KR102489963B1 - Vehicle and controlling method thereof - Google Patents

Abstract

The disclosed invention relates to a vehicle and a control method thereof, wherein the vehicle includes: a vehicle sensor for detecting obstacles including other vehicles inside the vehicle and around the vehicle; Based on the information detected from the vehicle sensor while the vehicle is driving around an intersection, it is determined whether a collision can be prevented through braking control between the vehicle and another vehicle having a driving direction that intersects with the vehicle's driving direction. and, when collision avoidance is impossible, a control unit that determines the predicted collision location in the user vehicle and the location of the occupant in the vehicle, and performs driving control of the user vehicle based on the determined collision predicted location or occupant location. .

Description

Vehicle and its control method {VEHICLE AND CONTROLLING METHOD THEREOF}

It relates to a vehicle and its control method.

Vehicles tend to develop and install various vehicle value-added service devices in consideration of driver's convenience and safety.

More specifically, the vehicle supplementary service device includes safety assist devices such as a lane departure warning device that prevents departure from the driving lane by assisting the driver's steering wheel operation while driving the vehicle, as well as a route to a destination selected by the driver and It may include an additional service providing device such as a navigation system for guiding surrounding information along a route.

In addition, the vehicle introduces a system such as a forward collision-avoidance assist system to prevent a forward collision of the vehicle. However, a situation in which a vehicle cannot prevent a collision by late detecting another vehicle that is expected to collide due to the influence of the surrounding environment often occurs.

Accordingly, the operator has sought a control strategy capable of minimizing collision damage when a vehicle is expected to collide with another vehicle.

Disclosed embodiments are intended to provide a vehicle and a control method for controlling driving of a vehicle to minimize collision damage when a vehicle is expected to collide with another vehicle.

As a technical means for achieving the above-described technical problem, a vehicle according to an aspect includes a vehicle sensor for detecting obstacles including other vehicles inside the own vehicle and around the own vehicle; Based on information detected by the vehicle sensor while the subject vehicle is driving around an intersection, whether a collision can be prevented through braking control between the subject vehicle and another vehicle having a driving direction that intersects the driving direction of the subject vehicle. and, if collision avoidance is not possible, determine the predicted collision position in the subject vehicle and the position of the occupant in the subject vehicle, and control the driving of the subject vehicle based on the identified predicted collision position or the occupant position. A control unit to perform; may include.

In addition, the control unit may perform driving control of the own vehicle including at least one of partial braking control, acceleration control, and steering control of the own vehicle.

In addition, the control unit may determine a location at which the other vehicle is expected to collide as an expected collision location in the vehicle at a point where the vehicle stops with the maximum braking force.

In addition, when it is expected that the host vehicle and the other vehicle will collide in the front bumper area of the host vehicle at an intersection, the control unit determines whether a wheel opposite to a collision expected position of the other vehicle among the left and right wheels of the host vehicle is expected to collide. Partial braking control can be performed.

In addition, the control unit determines, when it is expected that the subject vehicle and the other vehicle collide in an area between the front bumper and the center pillar of the subject vehicle at an intersection, the predicted collision position of the other vehicle among the left and right wheels of the subject vehicle. Partial braking control can be performed on the opposite wheel.

In addition, when it is expected that the own vehicle and the other vehicle will collide in the center pillar area of the own vehicle at an intersection, and there is no occupant in the direction in which the other vehicle collides, the control unit determines the location of the own vehicle. Among the left and right wheels, partial braking control may be performed on a wheel opposite to the predicted collision position of the other vehicle.

In addition, the control unit may, when it is expected that the own vehicle and the other vehicle will collide in the center pillar area of the own vehicle at an intersection, and there are occupants only in the front seat in the direction in which the other vehicle collides, the own vehicle Among the left and right wheels of the vehicle, partial braking control may be performed on the wheels opposite to the predicted collision position of the other vehicle.

Also, when performing the partial braking control, the control unit may perform partial braking control on at least one of a plurality of left wheels of the host vehicle.

In addition, the control unit may determine, when it is expected that the own vehicle and the other vehicle will collide in the center pillar area of the own vehicle at an intersection, and a passenger exists only in the rear seat in the direction in which the other vehicle collides, the own vehicle Among the left and right wheels of the vehicle, partial braking control may be performed on a wheel in the same direction as the predicted collision position of the other vehicle.

In addition, the control unit determines, when it is expected that the subject vehicle and the other vehicle will collide in an area between the center pillar and the rear bumper of the subject vehicle at an intersection, the predicted collision position of the other vehicle among the left and right wheels of the subject vehicle. Partial braking control can be performed on wheels in the same direction as

In addition, when performing partial braking control on the wheels of the host vehicle, the control unit may also perform steering control in the direction in which the partial braking control of the host vehicle is performed.

In addition, the control unit checks whether or not it is possible to pass the acceleration control of the own vehicle before the collision between the own vehicle and the other vehicle at the collision point between the own vehicle and the other vehicle, and if it is possible as a result of the check, the self vehicle The vehicle may be accelerated at a preset speed.

A method for controlling a vehicle according to an aspect of the present disclosure includes detecting other vehicles inside and around a user vehicle through a vehicle sensor, and based on information detected from the vehicle sensor while the user vehicle is driving around an intersection. Recognizing a collision between the host vehicle and another vehicle having a driving direction crossing the driving direction of the vehicle, checking whether or not a collision can be prevented through braking control between the host vehicle and the other vehicle, and as a result of the check, collision When prevention is impossible, it may include determining the predicted collision position in the own vehicle and the position of the occupant in the own vehicle, and performing driving control of the subject vehicle based on the determined predicted collision position or the occupant position. there is.

Also, performing the driving control of the own vehicle may include performing driving control of the own vehicle including at least one of partial braking control, acceleration control, and steering control of the own vehicle.

In addition, determining the collision predicted location in the host vehicle may include determining a location where the other vehicle is expected to collide at a point where the host vehicle stops with maximum braking force as the predicted collision location in the host vehicle. there is.

In addition, the vehicle control method includes performing driving control of the host vehicle when it is expected that the host vehicle and the other vehicle will collide in the front bumper area of the host vehicle at an intersection, and the left and right sides of the host vehicle. Among the wheels, partial braking control may be performed on a wheel opposite to the predicted collision position of the other vehicle.

In addition, the vehicle control method includes performing driving control of the host vehicle when it is expected that the host vehicle and the other vehicle will collide in an area between a front bumper and a center pillar of the host vehicle at an intersection. Among the left and right wheels of the subject vehicle, partial braking control may be performed on the wheels opposite to the predicted collision position of the other vehicle.

In addition, in the vehicle control method, when it is expected that the own vehicle and the other vehicle will collide in the center pillar area of the own vehicle at an intersection, and there is no occupant in the direction in which the other vehicle collides, the vehicle is expected to collide with the other vehicle. In performing the driving control of the vehicle, partial braking control may be performed on a wheel opposite to the predicted collision position of the other vehicle among the left and right wheels of the host vehicle.

In the vehicle control method, when it is expected that the own vehicle and the other vehicle will collide in the center pillar area of the own vehicle at an intersection, and a passenger exists only in the front seat in the direction in which the other vehicle collides, the In performing driving control of the host vehicle, partial braking control may be performed on a wheel opposite to a collision expected position of the other vehicle among the left and right wheels of the host vehicle.

In addition, in the vehicle control method, when it is expected that a reporter vehicle and the other vehicle will collide in the center pillar area of the host vehicle at an intersection, and there are occupants only in the rear seat in the direction in which the other vehicle collides, the In performing driving control of the host vehicle, partial braking control may be performed on a wheel of the left and right wheels of the host vehicle in the same direction as the collision expected position of the other vehicle.

In addition, the vehicle control method includes performing driving control of the host vehicle when it is expected that the host vehicle and the other vehicle will collide in an area between a center pillar and a rear bumper of the host vehicle at an intersection. Among the left and right wheels of the host vehicle, partial braking control may be performed on a wheel in the same direction as the predicted collision position of the other vehicle.

In addition, in the vehicle control method, when performing partial braking control on the wheels of the host vehicle, steering control in a direction for performing partial braking control of the host vehicle may also be performed.

In addition, performing the driving control of the host vehicle checks whether it is possible to pass the acceleration control of the host vehicle before the collision between the host vehicle and the other vehicle at the collision point between the host vehicle and the other vehicle, As a result of checking, if possible, acceleration control of the host vehicle at a preset speed may be included.

According to the above-described means for solving the problem, when a collision between the own vehicle and another vehicle is expected, the effect of minimizing the damage to the occupant in the event of a vehicle collision can be expected by generating the moment of the vehicle using various methods including uniform braking. .

In addition, the disclosed invention can prevent a collision in advance through acceleration control according to circumstances prior to the collision of the own vehicle with another vehicle.

1 is a view showing the appearance of a vehicle.
2 is a view showing the interior of a vehicle.
3 is a control block diagram showing the configuration of the vehicle in detail.
4 to 11 are exemplary diagrams for explaining a method for controlling driving of a vehicle.
12 is a flowchart for explaining a method of controlling a vehicle.

Like reference numbers designate like elements throughout the specification. This specification does not describe all elements of the embodiments, and general content or overlapping content between the embodiments in the technical field to which the present invention belongs is omitted. The term 'unit, module, member, block' used in the specification may be implemented as software or hardware, and according to embodiments, a plurality of 'units, modules, members, blocks' may be implemented as a single component or as a single component. It is also possible that the 'part, module, member, block' of includes a plurality of components.

Throughout the specification, when a part is said to be "connected" to another part, this includes not only the case of being directly connected but also the case of being indirectly connected, and indirect connection includes being connected through a wireless communication network. do.

In addition, when a certain component is said to "include", this means that it may further include other components without excluding other components unless otherwise stated.

Terms such as first and second are used to distinguish one component from another, and the components are not limited by the aforementioned terms.

Expressions in the singular number include plural expressions unless the context clearly dictates otherwise.

In each step, the identification code is used for convenience of description, and the identification code does not explain the order of each step, and each step may be performed in a different order from the specified order unless a specific order is clearly described in context. there is.

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

1 is a view showing the appearance of a vehicle.

Referring to FIG. 1, the exterior of a vehicle 1 includes a main body 10 forming the exterior of the vehicle 1, a windscreen 11 providing a driver with a view of the front of the vehicle 1, and a driver A side mirror 12 providing a rear view of the vehicle 1, a door 13 shielding the inside of the vehicle 1 from the outside, and a front wheel 21 positioned at the front of the vehicle and a rear wheel positioned at the rear of the vehicle ( 22) may include wheels 21 and 22 for moving the vehicle 1.

The wind screen 11 is provided on the front upper side of the main body 10 so that the driver inside the vehicle 1 can obtain visual information of the front of the vehicle 1. In addition, the side mirror 12 includes a left side mirror provided on the left side of the body 10 and a right side mirror provided on the right side of the body 10, and the driver inside the vehicle 1 provides visual information of the side and rear of the vehicle 1. make it possible to obtain

Doors 13 are rotatably provided on the left and right sides of the main body 10 so that the driver can get inside the vehicle 1 when opened, and when closed, the inside of the vehicle 1 is shielded from the outside. can

In addition to the above-described configuration, the vehicle 1 includes a power device 16 for rotating the wheels 21 and 22, a steering device (not shown) for changing the moving direction of the vehicle 1, and a braking device for stopping the movement of the wheels ( not shown) may be included.

The power unit 16 provides rotational force to the front wheel 21 or the rear wheel 22 so that the body moves forward or backward. Such a power device 16 may include an engine generating rotational force by burning fossil fuel or a motor generating rotational force by receiving power from a capacitor (not shown).

The steering device includes a steering wheel (42 in FIG. 2) receiving a driving direction from a driver, a steering gear (not shown) that converts rotational motion of the steering wheel 42 into reciprocating motion, and reciprocating motion of the steering gear (not shown). It may include a steering link (not shown) that transmits to the front wheel 21. Such a steering device can change the driving direction of the vehicle 1 by changing the direction of the rotating shaft of the wheel.

The braking device includes a brake pedal (not shown) receiving a braking operation from a driver, a brake drum (not shown) coupled to the wheels 21 and 22, and a brake shoe that brakes the rotation of the brake drum (not shown) using frictional force. (not shown) and the like. Such a braking device can brake the running of the vehicle 1 by stopping rotation of the wheels 21 and 22 .

2 is a view showing the interior of a vehicle.

The inside of the vehicle 1 includes a dashboard 14 in which various devices for the driver to operate the vehicle 1 are installed, a driver's seat 15 for the driver of the vehicle 1 to sit on, and the vehicle 1 It may include cluster display units 51 and 52 that display operation information of the driver, and a navigation 70 that provides audio and video functions as well as a route guidance function that provides route guidance information according to a driver's operation command. there is.

The dashboard 14 protrudes from the lower part of the windscreen 11 toward the driver, and allows the driver to operate various devices installed on the dashboard 14 while looking forward.

The driver's seat 15 is provided at the rear of the dashboard 14 so that the driver can drive the vehicle 1 in a stable posture while keeping an eye on the front of the vehicle 1 and various devices on the dashboard 14 .

The cluster display units 51 and 52 are provided on the side of the driver's seat 15 of the dashboard 14, and display the driving speed gauge 51 displaying the driving speed of the vehicle 1 and the rotational speed of the power unit (not shown). It may include an rpm gauge 52 to indicate.

The navigation system 70 may include a display displaying information on a road on which the vehicle 1 is driving or a route to a destination that a driver intends to reach, and a speaker 41 outputting sound according to a driver's manipulation command. Recently, an audio video navigation (AVN) device in which an audio device, a video device, and a navigation device are integrated is being installed in a vehicle.

The navigation device 70 may be installed in a center fascia. At this time, the center fascia refers to the control panel portion between the driver's seat and the passenger's seat in the dashboard 14, and is an area where the dashboard 14 and the shift lever vertically meet, and includes a navigation system 70, an air conditioner, Heater controller, air outlet, cigar jack, ashtray, cup holder, etc. can be installed. In addition, the center fascia, along with the center console, can also play a role in separating the driver's seat and passenger seat.

In addition, a separate jog dial 60 for various driving operations including the navigation 70 may be provided.

The jog dial 60 of the disclosed invention is provided with a touch pad with a touch recognition function, as well as a method of performing a driving operation by rotating or applying pressure, using a user's finger or a tool with a separate touch recognition function. Thus, handwriting recognition for driving operation may be performed.

Hereinafter, reference number 100 denotes a vehicle, and will also be expressed as a vehicle to distinguish it from other vehicles.

3 is a control block diagram showing the configuration of the vehicle in detail.

Hereinafter, it will be described with reference to FIGS. 4 to 11, which are exemplary diagrams for explaining a method for controlling driving of a vehicle.

Referring to FIG. 3 , the vehicle 100 may include a communication unit 110, an input unit 120, a storage unit 130, a display 140, a vehicle sensor 150, and a control unit 160.

The communication unit 110 may include one or more components enabling communication with an external device, and may include, for example, at least one of a short-distance communication module, a wired communication module, and a wireless communication module.

The short-range communication module uses a wireless communication network such as a Bluetooth module, an infrared communication module, a Radio Frequency Identification (RFID) communication module, a Wireless Local Access Network (WLAN) communication module, an NFC communication module, and a Zigbee communication module to transmit signals at a short distance. It may include various short-range communication modules that transmit and receive.

Wired communication modules include various wired communication modules, such as Controller Area Network (CAN) communication modules, Local Area Network (LAN) modules, Wide Area Network (WAN) modules, or Value Added Network (VAN) modules. In addition to communication modules, various cable communications such as USB (Universal Serial Bus), HDMI (High Definition Multimedia Interface), DVI (Digital Visual Interface), RS-232 (recommended standard 232), power line communication, or POTS (plain old telephone service) modules may be included.

The wireless communication module includes the Radio Data System-Traffic Message Channel (RDS-TMC), DMB (Digital Multimedia Broadcasting), Wi-Fi module, and WiBro (Wireless broadband) module, as well as GSM (global System for Supports various wireless communication methods such as Mobile Communication), CDMA (Code Division Multiple Access), WCDMA (Wideband Code Division Multiple Access), UMTS (universal mobile telecommunications system), TDMA (Time Division Multiple Access), LTE (Long Term Evolution) It may include a wireless communication module that does.

The wireless communication module may include a wireless communication interface including an antenna and a receiver for receiving traffic information signals. In addition, the wireless communication module converts analog-type wireless signals received through the wireless communication interface into digital control signals. It may further include a traffic information signal conversion module for demodulation to .

Meanwhile, the communication unit 110 may further include an internal communication module (not shown) for communication between electronic devices inside the vehicle 100 . As an internal communication protocol of the vehicle 100, CAN (Controller Area Network), LIN (Local Interconnection Network), FlexRay, Ethernet, and the like may be used.

The input unit 120 is a hardware device such as various buttons, switches, pedals, keyboards, mice, track-balls, various levers, handles or sticks for user input. device may be included.

Also, the input unit 120 may include a GUI (Graphical User Interface), ie, a software device, such as a touch pad for user input. The touch pad may be implemented as a touch screen panel (TSP) to form a mutual layer structure with the display 140 .

The storage unit 130 may store various types of information related to the vehicle 100 .

The storage unit 130 may include a non-volatile memory device such as a cache, read only memory (ROM), programmable ROM (PROM), erasable programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM), and flash memory or RAM. It may be implemented as at least one of a volatile memory device such as (Random Access Memory), a hard disk drive (HDD), or a storage medium such as a CD-ROM, but is not limited thereto. The storage unit 130 may be a memory implemented as a separate chip from the processor described above in relation to the controller 160, or may be implemented as a single chip with the processor.

The display 150 may display various types of information related to the vehicle 100 on the screen so that the user can check them.

The display 150 includes a cathode ray tube (CRT), a digital light processing (DLP) panel, a plasma display panel, a liquid crystal display (LCD) panel, an electroluminescence ( Electro Luminescence (EL) panel, Electrophoretic Display (EPD) panel, Electrochromic Display (ECD) panel, Light Emitting Diode (LED) panel or Organic Light Emitting Diode (OLED) panel ) panel, etc., but is not limited thereto.

The vehicle sensor 150 may be configured to detect obstacles including other vehicles 200 inside the user vehicle 100 and around the user vehicle.

The vehicle sensor 150 may include a pressure sensor, an image acquisition device such as a camera, etc. to determine the location of the occupant inside the vehicle 100, but is not limited thereto, and other sensors capable of determining the location of the occupant. It will be natural to include more.

In addition, the vehicle sensor 150 may include, but is not limited to, a radar sensor for detecting obstacles including other vehicles around the vehicle 100, an image acquisition device such as a camera, and a lidar sensor. The above-described vehicle sensor 150 may be installed at a position of the vehicle 100 capable of detecting both the front side and the front side.

While the host vehicle 100 is driving around an intersection, the control unit 160 controls another vehicle 200 whose driving direction crosses with that of the host vehicle 100 based on the information detected by the vehicle sensor 150. ) and the subject vehicle 100 to determine whether or not a collision can be prevented through braking control, and if collision prevention is impossible, the expected collision position in the subject vehicle 100 and the number of passengers in the subject vehicle 100 It is possible to determine the location and perform driving control of the user vehicle 100 based on the determined collision expected location or the occupant location.

At this time, the control unit 160 may perform driving control of the host vehicle including at least one of partial braking control, acceleration control, and steering control of the host vehicle, and for this purpose, a control signal is transmitted to a corresponding component in the vehicle. would be natural.

The control unit 160 may determine a location where another vehicle 200 is expected to collide at a point where the own vehicle 100 stops with the maximum braking force as the predicted collision location in the own vehicle 100 . At this time, the control unit 160 determines whether there is a collision with another vehicle 200 driving at the intersection based on the vehicle signal generated by the own vehicle 100 and the vehicle sensor 150 signal (eg, radar sensor signal). can do. Specifically, the control unit 160 may determine whether a collision with the host vehicle 100 occurs by estimating the speed and movement path of the own vehicle 100 and the speed and movement path of the other vehicle 200, and the collision The method of predicting is not limited thereto.

The control unit 160 bases the Time To Collision (TTC) to the point where the own vehicle 100 stops with the maximum braking force and the time required to collide with the other vehicle 200 to the point where the own vehicle 100 stops. As a result, it is possible to determine the predicted collision location in the vehicle 100, and the method for determining the predicted collision location is not limited thereto.

The T1 time point disclosed in FIGS. 4 to 11 means a time point at which the vehicle 100 normally recognizes another vehicle 200 capable of avoiding a collision with the other vehicle 200 only by non-braking or braking, and T2 The point of view refers to a point in time at which another vehicle 200 is recognized later than a normal point in time when a collision with the other vehicle 200 cannot be avoided due to a surrounding situation such as an obstacle.

Referring to FIG. 4 , the control unit 160, when it is expected that the own vehicle 100 and the other vehicle 200 collide with the front bumper area of the own vehicle 110 at the intersection, the control unit 160 controls the Among the left and right wheels, partial braking control may be performed on a wheel opposite to the predicted collision position of the other vehicle 200 . In this case, the control unit 160 may control the own vehicle 100 with the maximum braking force, and then perform partial braking control at an intersection between the own vehicle 100 and the other vehicle 200 .

For example, when a collision with another vehicle 200 is expected from the right side of the user vehicle 100, a counterclockwise moment may be generated by applying partial braking to the left wheel of the user vehicle 100. The vehicle 100 may absorb the shock caused by the collision by generating the lateral force due to the partial braking of the left wheel before the time of the collision.

Referring to FIG. 5 , the control unit 160 predicts that the collision between the front bumper of the host vehicle 100 and the center pillar (B pillar) of the host vehicle 100 and the other vehicle 200 is expected to occur at the intersection. In this case, partial braking control may be performed on the wheels opposite to the predicted collision position of the other vehicle 200 among the left and right wheels of the host vehicle 100 . The center filter means a pillar in the middle of the front and rear doors of the user's vehicle 100 . As shown in FIG. 5 , when performing partial braking control, the controller 160 may perform partial braking control on at least one of a plurality of left wheels of the host vehicle 100 . In this case, the control unit 160 may control the own vehicle 100 with the maximum braking force, and then perform partial braking control at an intersection between the own vehicle 100 and the other vehicle 200 .

6 to 7, the control unit 160 predicts that the own vehicle 100 and the other vehicle 200 will collide in the center pillar area of the own vehicle 100 at the intersection (FIG. 6), If there is no occupant in the direction in which the other vehicle 200 collides, partial braking control can be performed on the left and right wheels of the host vehicle 100 on the opposite side of the predicted collision position of the other vehicle 200 . As shown in FIG. 7 , the control unit 160 may generate a counterclockwise moment by applying partial braking to the left wheel of the vehicle 100 in order to protect the driver first. Also, when performing partial braking control, the controller 160 may perform partial braking control on at least one of a plurality of left wheels of the vehicle 100 . In this case, the control unit 160 may control the own vehicle 100 with the maximum braking force, and then perform partial braking control at an intersection between the own vehicle 100 and the other vehicle 200 .

6 and 7 , the control unit 160 predicts that the own vehicle 100 and the other vehicle 200 will collide in the center pillar area of the own vehicle 100 at the intersection, and the other vehicle 200 ) If there are occupants only in the front seat in the direction of collision, partial braking control can be performed on the wheels opposite to the expected collision position of the other vehicle 200 among the left and right wheels of the own vehicle 100. As shown in FIG. 7 , the control unit 160 may generate a counterclockwise moment by applying partial braking to the left wheel of the user's vehicle 100 in order to protect the right passenger seat occupant with the highest priority. As shown in FIG. 7 , when performing partial braking control, the controller 160 may perform partial braking control on at least one of a plurality of left wheels of the user vehicle 100 . In this case, the control unit 160 may control the own vehicle 100 with the maximum braking force, and then perform partial braking control at an intersection between the own vehicle 100 and the other vehicle 200 .

6 and 8 , the control unit 160 predicts that the own vehicle 100 and the other vehicle 200 will collide in the center pillar area of the own vehicle at the intersection, and the other vehicle 200 When there are occupants only in the rear seat in the direction of the collision, partial braking control can be performed on the wheel in the same direction as the predicted collision position of the other vehicle 200 among the left and right wheels of the host vehicle 100 .

For example, when a collision with another vehicle 200 is expected on the right side of the user vehicle 100, a clockwise moment may be generated by applying partial braking to the right wheel of the user vehicle 100. As shown in FIG. 8 , the control unit 160 may generate a counterclockwise moment by applying partial braking to the right wheel of the user's vehicle 100 in order to protect the occupant in the right rear seat with the highest priority.

As shown in FIG. 6 , the control unit 160 predicts that the own vehicle 100 and the other vehicle 200 will collide in the center pillar area of the own vehicle at the intersection, and the control unit 160 determines the direction in which the other vehicle 200 collides. When there are occupants in both the front and rear seats, partial braking can be omitted to absorb shock through the center pillar.

Referring to FIG. 9 , the control unit 160, when it is expected that the own vehicle 100 and another vehicle 200 collide in an area between the center pillar and the rear bumper of the own vehicle 100 at an intersection, the controller 160 determines that the user vehicle 100 collides with the other vehicle 200. Among the left and right wheels of the vehicle 100, partial braking control may be performed on a wheel in the same direction as the predicted collision position of the other vehicle 200.

For example, when a collision with another vehicle 200 is expected on the right side of the user vehicle 100, a clockwise moment may be generated by applying partial braking to the right wheel of the user vehicle 100. The lateral force caused by such partial braking is generated before the collision, so that the shock caused by the collision can be absorbed.

Meanwhile, when performing partial braking control on the wheels of the user vehicle 100, the controller 160 may also perform steering control in the direction in which the partial braking control of the user vehicle 100 is performed.

Referring to FIG. 10 , the control unit 160 determines the collision point between the own vehicle 100 and the other vehicle 200 before the collision between the own vehicle 100 and the other vehicle 200. It is checked whether it is possible to pass the acceleration control, and if it is possible as a result of the check, the vehicle 100 can be accelerated and controlled at a preset speed. At this time, the acceleration control speed may be arbitrarily set by the operator to a speed at which the own vehicle 100 can pass through the collision point before colliding with the other vehicle 200 . These acceleration control rates may be set according to each situation and stored in the storage unit 130 .

The control unit 160 performs the above-described operation using a memory (not shown) storing data for an algorithm for controlling the operation of components in the vehicle 100 or a program that reproduces the algorithm, and the data stored in the memory. It may be implemented as a processor (not shown) that does. In this case, the memory and the processor may be implemented as separate chips. Alternatively, the memory and the processor may be implemented as a single chip.

12 is a flowchart for explaining a method of controlling a vehicle.

A child vehicle of reference number 100 disclosed below means the same vehicle as the vehicle 100, and will be disclosed to be distinguished from other vehicles for convenience of description.

First, the vehicle 100 may detect other vehicles 200 inside the own vehicle 100 and around the own vehicle through the vehicle sensor (311, 313).

Next, the vehicle 100 is another vehicle whose driving direction intersects with the driving direction of the host vehicle 100 based on information detected by the vehicle sensor 150 while the host vehicle 100 is driving around an intersection. A collision between the vehicle 200 and the host vehicle 100 may be recognized (315).

Next, the vehicle 100 may check whether or not a collision between the own vehicle 100 and the other vehicle 200 can be prevented through braking control (317).

As a result of the check, when collision avoidance is impossible, the vehicle 100 can determine the expected collision position in the own vehicle 100 and the position of the occupant in the own vehicle 100 (319, 321).

Next, the vehicle 100 may perform driving control of the own vehicle based on the estimated collision predicted position or the occupant position (323).

Determining the predicted collision location in the own vehicle is to determine the location where the other vehicle 200 is expected to collide at the point where the own vehicle 100 stops with the maximum braking force as the predicted collision location in the own vehicle. it could be

In step S323, the vehicle 100 may perform driving control of the own vehicle including at least one of partial braking control, acceleration control, and steering control of the own vehicle 100.

In step S323, when the vehicle 100 predicts that the vehicle 100 and the other vehicle 200 will collide in the front bumper area of the vehicle at the intersection, the vehicle 100 collides with the other vehicle among the left and right wheels of the vehicle 100. Partial braking control can be performed on the wheel opposite to the expected position.

In step S323, when the vehicle 100 is expected to collide with the other vehicle 200 in the area between the front bumper and the center pillar of the host vehicle at the intersection, among the left and right wheels of the vehicle 100 Partial braking control may be performed on a wheel opposite to the predicted collision position of the other vehicle.

In step S323, the vehicle 100 anticipates that the vehicle 100 and the other vehicle 200 will collide in the center pillar area of the vehicle at the intersection, and there is no occupant in the direction in which the other vehicle collides. In this case, it is possible to perform partial braking control on the left and right wheels of the host vehicle 100 on the wheels opposite to the predicted collision position of the other vehicle.

In step S323, the vehicle 100 predicts that the vehicle 100 and the other vehicle 200 will collide in the center pillar area of the vehicle 100 at the intersection, and the direction in which the other vehicle 200 collides When there are occupants only in the front seat, partial braking control can be performed on the left and right wheels of the host vehicle 100 on the opposite side of the predicted collision position of the other vehicle 200 .

In step S323, the vehicle 100 predicts that the vehicle 100 and the other vehicle 200 will collide in the center pillar area of the vehicle 100 at the intersection, and the direction in which the other vehicle 200 collides When there are occupants only in the rear seat, partial braking control can be performed on a wheel in the same direction as the predicted collision position of the other vehicle 200 among the left and right wheels of the vehicle 100 .

In step S323, if the vehicle 100 is expected to collide with the other vehicle 200 in the area between the center pillar and the rear bumper of the own vehicle 100 at the intersection, the vehicle 100 Among the left and right wheels of ), partial braking control may be performed on a wheel in the same direction as the predicted collision position of the other vehicle 200 .

In step S323, when the vehicle 100 performs partial braking control on the wheels of the host vehicle, it may also perform steering control in the direction in which the partial braking control of the host vehicle 100 is performed.

In step S323, the vehicle 100 sets the collision point between the own vehicle 100 and the other vehicle 200 to the acceleration control of the own vehicle 100 before the collision between the own vehicle 100 and the other vehicle 200. It is checked whether it is possible to pass through, and if it is possible as a result of the check, the vehicle 100 can be accelerated and controlled at a preset speed.

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 codes, and when executed by a processor, create program modules to perform operations of the disclosed embodiments. The recording medium may be implemented as a computer-readable recording medium.

Computer-readable recording media include all types of recording media in which instructions that can be decoded by a 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 device, and the like.

As above, the disclosed embodiments have been described with reference to the accompanying drawings. Those skilled in the art to which the present invention pertains will understand that the present invention can be implemented in a form different from 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, 100: vehicle
110: Communication Department
120: input unit
130: storage unit
140: display
150: vehicle sensor
160: control unit

Claims (23)

a vehicle sensor for detecting obstacles including other vehicles inside the user vehicle and around the user vehicle;
Based on information detected by the vehicle sensor while the subject vehicle is driving around an intersection, whether a collision can be prevented through braking control between the subject vehicle and another vehicle having a driving direction that intersects the driving direction of the subject vehicle. and, if collision avoidance is not possible, determine the predicted collision position in the subject vehicle and the position of the occupant in the subject vehicle, and determine which of the left and right wheels of the subject vehicle is determined based on the determined predicted collision position or the occupant position. A control unit that performs partial braking control on wheels in the same direction as the predicted collision position of the other vehicle;
The control unit,
When it is expected that the own vehicle and the other vehicle will collide in the center pillar area of the own vehicle at an intersection, and there is a passenger only in the rear seat in the direction in which the other vehicle collides, the other vehicle among the left and right wheels of the own vehicle A vehicle that performs partial braking control on wheels in the same direction as the predicted collision location of the vehicle. delete According to claim 1,
The control unit,
A vehicle that determines a location where the other vehicle is expected to collide at a point where the host vehicle stops with maximum braking force as the predicted collision location in the host vehicle. delete delete delete delete delete delete According to claim 1,
The control unit,
When the subject vehicle and the other vehicle are expected to collide in the area between the center pillar and the rear bumper of the subject vehicle at the intersection, the left and right wheels of the subject vehicle are driven in the same direction as the predicted collision position of the other vehicle. A vehicle that performs partial braking control. According to any one of claims 1 and 10,
The control unit,
A vehicle that, when performing partial braking control on the wheels of the host vehicle, also performs steering control in the direction in which the partial braking control of the host vehicle is performed. delete Detect other vehicles inside the vehicle and around the vehicle through the vehicle sensor,
While the subject vehicle is driving around an intersection, recognizing a collision between the subject vehicle and another vehicle having a driving direction intersecting with that of the subject vehicle based on information detected by the vehicle sensor,
Check whether a collision can be prevented through braking control between the host vehicle and the other vehicle;
As a result of the check, if collision avoidance is impossible, determine the predicted location of the collision in the vehicle and the location of the occupant in the vehicle;
performing partial braking control on a wheel in the same direction as the collision predicted position of the other vehicle among left and right wheels of the host vehicle based on the determined collision predicted position or the occupant position;
Performing the driving control of the vehicle,
When it is expected that the own vehicle and the other vehicle will collide in the center pillar area of the own vehicle at an intersection, and there is a passenger only in the rear seat in the direction in which the other vehicle collides, the other vehicle among the left and right wheels of the own vehicle A vehicle control method for performing partial braking control on a wheel in the same direction as an expected collision position of the vehicle. delete According to claim 13,
Determining the predicted collision location in the vehicle,
and identifying a location where the other vehicle is expected to collide at a point where the host vehicle stops with maximum braking force as an expected collision location in the vehicle. delete delete delete delete delete According to claim 13,
When the subject vehicle and the other vehicle are expected to collide in the area between the center pillar and the rear bumper of the subject vehicle at the intersection,
In performing driving control of the host vehicle,
A vehicle control method for performing partial braking control on wheels of the left and right wheels of the host vehicle in the same direction as the predicted collision position of the other vehicle. According to any one of claims 13 and 21,
A method of controlling a vehicle in which, when performing partial braking control on wheels of the host vehicle, steering control in a direction for performing partial braking control of the host vehicle is also performed. delete

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