KR102545582B1 - System for avoiding collision in crossroad and method for control thereof - Google Patents

Abstract

The present embodiments relate to a system for controlling vehicles to avoid a collision between vehicles at an intersection and a method for controlling the same, wherein a relative distance and relative speed for each direction of a surrounding vehicle driving at an intersection are measured, and then a predetermined error is set in the measured value. By applying the range, the collision risk between the vehicle and surrounding vehicles is analyzed and a collision probability map is created. Based on the generated collision probability map, by determining the direction and location of a high risk of vehicle collision and controlling the vehicle according to the determination result, collision between vehicles is accurately and effectively detected based on the motion of the surrounding vehicles sensed at the intersection and the sensing error. make it possible to avoid

Description

Intersection collision avoidance system and its control method {SYSTEM FOR AVOIDING COLLISION IN CROSSROAD AND METHOD FOR CONTROL THEREOF}

The present embodiments relate to a system and a control method for controlling vehicles to avoid a collision between vehicles at an intersection.

As the demand for driver's convenience and safety increases along with the demand for vehicle performance, information on the vehicle and its surroundings is acquired through sensors mounted on the vehicle, etc., and the vehicle is controlled based on the obtained information. Research and development of a driver assistance system (DAS) for

As one of such driver assistance systems (DAS), there is a collision avoidance system that detects vehicles or obstacles traveling around the vehicle in motion and helps to avoid collision with the detected surrounding vehicles or obstacles.

Such a collision avoidance system detects a vehicle driving around the vehicle, determines a possibility of collision with the detected vehicle, and provides a collision risk warning to the driver.

Meanwhile, such a collision avoidance system may be applied even when a vehicle drives at an intersection.

However, in the case of an intersection, a collision can occur when a vehicle and a nearby vehicle face each other at right angles, and at an intersection, it is difficult to accurately determine the possibility of a collision with a nearby vehicle because the deceleration control and steering control of the vehicle can be performed simultaneously. this exists

Therefore, there is a need for a system and method for controlling a vehicle to accurately determine a collision situation at such an intersection and substantially avoid a collision between the vehicle and surrounding vehicles when a collision is predicted.

An object of the present embodiments is to provide an intersection collision avoidance system and a control method for controlling a vehicle to avoid a collision between a vehicle and a surrounding vehicle at an intersection.

An object of the present embodiments is to provide an intersection collision avoidance system and a control method for accurately determining the possibility of collision with surrounding vehicles at an intersection and controlling the vehicle based on the possibility of collision with improved accuracy.

An object of the present embodiments is to provide an intersection collision avoidance system and a control method for performing control suitable for a vehicle according to a collision risk in a situation where multiple collision risks may occur, such as an intersection.

In one aspect, the present embodiments include a sensing unit that detects a nearby vehicle and measures a relative distance and a relative speed with the detected surrounding vehicle, applies a predetermined distance error range to the measured relative distance, and applies a predetermined distance error range to the measured relative speed. A collision probability map generation unit for generating a collision probability map based on the relative distance to which the preset distance error range is applied and the relative speed to which the preset speed error range is applied while applying a preset speed error range; and based on the generated collision probability map It is possible to provide an intersection collision avoidance system including a collision avoidance control unit that performs control for avoiding a collision with a surrounding vehicle by doing so.

In such an intersection collision avoidance system, the sensing unit may measure a relative distance in a first direction, a relative speed in a first direction, a relative distance in a second direction, and a relative speed in a second direction with a surrounding vehicle.

At this time, the collision probability map generation unit applies a preset distance error range in the first direction to the measured relative distance in the first direction and applies a preset first direction speed error range to the measured relative speed in the first direction to generate a collision with a nearby vehicle. A first time when the relative distance in the first direction becomes 0 is calculated, a relative distance in the second direction with a surrounding vehicle is calculated at the time of the first time, and a distance error range in the second direction preset in the measured relative distance in the second direction is calculated. and calculates a second time when the relative distance to the surrounding vehicle in the second direction becomes 0 by applying a predetermined second direction speed error range to the measured relative speed in the second direction, A relative distance in the first direction of can be calculated.

In addition, the collision probability map generation unit applies a distance error range in the second direction to the measured relative distance in the second direction and applies a speed error range in the measured second direction to the measured relative speed in the second direction to determine the first time Calculate the relative distance in the second direction from the surrounding vehicle at the point in time, apply the preset distance error range in the first direction to the measured relative distance in the first direction, and apply the preset error range in the first direction to the measured relative speed in the first direction. It is possible to calculate the relative distance to the surrounding vehicle in the first direction at the time of the second time by applying .

Here, the collision probability map generation unit generates a collision probability map with surrounding vehicles based on the relative distance between the surrounding vehicles at the first time point in the second direction and the first direction relative distance at the second time point point in time In addition, the collision avoidance control unit may control the vehicle based on the direction and time of high possibility of collision with the surrounding vehicle identified from the generated collision probability map.

Meanwhile, the collision probability map generation unit may use the relative speed to which a preset speed error range is applied as a relative speed for generating a collision probability map including movement measured according to steering control.

In another aspect, the present embodiments include measuring a relative distance including a relative distance in a first direction and a relative distance in a second direction and a relative speed including a relative speed in a first direction and a relative speed in a second direction with a surrounding vehicle; and applying a preset distance error range to the measured relative distance and applying a preset speed error range to the measured relative speed, a relative distance to which the preset distance error range is applied and a relative speed to which the preset speed error range is applied It is possible to provide a control method for an intersection collision avoidance system including generating a collision probability map using and performing control for avoiding a collision with a nearby vehicle based on the generated collision probability map.

According to the present embodiments, by analyzing the risk of lateral collision and the risk of longitudinal collision between the vehicle and the surrounding vehicle and controlling the vehicle, it is possible to prevent a collision between the vehicle and the surrounding vehicle at an intersection.

According to the present embodiments, the collision risk is determined in consideration of the error range of the sensing data of the surrounding vehicles detected at the intersection, thereby preventing collision between vehicles due to the sensing error.

According to the present embodiments, the collision avoidance control of the vehicle is performed based on the collision probability map generated according to the collision risk considering the sensing error, so that the vehicle can avoid the situation with the highest collision risk at the intersection, and the situation so that appropriate vehicle control can be performed.

1A and 1B are diagrams illustrating examples of situations in which a collision between a vehicle and a nearby vehicle may occur at an intersection.
2 is a diagram showing an example of data sensed to determine the risk of collision in the intersection collision avoidance system according to the present embodiments.
3 is a diagram showing the configuration of an intersection collision avoidance system according to the present embodiments.
4 is a diagram showing an example of a collision probability map generated by the intersection collision avoidance system according to the present embodiments.
5 is a diagram illustrating a process of a control method of an intersection collision avoidance system according to the present embodiments.

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.

In addition, in describing the components of the present invention, terms such as first, second, A, B, (a), and (b) may be used. 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.

The present embodiments determine the possibility of a vehicle traveling at an intersection colliding with another vehicle traveling around the vehicle, and control the vehicle so that the vehicle avoids a collision with another vehicle according to the determination result. It's about the system.

Hereinafter, the vehicle controlled by the intersection collision avoidance system according to the present embodiment is referred to as the host vehicle 10, and other vehicles that may collide with the host vehicle 10 while driving around the host vehicle 10 is described as a surrounding vehicle 20.

1A and 1B show an example of a situation in which a collision between a host vehicle 10 running at an intersection and a surrounding vehicle 20 traveling around the host vehicle 10 may occur.

FIG. 1A illustrates a situation in which a collision with a surrounding vehicle 20 traveling in a direction perpendicular to the driving direction of the own vehicle 10 may occur when the own vehicle 10 travels straight at an intersection.

Referring to FIG. 1A , the host vehicle 10 is traveling straight ahead at an intersection, and a surrounding vehicle 20 is traveling on the right side of the host vehicle 10 perpendicular to the traveling direction of the host vehicle 10. .

In this case, the own vehicle 10 and the surrounding vehicle 20 may collide at the intersection of the intersection depending on the current position and speed of the own vehicle 10 and the current position and speed of the surrounding vehicle 20 .

Therefore, the possibility of collision is determined according to the driving state of the own vehicle 10 and the surrounding vehicle 20, and control is performed to avoid collision between the own vehicle 10 and the surrounding vehicle 20 when a collision risk is expected. It should be.

At this time, since the driving direction of the own vehicle 10 and the driving direction of the surrounding vehicles 20 are perpendicular to each other, it is necessary to determine the risk of collision by considering the driving direction of each vehicle.

FIG. 1B illustrates a situation in which a collision with a surrounding vehicle 20 traveling in a direction oblique to the driving direction of the own vehicle 10 may occur when the own vehicle 10 travels straight at an intersection.

Referring to FIG. 1B , the host vehicle 10 is traveling straight ahead at the intersection, and the surrounding vehicle 20 is driving while turning on its own from the right side of the host vehicle 10 in the direction in which the host vehicle 10 is located. .

In this case, in order to determine the risk of collision between the own vehicle 10 and the surrounding vehicle 20, sensing and analysis of the lateral and longitudinal speeds of the surrounding vehicle 10 are required.

In addition, since the surrounding vehicle 10 is in a situation where the steering control is performed together, the risk of collision must be determined in consideration of the movement according to the steering.

Therefore, in order to prevent a collision between the own vehicle 10 and the surrounding vehicle 20 traveling in an oblique direction at the intersection, the risk of collision can be determined by considering the speed of the surrounding vehicle 20 in each direction and the movement according to steering. There should be.

That is, at an intersection, a situation in which the driving directions of the own vehicle 10 and the surrounding vehicle 20 are not parallel may occur, and a collision with the surrounding vehicle 20 traveling in a direction not parallel to the own vehicle 10 occurs. Sensing and collision risk analysis must be performed to prevent this.

2 illustrates an example of data sensed by the intersection collision avoidance system according to the present embodiments to determine the risk of collision between the own vehicle 10 and the surrounding vehicle 20 .

Referring to FIG. 2 , the own vehicle 10 measures a relative distance and relative speed with surrounding vehicles 20 through a sensor mounted on the own vehicle 10 .

In order to calculate both the risk of lateral collision and the risk of longitudinal collision according to the driving direction of the surrounding vehicle 20, the own vehicle 10 determines the lateral direction (or first direction) and longitudinal direction ( or the second direction) relative distance and relative speed are measured.

At this time, the relative distance in the lateral direction between the own vehicle 10 and the surrounding vehicles 20 is represented by d _{x, relative distance} , and the longitudinal relative distance is represented by d _{y , relative distance} . And, the lateral relative speed is expressed as V _{x, relative speed} , and the longitudinal relative speed is expressed as V _{y , relative speed} .

The own vehicle 10 may use the relative speed for determining the risk of collision by including the movement according to the steering control in the measured relative speed so that the risk of collision can be determined in consideration of the movement of the vehicle according to the steering control.

Transverse movement according to steering control is represented by V _{x, steering,} longitudinal movement is represented by V _{y, steering} , and movement according to steering control can be calculated through Equations 1 and 2 below.

Here, R means a straight line distance between the own vehicle 10 and the surrounding vehicles 20, and θ means an angle formed according to the driving direction of the own vehicle 10 and the surrounding vehicles 20.

In FIG. 2, the case of using the steering motion of the surrounding vehicle 20 is shown as an example, but when there is a steering motion in the own vehicle 10, the motion according to the steering control of the own vehicle 10 is reflected in the relative speed. may be

Based on the relative distance and relative speed measured by the own vehicle 10 with the surrounding vehicles 20 , the relative distance between the own vehicle 10 and the surrounding vehicles 20 may be calculated after time T elapses.

The relative distance between the own vehicle 10 and the surrounding vehicle 20 in the lateral direction after time T can be expressed as in Equation 3 below, and the relative distance in the longitudinal direction after time T can be expressed as in Equation 4 below.

Meanwhile, since the relative distance and relative speed measured by the own vehicle 10 with the surrounding vehicles 20 are physically measured values, a sensing error may be included.

When such a sensing error is included, the relative distance in the lateral direction after time T between the own vehicle 10 and the surrounding vehicle 20 may be expressed as in Equation 5 below, and the relative distance in the longitudinal direction after time T may be expressed as in Equation 6 below. can indicate

In the present embodiments, the possibility of collision is determined in consideration of the driving directions and steering-related movements of the own vehicle 10 and the surrounding vehicle 20 running at the intersection, and a collision probability map is generated in consideration of the sensing error included in the measurement value. By determining the possibility of collision, the collision situation at the intersection can be accurately and effectively avoided.

Hereinafter, with reference to FIG. 3, the configuration and collision avoidance method of the intersection collision avoidance system according to the present embodiments will be described in detail.

3 shows the configuration of an intersection collision avoidance system 300 according to the present embodiments.

Referring to FIG. 3 , the intersection collision avoidance system 300 according to the present embodiments includes a sensing unit 310 that measures the relative distance and relative speed between the own vehicle 10 and the surrounding vehicle 20; A collision probability map generator 320 for generating a collision probability map based on the generated data, an error range setting unit 330 for setting a sensing error range to be applied when generating a collision probability map, and and a collision avoidance control unit 340 that performs control for avoiding a collision based on the above.

The sensing unit 310 measures a relative distance including a relative distance in a lateral direction and a relative distance in a longitudinal direction between the own vehicle 10 and the surrounding vehicles 20 .

In addition, the relative speed including the relative speed in the lateral direction and the relative speed in the longitudinal direction between the own vehicle 10 and the surrounding vehicle 20 may be measured, and movement according to steering control may be measured.

The collision probability map generation unit 320 analyzes the risk of collision between the own vehicle 10 and the surrounding vehicles 20 using the value measured by the sensing unit 310 and generates a collision probability map.

The collision probability map generating unit 320 includes a lateral risk determination unit 321 for determining the risk of lateral collision between the own vehicle 10 and the surrounding vehicle 20, and the own vehicle 10 and the surrounding vehicle 20 It may also include a longitudinal risk determination unit 322 for determining the longitudinal collision risk.

The collision probability map generator 320 may generate a collision probability map by applying a predetermined error range to the measurement value received from the sensing unit 310 .

The error range setting unit 330 sets an error range applied to the measured value used by the collision probability map generator 320 to generate the collision probability map, and provides it to the collision probability map generator 320.

The set error range may be a fixed range pre-stored in the error range setting unit 330 or a range set differently according to a value measured by the sensing unit 310 .

According to the error range set in the error range setting unit 330, the error of the value measured by the sensing unit 310 can be expressed as follows.

Error _{x, relative distance} → (- lateral distance error, + lateral distance error)

Error _{x, relative speed} → (- lateral speed error, + lateral speed error)

Error _{y, relative distance} → (- Longitudinal distance error, + Longitudinal distance error)

Error _{y, relative speed} → (- longitudinal speed error, + longitudinal speed error)

The collision probability map generation unit 320 generates a collision probability map by applying the error range set by the error range setting unit 330 to the value measured by the sensing unit 310, and for example, the lateral collision risk And the longitudinal collision risk is analyzed, and a collision probability map may be generated based on the analysis result.

The lateral risk determination unit 321 determines that the lateral relative distance between the own vehicle 10 and the surrounding vehicle 20 is zero with respect to errors included in the set lateral distance error range and lateral speed error range. Calculate time T ₁ . Time T ₁ can be calculated as in Equation 7 below.

The lateral risk determination unit 321 calculates the longitudinal relative distance between the own vehicle 10 and the surrounding vehicle 20 at the moment of T ₁ using the calculated T ₁ . At the moment T ₁ , the longitudinal relative distance between the own vehicle 10 and the surrounding vehicle 20 may be calculated as in Equation 8 below.

Here, the longitudinal relative distance between the own vehicle 10 and the neighboring vehicle 20 at the moment of T ₁ may be calculated with respect to errors included in the set longitudinal distance error range and longitudinal speed error range.

According to the above-described Equations 7 and 8, the time T ₁ at which the relative distance between the own vehicle 10 and the surrounding vehicle 20 in the lateral direction becomes 0, and the moment T ₁ , the own vehicle 10 and the surrounding vehicle ( 20) can be calculated.

Therefore, by estimating the relative distance between the own vehicle 10 and the surrounding vehicle 20 in the longitudinal direction at the moment when the relative distance between the own vehicle 10 and the surrounding vehicle 20 in the lateral direction becomes zero, The risk of lateral collision can be determined.

The longitudinal risk determination unit 322 determines that the longitudinal relative distance between the own vehicle 10 and the surrounding vehicle 20 becomes zero with respect to errors included in the set longitudinal distance error range and longitudinal speed error range. Calculate time T ₂ . Time T ₂ can be calculated as in Equation 9 below.

The longitudinal risk determination unit 322 calculates the relative distance between the own vehicle 10 and the surrounding vehicle 20 in the lateral direction at the moment of T ₂ using the calculated T ₂ . At the moment of T ₂ , the relative distance between the own vehicle 10 and the surrounding vehicle 20 in the lateral direction may be calculated as in Equation 10 below.

Here, the lateral relative distance between the host vehicle 10 and the surrounding vehicle 20 at the moment of T ₂ may be calculated with respect to errors included in the set lateral distance error range and lateral speed error range.

According to the above-described Equations 9 and 10, the relative distance between the host vehicle 10 and the surrounding vehicle 20 in the longitudinal direction is zero at the time T ₂ and at the moment T ₂ , the own vehicle 10 and the surrounding vehicle ( 20) can be calculated.

Therefore, by estimating the relative distance between the own vehicle 10 and the surrounding vehicle 20 in the lateral direction at the moment when the relative distance between the own vehicle 10 and the surrounding vehicle 20 in the longitudinal direction becomes zero, The risk of longitudinal collision can be determined.

The collision probability map generation unit 320 calculates the longitudinal relative distance at the moment of time T ₁ and T ₁ calculated by the lateral risk determination unit 321, and the time calculated by the longitudinal risk determination unit 322 A collision probability map can be generated using the lateral relative distance at the moment of T ₂ and T ₂ .

In this case, the collision probability map may be generated using a function such as a Gaussian kernel, but is not limited thereto.

When the collision probability map is generated by the collision probability map generator 320, the collision avoidance control unit 340 performs control to avoid collision.

The collision avoidance control unit 340 determines a location where the collision risk of the own vehicle 10 is high based on the collision probability map generated by the collision probability map generator 320 .

5 shows an example of a collision probability map generated by the collision probability map generation unit 320 of the intersection collision avoidance system 300 according to the present embodiments, and the collision avoidance control unit 340 is shown in the collision probability map Through the collision risk, it is possible to determine a location with a high collision risk.

For example, referring to FIG. 5 , the collision risk of the right front side of the own vehicle 10 is high in the collision probability map generated in consideration of the driving conditions and sensing errors of the own vehicle 10 and the surrounding vehicle 20. You can see what appeared.

Therefore, the collision avoidance control unit 340 performs control for avoiding a collision when the risk of collision of the right front side of the own vehicle 10 is high, and, for example, performs deceleration control or deceleration of the own vehicle 10 It is also possible to perform steering control together with control.

In addition, when the collision probability map indicates that the risk of collision is high at the rear of the own vehicle 10, the collision of the own vehicle 10 can be avoided by performing acceleration control of the own vehicle 10.

5 illustrates a process of a control method of the intersection collision avoidance system 300 according to the present embodiments.

Referring to FIG. 5 , the intersection collision avoidance system 300 according to the present embodiments measures the relative distance and relative speed with surrounding vehicles 20 through sensors mounted on the own vehicle 10 (S500). .

At this time, a relative distance including a lateral relative distance and a longitudinal relative distance with the surrounding vehicle 20 and a relative speed including a lateral relative speed and a longitudinal relative speed may be measured.

In addition, it may be used as a relative speed for generating a collision probability map including motion according to steering control.

The intersection collision avoidance system 300 applies a predetermined error range to the measured relative distance and relative speed (S510).

Based on the relative distance and relative speed with the surrounding vehicle 20 to which the error range is applied to the measured value, the risk of lateral collision and the risk of longitudinal collision with the surrounding vehicle 20 are analyzed and the collision probability map according to the risk of collision is generated (S520).

The intersection collision avoidance system 300 checks whether the collision risk of the own vehicle 10 is greater than or equal to a threshold value based on the generated collision probability map (S530).

If the collision risk of the own vehicle 10 is greater than or equal to the threshold value, a collision possible area of the own vehicle 10, that is, a location with a high collision risk is determined from the generated collision probability map (S540).

The intersection collision avoidance system 300 performs deceleration control or steering control to avoid a collision between the own vehicle 10 and the surrounding vehicle 20 according to a location with a high risk of collision (S550).

Therefore, according to the present embodiments, by sensing the relative distance and relative speed in each direction of the own vehicle 10 and the surrounding vehicle 20 traveling at the intersection and analyzing the risk of collision based on the sensed values, A collision between the vehicle 10 and the surrounding vehicle 20 can be prevented.

In addition, when analyzing the collision risk, the collision risk is analyzed in consideration of the sensing error and a collision probability map is generated, so that the collision due to the sensing error can be prevented.

And, based on the generated collision probability map, a location with a high risk of collision is determined, and the control of the own vehicle 10 is performed according to the determination result, thereby accurately preventing the collision between the own vehicle 10 and the surrounding vehicle 20 at the intersection. and effectively avoid it.

The above description is merely an example of the technical idea of the present invention, and various modifications and variations can be made to those skilled in the art without departing from the essential characteristics of the present invention. In addition, the embodiments disclosed in the present invention are not intended to limit the technical idea of the present invention, but to explain, so 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.

10: own vehicle 20: surrounding vehicle
300: intersection collision avoidance system
310: sensing unit 320: collision probability map generating unit
321: lateral risk determination unit 322: longitudinal risk determination unit
330: error range setting unit 340: collision avoidance control unit

Claims (12)

a sensing unit that detects surrounding vehicles and measures a relative distance and relative speed with the detected surrounding vehicles;
A preset distance error range is applied to the measured relative distance and a preset speed error range is applied to the measured relative speed, the relative distance to which the preset distance error range is applied and the relative speed to which the preset speed error range is applied a collision probability map generator for generating a collision probability map based on; and
Collision avoidance control unit performing control to avoid collision with the surrounding vehicle based on the generated collision probability map
Including,
The sensing unit,
Measuring a relative distance in a first direction, a relative speed in a first direction, a relative distance in a second direction, and a relative speed in a second direction with respect to the surrounding vehicle;
The collision probability map generator,
A predetermined distance error range in the first direction is applied to the measured relative distance in the first direction, and a predetermined first direction speed error range is applied to the measured relative speed in the first direction to obtain a relative distance in the first direction from the surrounding vehicle. Calculate a first time when is 0, apply the preset second direction distance error range to the measured second direction relative distance, and apply the preset second direction speed error range to the measured second direction relative speed Calculate a relative distance in the second direction with the surrounding vehicle at the time of the first time by applying
A predetermined distance error range in the second direction is applied to the measured relative distance in the second direction, and a predetermined second direction speed error range is applied to the measured relative speed in the second direction, thereby providing a relative distance to the surrounding vehicle in the second direction. Calculate a second time when is 0, apply the preset first direction distance error range to the measured first direction relative distance, and apply the preset first direction speed error range to the measured first direction relative speed Calculate the relative distance in the first direction with the surrounding vehicle at the time of the second time by applying
The collision probability map,
It includes at least one horizontal line and at least one vertical line dividing the own vehicle area,
In each area divided by the horizontal line and the vertical line based on the relative distance from the surrounding vehicle at the first time point in the second direction and the first direction relative distance from the surrounding vehicle at the time point of the second time Intersection collision avoidance system with collision probabilities displayed.
delete delete delete delete According to claim 1,
The collision avoidance control unit,
An intersection collision avoidance system for controlling a vehicle based on a direction and time with a high probability of collision with the surrounding vehicle identified from the generated collision probability map.
According to claim 1,
The collision probability map generator,
The intersection collision avoidance system using the relative speed to which the predetermined speed error range is applied as a relative speed for generating the collision probability map, including motion measured according to steering control.
According to claim 1,
The sensing unit,
An intersection collision avoidance system that detects one or more nearby vehicles traveling in a direction not parallel to the vehicle and measures the relative distance and relative speed to the detected one or more nearby vehicles.
measuring a relative distance including a relative distance in a first direction and a relative distance in a second direction and a relative speed including a relative speed in the first direction and a relative speed in a second direction with a surrounding vehicle;
applying a preset distance error range to the measured relative distance and applying a preset speed error range to the measured relative speed;
generating a collision probability map using the relative distance to which the preset distance error range is applied and the relative speed to which the preset speed error range is applied; and
Performing control to avoid collision with the surrounding vehicle based on the generated collision probability map
Including,
Generating the collision probability map,
A predetermined distance error range in the first direction is applied to the measured relative distance in the first direction, and a predetermined first direction speed error range is applied to the measured relative speed in the first direction to obtain a relative distance in the first direction from the surrounding vehicle. Calculate a first time when is 0, apply the preset second direction distance error range to the measured second direction relative distance, and apply the preset second direction speed error range to the measured second direction relative speed calculating a relative distance to the surrounding vehicle in a second direction at the first time point by applying ?; and
A predetermined distance error range in the second direction is applied to the measured relative distance in the second direction, and a predetermined second direction speed error range is applied to the measured relative speed in the second direction, thereby providing a relative distance to the surrounding vehicle in the second direction. Calculate a second time when is 0, apply the preset first direction distance error range to the measured first direction relative distance, and apply the preset first direction speed error range to the measured first direction relative speed Calculating a relative distance with the surrounding vehicle in a first direction at the time of the second time by applying ,
The collision probability map,
It includes at least one horizontal line and at least one vertical line dividing the own vehicle area,
In each area divided by the horizontal line and the vertical line based on the relative distance from the surrounding vehicle at the first time point in the second direction and the first direction relative distance from the surrounding vehicle at the time point of the second time A control method for an intersection collision avoidance system in which a collision probability is displayed.
delete delete delete

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