the driving environment in front of the vehicle 1 through a plurality of frame images acquired by the camera 400 .

The radar 500 may detect an object existing around the vehicle 1 . For example, the radar 500 may be installed on the side of the vehicle 1 to detect an object adjacent to the side of the vehicle 1 . The radar 500 may irradiate a pulse in a predetermined direction and receive an echo pulse reflected from an object existing in the direction in which the pulse is irradiated. The radar 500 may use the received echo pulse to detect not only the presence of an object around the vehicle 1 , but also a distance from the surrounding object and the shape of the surrounding object.

The ADAS module 700 may provide a driver support environment when driving environment information detected by the GPS antenna 300 , the camera 400 , and/or the radar 500 satisfies a predetermined operating condition. Here, the driving environment information may include information about the driving vehicle 1 itself and information about the driving vehicle 1 periphery, and the operating condition is the minimum driving environment information for the ADAS module 700 to operate. can mean

The ADAS module 700 may include at least one module in which at least one ADAS is implemented. Referring to FIG. 3 , the ADAS module 700 according to an embodiment includes an ESC 710 ; and MDPS 720; may include.

The ESC (Electronic Stability Controller) 710 compares and determines the driver's manipulation of the steering wheel 14 and the rotational state of the vehicle 1, and individually controls the brakes of each wheel 21 and 22 to control the vehicle 1 . It may mean a device for stabilizing movement. This ESC basically suppresses sliding of the front or rear of the vehicle body to the side during driving, so that the vehicle 1 can be maintained in a normal driving state.

The MDPS (Motor Driven Power Steering; 720) may assist the driver's steering force by using the driving torque of the electric motor. In the MDPS, the output of the electric motor for steering assistance can be controlled according to the operating conditions of the vehicle 1 in performing the steering assistance function according to the driver's manipulation of the steering wheel 14, so that the steering performance is more improved compared to the hydraulic steering system. and steering feel.

Although not disclosed in FIG. 3 , the ADAS module 700 detects driving information of the preceding vehicle 1 among the driving environment information, and automatically accelerates/decelerates according to the detected driving information of the preceding vehicle 1, and SCC for automatic driving (Smart Cruise Control) equipped SCC module; an AEB module equipped with an Advanced Emergency Breaking System (AEB) for detecting driving information of the preceding vehicle 1 among driving environment information and automatically decelerating according to a collision possibility based on the detected driving information of the preceding vehicle 1; an LDWS module equipped with a Lane Departure Warning System (LDWS) for detecting lane departure information of the vehicle 1 among driving environment information, and warning of lane departure to passengers including a driver according to the detected lane departure information; a BSD module equipped with a BSD (Blind Spot Detection System) for detecting rear-side object information among driving environment information, and warning the presence of a rear-side object of the vehicle 1 according to the detected rear-side object information; an SVM module equipped with a Surround View Monitoring System (SVM) that detects surrounding image information among driving environment information and outputs the detected surrounding image information as an image through the display; Forward Collision (FCW) for detecting driving information of the preceding vehicle 1 among the driving environment information and warning passengers including the driver of a collision with the preceding vehicle 1 according to the detected driving information of the preceding vehicle 1 FCW module with Warning System); RCW (Rear- RCW) for detecting driving information of the following vehicle 1 among the driving environment information, and warning the occupants including the driver of a collision with the following vehicle 1 according to the detected driving information of the following vehicle 1 RCW module with end Collision Warning System); and the like may be further included.

The control unit 600 is a detection signal including a GPS signal detected by the GPS antenna 300 , a camera 400 signal detected by the camera 400 , and/or a radar 500 signal detected by the radar 500 . can receive Also, the controller 600 may check whether the driving environment information of the received detection signal satisfies a predetermined operating condition, and control the ADAS module 700 based on the check result.

For example, the control unit 600 receives a detection signal including at least one of a camera 400 signal and a radar 500 signal, and a target vehicle (Xv) around which a collision is predicted based on the received detection signal. existence can be confirmed. If it is confirmed that the target vehicle Xv exists, the controller 600 may control the ADAS module 700 to avoid a collision with the target vehicle Xv at the expected collision point.

To this end, the controller 600 may be implemented by at least one processor. The control unit 600 implemented by at least one processor may connect a plurality of vehicle 1 configurations to a serial communication network by adopting CAN (Controller Area Network) communication or LIN (Local Interconnect Network) communication. have. The communication network implemented in this way can be connected to one communication bus in which a plurality of vehicle 1 configurations are common.

For example, the detection signal detected by the GPS antenna 300 , the camera 400 , the radar 500 , etc. is transmitted to the control unit 600 through a communication bus, and the control unit 600 receives the desired ADAS module through the communication bus. A control signal may be transmitted to 700 .

Meanwhile, the vehicle 1 in a normal state in which the ADAS module 700 is mounted may automatically provide a driver support environment when a predetermined operating condition is satisfied without a separate input from the driver. If the driver is aware of the type and operating conditions of the mounted ADAS module 700, the driver expects the mounted ADAS module 700 to automatically provide a driver support environment under the premise that the vehicle 1 is in a normal state. and can drive the vehicle (1).

As a result, even in an abnormal state in which the normal operation of the ADAS module 700 on which the vehicle 1 is mounted is not possible, the driver provides the driver support environment from the vehicle 1 when a situation that satisfies the operating conditions occurs. You may not actively take appropriate action in the expectation of being provided. As a result, the driver's driving safety may be greatly threatened.

Therefore, it is necessary to perform a simulation to check whether the vehicle 1 is in a normal state before leaving the vehicle 1 . For example, it provides a collision situation with the virtual target vehicle Xv, and simulates whether the ADAS module 700 of the vehicle 1 operates normally to avoid a collision with the virtual target vehicle Xv. can be checked through

To this end, the vehicle (1) simulation system according to an embodiment of the disclosed invention includes the above-described vehicle (1); and simulator (S); may include.

Referring to FIG. 3 , the simulator S may transmit a detection signal for the virtual target vehicle Xv to the vehicle 1 so that the presence of the virtual target vehicle Xv is confirmed by the vehicle 1 . Specifically, the simulator S may transmit at least one of a radar 500 signal and a camera 400 signal including location information of the virtual target vehicle Xv to the controller 600 of the vehicle 1 .

Here, the virtual target vehicle Xv may mean a virtual vehicle 1 recognized as being at a location where a collision is expected in a collision prediction area determined by a predetermined collision prediction point. In addition, the collision prediction point may be predetermined, and the collision prediction area may mean an area set within an arbitrary radius from the collision prediction point.

To this end, the simulator S may adopt the same communication method as the method in which the control unit 600 of the vehicle 1 communicates with the configuration of the vehicle 1 . If the control unit 600 of the vehicle 1 adopts CAN communication, the simulator S transmits a detection signal for the virtual target vehicle Xv to the control unit 600 of the vehicle 1 by CAN communication. can

While receiving the detection signal for the virtual target vehicle Xv, the control unit 600 of the vehicle 1 may block communication with the camera 400 and/or the radar 500 . Through this, the control unit 600 of the vehicle 1 can recognize and process the detection signal received from the simulator S in the same way as that received from the camera 400 and/or the radar 500 of the vehicle 1 . have.

4 is a diagram illustrating a virtual collision situation provided by the simulator (S).

Referring to FIG. 4 , a vehicle 1 is currently traveling toward a collision prediction point P at a distance Ls apart from a predetermined collision prediction point P. In addition, the simulator S may transmit sensing information on the virtual target vehicle Xv located at a distance Lm+Lv from the predicted collision point P to the vehicle 1 . Through this, the vehicle 1 may recognize that the virtual target vehicle Xv located at a distance Lm+Lv from the collision prediction point P actually exists.

The simulator S transmits a detection signal for the virtual target vehicle Xv to the vehicle 1 in real time, thereby providing the vehicle 1 with a change in the location of the virtual target vehicle Xv, that is, driving information. have. Specifically, the simulator S may provide the vehicle 1 with driving information indicating that the virtual target vehicle Xv located at a distance separated by Lm+Lv from the collision expected point P is driving toward the collision expected point P. can

In this case, the simulator S may determine the speed of the virtual target vehicle Xv so that a collision situation occurs in the collision prediction area C set within a radius Lm from the collision prediction point P. Hereinafter, a method of determining the speed of the virtual target vehicle Xv will be described in detail with reference to FIG. 5 .

5 is a speed graph of a vehicle 1 and a virtual target vehicle Xv according to an embodiment of the disclosed invention. FIG. 5A is a diagram illustrating a graph of the traveling speed Vm of the vehicle 1 with respect to time, and FIG. 5B is a graph of the traveling speed Vv of the virtual target vehicle Xv with respect to time It is an exemplified drawing. Also, t1 may mean a time at which the virtual target vehicle Xv enters the collision prediction region C, and t2 may mean a time when a collision between the vehicle 1 and the virtual target vehicle Xv occurs.

The simulator S transmits a detection signal for the virtual driving vehicle 1 traveling at a speed corresponding to the driving speed of the vehicle 1 until the virtual driving vehicle 1 enters the collision prediction region C. 1) can be sent to Specifically, before the virtual driving vehicle 1 enters the collision prediction area C, the simulator S is proportional to the traveling speed Vm of the vehicle 1 and the distance Ls between the vehicle 1 and the collision prediction point, and A detection signal for the virtual driving vehicle 1 traveling at a speed inversely proportional to the distance Lv between the target vehicle Xv of and the boundary of the collision prediction region may be transmitted to the vehicle 1 .

Here, the traveling speed of the vehicle 1 may be obtained by calculating the position information of the satellite signal received by the GPS antenna 300 of the vehicle 1 by the controller 600 . The simulator S may receive the driving speed of the vehicle 1 calculated by the controller 600 , and may determine the virtual target vehicle Xv speed based thereon.

Referring to FIG. 5 , it can be confirmed that the driving speed Vv of the virtual target vehicle Xv at a time point before t1 has a similar pattern to the driving speed Vm of the vehicle 1 . That is, even when the traveling speed Vm of the vehicle 1 changes, the traveling speed Vv of the virtual target vehicle Xv adaptively changes to Vm, so that the simulator S induces a collision to occur within the collision prediction region C. can do.

Also, when the virtual driving vehicle 1 enters the collision prediction region C, the simulator S may transmit a detection signal for the virtual driving vehicle 1 that is coasting down to the vehicle 1 . Here, the inertia driving means that the virtual driving vehicle 1 does not accelerate any more and runs while maintaining the current driving speed, and the driving speed may be gradually decreased by frictional force generated by the ground.

After the virtual driving vehicle 1 enters the collision prediction region C, in order to induce a collision in the collision prediction region C, the simulator S performs inertia driving in which the virtual driving vehicle 1 does not accelerate any more. A detection signal may be transmitted to the vehicle 1 to do so.

Referring back to FIG. 5 , it can be confirmed that the driving speed Vv of the virtual target vehicle Xv has a different pattern from the driving speed Vm of the vehicle 1 at time points after t1 . Specifically, since the virtual target vehicle Xv drives inertially at a time point after t1, the traveling speed Vv of the virtual target vehicle Xv may decrease constantly at a time point after t1. As a result, the simulator S may induce a collision with the virtual target vehicle Xv to occur within the collision prediction region C. As shown in FIG.

Also, the simulator S may update the collision prediction area C in real time before the virtual target vehicle Xv enters the collision prediction area C.

6A and 6B are diagrams for explaining a method of updating a collision prediction area according to an embodiment of the disclosed subject matter.

The simulator S may update an area within a distance corresponding to the difference between the traveling speed Vm of the vehicle 1 and the traveling speed Vv of the virtual target vehicle Xv from the collision prediction point P as the collision prediction area C .

Specifically, if the traveling speed Vm of the vehicle 1 and the traveling speed Vv of the virtual target vehicle Xv are the same, the simulator S updates the area within the reference radius Lmr from the collision prediction point P to the collision prediction area C. can

On the other hand, if the driving speed Vv of the virtual target vehicle Xv is smaller than the driving speed Vm of the vehicle 1, the simulator S calculates an area within the first radius Lm1 from the expected collision point P, which is larger than the area within the reference radius Lmr. It can be updated as collision prediction area C. Through this, the time when the virtual target vehicle Xv, which is traveling at a slower speed than the vehicle 1 , enters the collision prediction region C may be advanced. Referring to FIG. 6A , it can be confirmed that the radius of the collision prediction area C is extended to a first radius Lm1 that is larger than the reference radius Lmr.

On the other hand, if the driving speed Vv of the virtual target vehicle Xv is greater than the driving speed Vm of the vehicle 1, the simulator S generates an area within the second radius Lm2 smaller than the area within the reference radius Lmr from the collision expected point P. It can be updated as collision prediction area C. Through this, the time at which the virtual target vehicle Xv, which travels faster than the vehicle 1, enters the collision prediction area C may be delayed. Referring to FIG. 6B , it can be confirmed that the radius of the collision prediction area C is shortened to a second radius Lm2 that is smaller than the reference radius Lmr.

When a collision situation is provided to the vehicle 1 according to the above-described simulation method, the vehicle 1 may control the ADAS module 700 to avoid collision with the virtual target vehicle Xv. When the control of the ADAS module 700 is completed, the vehicle 1 may transmit a result of controlling the ADAS module 700 to the simulator S in order to avoid a collision. The simulator S may analyze this to determine whether the vehicle 1 is in a normal state.

In addition, the vehicle 1 may display the location of the virtual target vehicle Xv through the display so that the driver recognizes the existence of the virtual target vehicle Xv. For the simulation, the driver may drive while recognizing the existence of the virtual target vehicle Xv identified through the display.

Unlike the above-described embodiment, the display may be provided as a configuration separate from the vehicle 1 . For example, the display may be implemented as a wearable device separate from the vehicle 1 , and the driver may recognize the virtual target vehicle Xv as if it exists in real life by wearing a wearable device such as smart glasses.

7 is a flowchart of a method for simulating a vehicle 1 according to an embodiment of the disclosed invention.

First, the vehicle 1 may check the traveling speed. ( 900 ) Specifically, based on the location information of the vehicle 1 confirmed using the satellite signal received by the GPS antenna 300 of the vehicle 1 , The running speed can be checked.

When the driving speed of the vehicle 1 is confirmed, the simulator S may transmit a detection signal for the virtual target vehicle Xv traveling at a speed corresponding to the driving speed to the vehicle 1 ( 910 ). , the detection signal may include at least one of a camera 400 signal and a radar 500 signal.

Specifically, the simulator S runs at a speed proportional to the driving speed of the vehicle 1 and the distance between the vehicle 1 and the expected collision point, and inversely proportional to the distance between the virtual target vehicle Xv and the boundary of the collision prediction area. A detection signal for the virtual driving vehicle 1 running may be transmitted to the vehicle 1 .

Then, the simulator S may check whether the virtual target vehicle Xv has entered the collision prediction area ( 920 ). Here, the collision prediction area may mean an area within an arbitrary radius from a predetermined collision prediction point. can

If it is before the virtual target vehicle Xv enters the collision prediction area, the simulator S may repeatedly check this.

On the other hand, if the virtual target vehicle Xv enters the collision prediction region, the simulator S may transmit a detection signal for the virtual target vehicle Xv that is coasting down to the vehicle 1 ( 930) Here, the inertial driving means that the virtual driving vehicle 1 does not accelerate any more and drives while maintaining the current driving speed, and the driving speed may be gradually decreased by frictional force generated by the ground.

Then, when a collision with the virtual target vehicle Xv is expected, the vehicle 1 may control the ADAS module 700 of the vehicle 1 to avoid the collision ( 940 ). can be done within

Finally, the vehicle 1 may transmit the operation result of the ADAS module 700 to the simulator S ( 950 ). The simulator S may check whether the vehicle 1 is in a normal state by analyzing it later. have.

1: vehicle
134: display
300: GPS antenna
400: camera
500: radar
600: control unit
700: ADAS module
710: ESC
720: MDPS

Claims (20)

a vehicle that confirms the presence of a target vehicle based on a detection signal including at least one of a radar signal and a camera signal, and controls an ADAS module to avoid the collision when a collision with the target vehicle is expected at an expected collision point; and
a simulator for transmitting the detection signal to the vehicle so that when the vehicle and the virtual target vehicle enter a collision prediction area, the virtual target vehicle is recognized as coasting down; A vehicle simulation system comprising a. The method of claim 1,
The simulator is
The virtual target that travels at a speed determined based on the driving speed of the vehicle, the distance between the vehicle and the expected collision point, and the distance between the virtual target vehicle and the expected collision point before entering the collision prediction area A vehicle simulation system that transmits the detection signal to the vehicle so that the presence of the vehicle is confirmed. 3. The method of claim 2,
The simulator is
Before entering the collision prediction area, the vehicle travels at a speed proportional to the driving speed of the vehicle and the distance between the vehicle and the collision prediction point, and inversely proportional to the distance between the virtual target vehicle and the boundary of the collision prediction area A vehicle simulation system for transmitting the detection signal to the vehicle to confirm the presence of a virtual target vehicle. delete The method of claim 1,
The simulator is
Before entering the collision prediction area, the vehicle simulation system is configured to update the collision prediction area based on a difference between the traveling speed of the vehicle and the traveling speed of the virtual target vehicle. 6. The method of claim 5,
The simulator is
and updating an area within a distance corresponding to a difference between the traveling speed of the vehicle and the virtual target vehicle traveling speed from the collision prediction point as the collision prediction area. 7. The method of claim 6,
The simulator is
When the traveling speed of the vehicle and the traveling speed of the virtual target vehicle are the same, an area within a reference radius from the collision prediction point is updated as the collision prediction area;
When the traveling speed of the virtual target vehicle is lower than the traveling speed of the vehicle, an area within a first radius greater than the reference radius from the collision prediction point is updated as the collision prediction area,
When the driving speed of the virtual target vehicle is greater than the driving speed of the vehicle, a region within a second radius smaller than the reference radius from the collision prediction point is updated as the collision prediction region. The method of claim 1,
The simulator is
A vehicle simulation system for transmitting the detection signal to the vehicle by CAN communication. The method of claim 1,
The vehicle is
After receiving the detection signal from the simulator, the vehicle simulation system transmits a result of controlling the ADAS module to the simulator in order to avoid the collision. The method of claim 1,
The vehicle is
a display for displaying the location of the virtual target vehicle based on the detection signal received from the simulator; A vehicle simulation system comprising a. transmitting, by a simulator, a detection signal for a virtual target vehicle driving at a speed corresponding to the driving speed of the vehicle to the vehicle before entering a collision prediction area determined by the collision prediction point;
transmitting, by a simulator, the detection signal for the virtual target vehicle that coasts down when entering the collision prediction area to the vehicle; and
controlling, by the vehicle, an ADAS module of the vehicle to avoid a collision with the virtual target vehicle at the collision expected point based on the received detection signal; A vehicle simulation method comprising a. 12. The method of claim 11,
Transmitting, to the vehicle, a detection signal for a virtual target vehicle that travels at a speed corresponding to the traveling speed of the vehicle before entering the collision prediction area,
the vehicle so as to confirm the existence of the virtual target vehicle traveling at a speed determined based on the driving speed of the vehicle, the distance between the vehicle and the expected collision point, and the distance between the virtual target vehicle and the expected collision point A vehicle simulation method for transmitting the detection signal to 13. The method of claim 12,
Transmitting, to the vehicle, a detection signal for a virtual target vehicle that travels at a speed corresponding to the traveling speed of the vehicle before entering the collision prediction area,
The existence of the virtual target vehicle traveling at a speed proportional to the driving speed of the vehicle and the distance between the vehicle and the collision prediction point and inversely proportional to the distance between the virtual target vehicle and the boundary of the collision prediction area is confirmed A vehicle simulation method for transmitting the detection signal to the vehicle as possible. 12. The method of claim 11,
The step of transmitting the detection signal for the virtual target vehicle inertial driving to the vehicle when entering the collision prediction region includes:
A vehicle simulation method for transmitting the detection signal to the vehicle so that the presence of a virtual target vehicle performing the inertial driving without acceleration is confirmed. 12. The method of claim 11,
updating the collision prediction area based on a difference between the traveling speed of the vehicle and the traveling speed of the virtual target vehicle before entering the collision prediction area; A vehicle simulation method further comprising a. 16. The method of claim 15,
The step of updating the collision prediction area comprises:
A vehicle simulation method for updating an area within a distance corresponding to a difference between a traveling speed of the vehicle and a traveling speed of the virtual target vehicle from the collision prediction point as the collision prediction area. 17. The method of claim 16,
The step of updating the collision prediction area comprises:
updating an area within a reference radius from the collision prediction point to the collision prediction area when the traveling speed of the vehicle is the same as the traveling speed of the virtual target vehicle;
updating an area within a first radius greater than the reference radius from the collision prediction point as the collision prediction area when the traveling speed of the virtual target vehicle is lower than the traveling speed of the vehicle; and
updating an area within a second radius smaller than the reference radius from the collision prediction point as the collision prediction area when the traveling speed of the virtual target vehicle is greater than the traveling speed of the vehicle; A vehicle simulation method comprising a. 12. The method of claim 11,
The simulator is
A vehicle simulation method for transmitting the detection signal to the vehicle by CAN communication. 12. The method of claim 11,
transmitting, by the vehicle, the result of controlling the ADAS module to the simulator to avoid the collision after the vehicle receives the detection signal from the simulator; A vehicle simulation method further comprising a. 12. The method of claim 11,
displaying, by the vehicle, the location of the virtual target vehicle based on the detection signal received from the simulator; A vehicle simulation method further comprising a.

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