KR102544335B1 - Distance detection apparatus, collision prevention apparatus and collision prevention method using thereof - Google Patents

Abstract

In the present invention, the movement distance information of the vehicle is received from a movement sensor in a first period set in advance, and the relative distance between the vehicle and an obstacle located in the direction of the vehicle's movement is measured in a second period set in advance from an ultrasonic sensor and longer than the first period. a receiver for receiving information; a calculation unit for calculating estimated relative distance information between the vehicle and an obstacle in a first cycle using the measured relative distance information and the movement distance information at a reference point in time when both the moving distance information and the measured relative distance information are simultaneously received; a sensing unit for detecting a risk of collision between a vehicle and an obstacle using relative distance information, which is at least one of measured relative distance information and estimated relative distance information; and a control unit for controlling a braking device or a steering device to prevent a collision with an obstacle.

Description

Distance detection device, collision avoidance device and collision prevention method using the same

The present invention relates to a distance sensing device applicable to a vehicle, a collision avoidance device, and a collision avoidance method.

An anti-collision device may be installed in a vehicle to prevent a collision that may occur due to a driver's negligence.

The operating speed of the anti-collision device may be generally determined in proportion to the speed of received distance information.

Here, the speed of the received distance information is determined according to the operating speed of the detection sensor that outputs the distance information. The detection sensor may include an ultrasonic sensor.

However, there is a problem in that the operation speed of the detection sensor including the ultrasonic sensor is slow due to the time required for signal processing of the detection sensor itself.

Due to the slow operating speed of the detection sensor including such an ultrasonic sensor, the operating speed of a general anti-collision device may be slow.

As described above, the anti-collision device having a slow operating speed may suddenly brake a vehicle that suddenly accelerates. Accordingly, there is a problem of providing inconvenience to the driver.

Furthermore, as described above, the anti-collision device having a slow operating speed may cause a problem of not being able to brake a vehicle that accelerates more rapidly.

For this, it will be described in detail using FIG. 1, which is a drawing showing an example for explaining the problem of a general anti-collision device.

1 is a diagram showing an example of a situation in which a vehicle including a general collision avoidance device performs parking, (A) shows a normal driving situation, and (B) shows an abnormal driving situation including sudden acceleration. shows

Referring to FIG. 1 , a vehicle 110 including a general anti-collision device may move along a movement path P.

Here, the general anti-collision device receives measurement relative distance information between the vehicle 110 and the obstacle 120 located in the direction of the moving path P at the times of t1, t6 and t11 from the ultrasonic sensor, and detects the distance between the obstacle 120 and In order to prevent a collision, the braking system or steering system can be controlled. The notation of the times t1, t6, and t11 is for easily explaining the anti-collision device of the present invention.

in the circumstances of (A); A general collision avoidance device operating as described above may control the braking device based on the measured relative distance information with the obstacle 120 at the time of t6. Thus, the vehicle 110 can be braked smoothly.

However, in situation (B); A general collision avoidance device operating as described above may control the braking device based on the measured relative distance information with the obstacle 120 at the time of t6. Accordingly, a problem of sudden braking of the vehicle 110 may occur.

Furthermore, the general anti-collision device operating as described above may not be able to control the braking device in a situation where the vehicle accelerates more rapidly than (B). Accordingly, a problem in which the vehicle collides with an obstacle may occur.

This problem is caused by the fact that the period (corresponding to the time from t1 to t6) of the measurement relative distance information received by the general collision avoidance device is long.

Against this background, an object of the present invention is, in one aspect, to provide a distance sensing device capable of reducing the period of detected relative distance information, and a collision avoidance device and collision avoidance method having a high operating speed.

In one aspect, the present invention receives the moving distance information of the vehicle at a preset first cycle from a movement sensor, and at a second cycle preset from an ultrasonic sensor and longer than the first cycle, the vehicle and an obstacle located in the direction of the vehicle's movement path. a receiver for receiving measurement relative distance information; a calculation unit for calculating estimated relative distance information between the vehicle and an obstacle in a first cycle using the measured relative distance information and the movement distance information at a reference point in time when both the moving distance information and the measured relative distance information are simultaneously received; a sensing unit for detecting a risk of collision between a vehicle and an obstacle using relative distance information, which is at least one of measured relative distance information and estimated relative distance information; and a control unit for controlling a braking device or a steering device to prevent a collision with an obstacle.

In another aspect, the present invention receives the moving distance information of the vehicle at a preset first cycle from the movement sensor, and is preset at a second cycle longer than the first cycle from the ultrasonic sensor and located in the direction of the vehicle and the movement path of the vehicle a receiver for receiving measurement relative distance information of an obstacle; a calculation unit for calculating estimated relative distance information between the vehicle and an obstacle in a first cycle using the measured relative distance information and the movement distance information at a reference point in time when the moving distance information and the measured relative distance information are simultaneously received; and a sensing unit configured to detect at least one of measured relative distance information and estimated relative distance information as relative distance information between a vehicle and an obstacle.

In another aspect, the present invention receives the moving distance information of the vehicle at a first period set in advance from the movement sensor, and at a second period set in advance from the ultrasonic sensor and located in the direction of the vehicle and the movement path of the vehicle at a second period longer than the first period a receiving step of receiving measurement relative distance information of an obstacle; a calculation step of calculating estimated relative distance information between the vehicle and the obstacle in a first cycle using the measured relative distance information and the movement distance information at a reference point in time when the movement distance information and the measured relative distance information are simultaneously received; A detection step of detecting a risk of collision between the vehicle and an obstacle using relative distance information that is at least one of measured relative distance information and estimated relative distance information; and a control step of controlling a braking device or a steering device to prevent a collision with an obstacle.

As described above, according to the present invention, it is possible to provide a distance sensing device capable of reducing the period of detected relative distance information, and a collision avoidance device and collision prevention method having a high operating speed.

1 is a diagram showing an example for explaining problems of a general anti-collision device.
2 is a diagram showing the configuration of an anti-collision device according to an embodiment of the present invention.
3 is a diagram illustrating an example for explaining timing of moving distance information and measured relative distance information received by a receiver according to an embodiment of the present invention.
4 is a diagram illustrating an example for explaining estimated relative distance information calculated by a calculation unit according to an embodiment of the present invention.
5 is a diagram showing an example for explaining the effect of the anti-collision device according to an embodiment of the present invention.
6 is a diagram showing the configuration of a distance sensing device according to an embodiment of the present invention.
7 is a diagram showing an example for explaining the flow of a collision avoidance method according to an embodiment of the present invention.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Some embodiments of the present invention are described in detail below with reference to exemplary drawings. In adding reference numerals to components of each drawing, the same components may have the same numerals as much as possible even if they are displayed on different drawings. In addition, in describing the present invention, if it is determined that a detailed description of a related known configuration or function may obscure the gist of the present invention, the detailed description may be omitted.

Also, terms such as first, second, A, B, (a), and (b) may be used in describing the components of the present invention. These terms are only used to distinguish the component from other components, and the nature, sequence, order, or number of the corresponding component is not limited by the term. When an element is described as being “connected,” “coupled to,” or “connected” to another element, that element is or may be directly connected to that other element, but intervenes between each element. It will be understood that may be "interposed", or each component may be "connected", "coupled" or "connected" through other components.

2 is a diagram showing the configuration of an anti-collision device according to an embodiment of the present invention.

Referring to FIG. 2 , the anti-collision device 200 according to an embodiment of the present invention receives vehicle movement distance information from the movement sensor 10 at a preset first cycle, and presets from the ultrasonic sensor 20. a receiving unit 210 for receiving measurement relative distance information of a vehicle and an obstacle located in a direction of a moving path of the vehicle with a second cycle longer than the first cycle; a calculation unit 220 that calculates estimated relative distance information between the vehicle and the obstacle in a first cycle using the measured relative distance information and the movement distance information at a reference point in time when the moving distance information and the measured relative distance information are simultaneously received; a sensing unit 230 for detecting a risk of collision between a vehicle and an obstacle using relative distance information that is at least one of measured relative distance information and estimated relative distance information; and a control unit 240 controlling a braking device to prevent a collision with an obstacle.

The receiving unit 210 of the anti-collision device 200 according to an embodiment of the present invention uses a CAN (Controller Area Network), which is an in-vehicle network, from the movement detection sensor 10 and the ultrasonic sensor 20 included in the vehicle. It is possible to receive movement distance information and measurement relative distance information, respectively.

This will be described with reference to FIG. 3 .

3 is a diagram illustrating an example for explaining timing of moving distance information and measurement relative distance information received by a receiver according to an embodiment of the present invention.

Referring to FIG. 3 , the receiving unit 210 receives vehicle movement distance information from the movement sensor 10 at times t1, t2, t3, ..., and receives t1, t6, t11 from the ultrasonic sensor 20. , ... can receive measurement relative distance information. In other words, the receiving unit 210 receives the moving distance information of the vehicle from the movement sensor 10 in the first period T1 and receives the measured relative distance information from the ultrasonic sensor 20 in the second period T2. can do.

In detail, the first period (T1) is determined by the time according to the operating speed of the movement sensor 10 and the time required for information to be transmitted using CAN, and the second period (T2) is the ultrasonic sensor It can be determined by the time according to the operating speed of (20) and the time taken for information to be transmitted using CAN.

More specifically, the movement sensor 10 detects the moving distance by calculating the time for the detected vehicle speed (which can be detected by a wheel speed sensor or the like), while the ultrasonic sensor 20 transmits a signal for emitting ultrasonic waves. generated, the radiated ultrasound must be reflected and received, and the relative distance is measured by analyzing the received ultrasound. For this reason, the second period T2 received from the ultrasonic sensor 20 may be longer than the first period T1 received from the movement sensor.

In fact, the time taken for the movement detection sensor 10 using the wheel speed sensor to detect the moving distance is approximately 350u[s], while the time taken for the ultrasonic sensor 20 to measure the relative distance is approximately 20m[s]. do.

Meanwhile, the movement detection sensor 10 may detect a movement distance using a detected location (which may be detected by a navigation system or the like).

For example, if the sensed position is provided on the x-axis and y-axis; The movement detection sensor 10 can detect the movement distance by RMS (Root Mean Square) the amount of change in position on the x-axis and the amount of change on the y-axis.

The calculation unit 220 of the collision avoidance device 200 according to an embodiment of the present invention uses the measurement relative distance information and the movement distance information at a reference point in time at which the movement distance information and the measurement relative distance information are simultaneously received to determine the first Estimated relative distance information between the vehicle and the obstacle can be calculated periodically.

This will be described with reference to FIG. 4 .

4 is a diagram illustrating an example for explaining estimated relative distance information calculated by a calculation unit according to an embodiment of the present invention.

Referring to FIG. 4 , the calculation unit 220 calculates relative measurement distance information (d1, d2, d3, ?), the estimated relative distance information (e1, e2, e3, e4, e5, e6, e7, e8, ...) can be calculated.

As can be seen in FIG. 4 and Equation 1, the estimated relative distance information may not be estimated at a reference point in time when the moving distance information and the measured relative distance information are simultaneously received.

Meanwhile, in FIGS. 3 and 4, the second cycle is shown as a natural number (5) times the first cycle, but may be a fractional (for example, 2.5) times, not a natural number, depending on circumstances. In this case, the period of the reference time point is determined as a common multiple of the first period and the second period, and the period of the time point including the reference time point may be the first period.

The sensing unit 230 of the anti-collision device 200 according to an embodiment of the present invention is at least one of the measured relative distance information received from the ultrasonic sensor 20 and the estimated relative distance information calculated by the calculator 220. The risk of collision between a vehicle and an obstacle can be detected using relative distance information.

Referring back to FIG. 4 , the sensor 230 uses relative distance information (d1, e1, d2, d3, e4, d2, e5, e6, e7, e8, d3, ...) to determine the distance between the vehicle and the obstacle. Collision risk can be detected. That is, the detector 230 may detect the risk of collision between the vehicle and the obstacle in the first cycle, which is the cycle in which the movement distance information is received.

For example, the detection unit 230 may detect that a collision risk exists when the relative distance information is smaller than the preset threshold distance information.

The controller 240 of the anti-collision device 200 according to an embodiment of the present invention may control a braking device or a steering device to prevent a collision with an obstacle when a collision risk is detected by the sensing unit 230 .

Meanwhile, the receiving unit 210 of the anti-collision device 200 according to an embodiment of the present invention may further receive vehicle speed information from the speed sensor in a first cycle. Accordingly, the sensing unit 230 includes information on the driving distance based on the driver's cognitive time information known in advance and the received speed information; Critical distance information is calculated using the received speed information and braking distance information based on the braking performance information of the vehicle known in advance, and if the relative distance information is smaller than the calculated critical distance information, it can be detected that a collision risk exists. there is.

In addition, the receiving unit 210 of the anti-collision device 200 according to an embodiment of the present invention may further receive vehicle speed information from the speed sensor in a first cycle. Accordingly, the sensor 230 calculates Time To Collision (TTC) information using the relative distance information and the received speed information, and the calculated time to collision information is smaller than the set threshold time information. If so, the risk of collision can be detected as existing.

Here, the critical time information may be set based on the speed information, response time information corresponding to the first period, and braking performance information of the vehicle.

5 is a diagram showing an example for explaining the effect of the anti-collision device according to an embodiment of the present invention.

5 is a diagram showing an example of a situation in which a vehicle including an anti-collision device according to an embodiment of the present invention performs parking, (A) shows a normal situation, and (B) shows sudden acceleration, etc. It shows an abnormal situation including

Referring to FIG. 5 , a vehicle 510 including an anti-collision device according to an embodiment of the present invention may move along a movement path P.

Here, the anti-collision device according to an embodiment of the present invention is the obstacle 520 located in the direction of the vehicle 510 and the movement path P at the times of t1, t2, t3, t4, t5, t6, ... A braking device or a steering device may be controlled to prevent a collision with an obstacle 520 using relative distance information of .

In other words, the operating cycle T1 of the anti-collision device according to an embodiment of the present invention shown in FIG. 5 has an effect that is shorter than the operating cycle T2 of the general anti-collision device shown in FIG.

That is, the anti-collision device according to an embodiment of the present invention has an effect of supplementing the problems mentioned in FIG. 1 .

Hereinafter, FIG. 6 will briefly describe a distance sensing device that may be included in the anti-collision device described with reference to FIGS. 2 to 5 .

6 is a diagram showing the configuration of a distance sensing device according to an embodiment of the present invention.

Referring to FIG. 6 , the distance detecting device 600 according to an embodiment of the present invention receives vehicle movement distance information from the movement sensor 10 at a preset first cycle, and presets from the ultrasonic sensor 20. a receiving unit 610 for receiving measurement relative distance information of a vehicle and obstacles located in the direction of a moving path of the vehicle with a second cycle longer than the first cycle; a calculating unit 620 that calculates estimated relative distance information between the vehicle and an obstacle in a first cycle using the measured relative distance information and the movement distance information at a reference point in time when the moving distance information and the measured relative distance information are simultaneously received; and a sensing unit 630 that detects at least one of the measured relative distance information and the estimated relative distance information as the relative distance information between the vehicle and the obstacle.

The receiving unit 610 of the distance detecting device 600 according to an embodiment of the present invention uses a CAN (Controller Area Network), which is an in-vehicle network, from the movement sensor 10 and the ultrasonic sensor 20 included in the vehicle. It is possible to receive movement distance information and measurement relative distance information, respectively.

In this regard, referring to FIG. 3 again, the receiving unit 610 receives the moving distance information of the vehicle from the movement sensor 10 at times t1, t2, t3, ..., and from the ultrasonic sensor 20 at t1, Measurement relative distance information can be received at times t6, t11, .... In other words, the receiver 610 receives the moving distance information of the vehicle from the movement sensor 10 in the first period T1 and receives the measured relative distance information from the ultrasonic sensor 20 in the second period T2. can do.

The calculation unit 620 of the distance sensing device 600 according to an embodiment of the present invention uses the measurement relative distance information and the movement distance information at a reference point in time at which the movement distance information and the measurement relative distance information are simultaneously received to determine the first Estimated relative distance information between the vehicle and the obstacle can be calculated periodically.

In this regard, referring to FIG. 4 again, the calculation unit 620 calculates the measurement relative distance information (d1, d2) at the reference time points (t1, t6, t11, ...) at which the movement distance information and the measurement relative distance information are simultaneously received. , d3, ...) by calculating the moving distance information (m1, m2, m3, m4, m6, m7, m8, m9, ...) during the first period as in Equation 1 above, the estimated relative distance Information (e1, e2, e3, e4, e5, e6, e7, e8, ...) can be calculated.

The sensing unit 630 of the distance detecting device 600 according to an embodiment of the present invention uses at least one of the measured relative distance information received from the ultrasonic sensor 20 and the estimated relative distance information calculated by the calculator 620. Relative distance information between vehicle and obstacle can be detected.

Referring back to FIG. 4 , the sensor 630 may detect d1, e1, d2, d3, e4, d2, e5, e6, e7, e8, d3, ... as relative distance information between the vehicle and the obstacle. there is.

In addition to this, the distance detecting device of the present invention may perform all of the operation of the receiving unit, the operation of the calculating unit, and some of the operations of the sensing unit of the collision avoidance device of the present invention described with reference to FIGS. 2 to 5 .

Hereinafter, a collision avoidance method, which is an operation performed by the collision avoidance apparatus described with reference to FIGS. 2 to 5, will be briefly described.

An anti-collision method according to an embodiment of the present invention receives movement distance information of a vehicle from a movement sensor in a preset first cycle, and moves the vehicle and the vehicle in a second cycle preset from an ultrasonic sensor and longer than the first cycle. a receiving step (S700) of receiving measured relative distance information of obstacles located in the path direction; a calculation step (S710) of calculating estimated relative distance information between the vehicle and the obstacle in a first cycle using the measured relative distance information and the movement distance information at a reference point in time when the movement distance information and the measurement relative distance information are simultaneously received; A detection step (S720) of detecting a risk of collision between the vehicle and an obstacle using relative distance information, which is at least one of measured relative distance information and estimated relative distance information; and a control step (S730) of controlling a braking device to prevent a collision with an obstacle.

In the receiving step (S700) of the collision avoidance method according to an embodiment of the present invention, movement distance information and measured relative distance are respectively measured from a movement sensor and an ultrasonic sensor included in the vehicle using CAN (Controller Area Network), which is an in-vehicle network. information can be received.

Referring to FIG. 3 again, in the receiving step (S700), movement distance information is received from the movement sensor at times t1, t2, t3, ..., and at times t1, t6, t11, ... from the ultrasonic sensor. can receive measured relative distance information. In other words, in the receiving step (S700), moving distance information of the vehicle may be received from the movement sensor in the first period T1, and measured relative distance information may be received from the ultrasonic sensor in the second period T2.

In detail, the first period is determined by the time according to the operating speed of the movement sensor and the time required for information to be transmitted using CAN, and the second period is determined by the time according to the operating speed of the ultrasonic sensor and CAN. It can be determined by the time it takes for information to be transmitted using

In more detail, the movement sensor detects the moving distance by calculating the time for the detected vehicle speed (which can be detected by a wheel speed sensor, etc.), while the ultrasonic sensor generates a signal for emitting ultrasonic waves and emits ultrasonic waves. must be reflected and received, and the relative distance is measured by analyzing the received ultrasound. For this reason, the second period received from the ultrasonic sensor may be longer than the first period received from the movement sensor.

In practice, the time taken for the movement sensor to detect the moving distance is approximately 350u[s], whereas the time taken for the ultrasonic sensor to measure the relative distance is approximately 20m[s].

Meanwhile, the movement sensor may detect a movement distance using a detected location (which may be detected by a navigation system or the like).

For example, if the sensed position is provided on the x-axis and y-axis; The movement detection sensor can detect the movement distance by RMS (Root Mean Square) the position change amount on the x-axis and the position change amount on the y-axis.

In the calculation step (S710) of the collision avoidance method according to an embodiment of the present invention, at a reference point in time when the moving distance information and the measured relative distance information are simultaneously received, the vehicle and the vehicle are detected in a first cycle using the measured relative distance information and the movement distance information Estimated relative distance information of obstacles can be calculated.

Referring to FIG. 4 again, in the calculation step (S710), the measured relative distance information (d1, d2, d3 , ...) to the estimated relative distance information (e1 , e2, e3, e4, e5, e6, e7, e8, ...) can be calculated.

As can be seen in FIG. 4 and Equation 1, the estimated relative distance information may not be estimated at a reference point in time when the moving distance information and the measured relative distance information are simultaneously received.

Meanwhile, in FIGS. 3 and 4, the second cycle is shown as a natural number (5) times the first cycle, but may be a fractional (for example, 2.5) times, not a natural number, depending on circumstances. In this case, the period of the reference time point may be determined as a common multiple of the first period and the second period, and the period of time points including the reference point may be determined as the first period. Accordingly, the period of the reference time may be different from the second period.

In the detection step (S720) of the collision avoidance method according to an embodiment of the present invention, the vehicle and the obstacle are detected using at least one of the measured relative distance information received from the ultrasonic sensor and the estimated relative distance information calculated by the calculation unit. can detect the risk of collision.

Referring to FIG. 4 again, in the detection step (S720), the relative distance information (d1, e1, d2, d3, e4, d2, e5, e6, e7, e8, d3, ...) is used to determine the distance between the vehicle and the obstacle. Collision risk can be detected. That is, in the sensing step (S720), the risk of collision between the vehicle and the obstacle may be detected in the first cycle, which is the cycle in which the movement distance information is received.

For example, in the detecting step (S720), if the relative distance information is smaller than the preset threshold distance information, it may be detected that a collision risk exists.

In the control step (S730) of the collision avoidance method according to an embodiment of the present invention, when a collision risk is detected from the detection step (S720), a braking device or a steering device may be controlled to prevent a collision with an obstacle.

Meanwhile, in the receiving step (S700) of the collision avoidance method according to an embodiment of the present invention, vehicle speed information may be further received in a first period from a speed sensor. Accordingly, the detecting step (S720) includes the information of the driving distance based on the previously known driver's cognitive time information and the received speed information; Critical distance information is calculated using the received speed information and braking distance information based on the braking performance information of the vehicle known in advance, and if the relative distance information is smaller than the calculated critical distance information, it can be detected that a collision risk exists. there is.

In addition, in the receiving step (S700) of the collision avoidance method according to an embodiment of the present invention, vehicle speed information may be further received in a first period from a speed sensor. Accordingly, in the sensing step (S720), Time To Collision (TTC) information is calculated using the relative distance information and the received speed information, and if the calculated time to collision is less than the set threshold time information, It can be detected that the risk of collision exists.

Here, the critical time information may be set based on the speed information, response time information corresponding to the first period, and braking performance information of the vehicle.

In addition to this, the anti-collision method of the present invention can perform all of the operations performed by the anti-collision device of the present invention described based on FIGS. 2 to 5 .

The above description and accompanying drawings are merely illustrative of the technical idea of the present invention, and those skilled in the art can combine the configuration within the scope not departing from the essential characteristics of the present invention. , various modifications and variations such as separation, substitution and alteration will be possible. Therefore, the embodiments disclosed in the present invention are not intended to limit the technical idea of the present invention, but to explain, and the scope of the technical idea of the present invention is not limited by these embodiments. The protection scope of the present invention should be construed according to the claims below, and all technical ideas within the equivalent range should be construed as being included in the scope of the present invention.

Claims (13)

The movement distance information of the vehicle is received from the movement sensor at a predetermined first cycle, and the measured relative distance between the vehicle and an obstacle located in the direction of the vehicle's movement path is received at a second cycle preset from the ultrasonic sensor and longer than the first cycle. a receiver for receiving information;
A calculation unit for calculating estimated relative distance information between the vehicle and the obstacle in the first cycle using the measured relative distance information and the movement distance information at a reference point in time when the moving distance information and the measured relative distance information are simultaneously received ;
a sensing unit for detecting a risk of collision between the vehicle and the obstacle using relative distance information that is at least one of the measured relative distance information and the estimated relative distance information; and
Including a control unit for controlling a braking device or a steering device to prevent collision with the obstacle,
The movement detection sensor detects the movement distance by RMS (Root Mean Square) the amount of change in position on the x-axis and the amount of change in position on the y-axis. According to claim 1,
the sensor,
The collision avoidance device characterized in that the collision risk is detected using the measured relative distance information at the reference time point and using the estimated relative distance information at time points other than the reference time point. According to claim 2,
The collision avoidance device according to claim 1 , wherein the period of the reference time point is determined as a common multiple of the first period and the second period, and the period of time points including the reference time point is determined as the first period. According to claim 1,
The calculator,
The collision avoidance device according to claim 1 , wherein the estimated relative distance information is calculated by calculating movement distance information during the first period on the measured relative distance information. According to claim 1,
The receiving unit further receives speed information of the vehicle in the first period from a speed sensor,
the sensor,
Critical distance information is calculated using the driver's cognitive time information known in advance, idle distance information based on the speed information, and braking distance information based on the speed information and braking performance information of the vehicle known in advance, and the relative distance information Collision avoidance device, characterized in that for detecting that the collision risk exists when is less than the critical distance information. According to claim 1,
The receiving unit further receives speed information of the vehicle in the first period from a speed sensor,
the sensor,
Time To Collision (TTC) information is calculated using the relative distance information and the speed information, and when the time to collision is less than the set threshold time information, it is detected that the collision risk exists. Anti-collision device, characterized in that for doing. According to claim 6,
The critical time information is set based on the speed information, response time information corresponding to the first period, and braking performance information of the vehicle. The movement distance information of the vehicle is received from the movement sensor at a predetermined first cycle, and the measured relative distance between the vehicle and an obstacle located in the direction of the vehicle's movement path is received at a second cycle preset from the ultrasonic sensor and longer than the first cycle. a receiver for receiving information;
A calculation unit for calculating estimated relative distance information between the vehicle and the obstacle in the first cycle using the measured relative distance information and the movement distance information at a reference point in time when the moving distance information and the measured relative distance information are simultaneously received ; and
A sensor configured to detect at least one of the measured relative distance information and the estimated relative distance information as relative distance information between the vehicle and the obstacle,
The movement detection sensor detects a movement distance by RMS (Root Mean Square) a position change amount with respect to the x-axis and a position change amount with respect to the y-axis. According to claim 8,
the sensor,
and detecting as the relative distance information using the measured relative distance information at the reference point of time and the estimated relative distance information at points other than the reference point of time. According to claim 8,
The calculator,
and calculating the estimated relative distance information by calculating the movement distance information during the first period on the measured relative distance information. The movement distance information of the vehicle is received from the movement sensor at a predetermined first cycle, and the measured relative distance between the vehicle and an obstacle located in the direction of the vehicle's movement path is received at a second cycle preset from the ultrasonic sensor and longer than the first cycle. a receiving step of receiving information;
A calculation step of calculating estimated relative distance information between the vehicle and the obstacle in the first cycle using the measured relative distance information and the movement distance information at a reference point in time when the moving distance information and the measured relative distance information are simultaneously received ;
a sensing step of detecting a risk of collision between the vehicle and the obstacle using relative distance information that is at least one of the measured relative distance information and the estimated relative distance information; and
Including a control step of controlling a braking device or a steering device to prevent collision with the obstacle,
The movement detection sensor detects the movement distance by RMS (Root Mean Square) the position change amount on the x-axis and the position change amount on the y-axis. According to claim 11,
In the detection step,
The collision avoidance method characterized in that the collision risk is detected using the measured relative distance information at the reference time point and using the estimated relative distance information at time points other than the reference time point. According to claim 11,
In the calculation step,
and calculating the estimated relative distance information by calculating the movement distance information during the first period on the measured relative distance information.

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